Demonstration trajectory processing method and device, mechanical arm, demonstration controller and system

Abstract

The application relates to a teaching trajectory processing method and device, which is applied to a mechanical arm teaching system. The mechanical arm teaching system comprises a teaching tool and a pose acquisition system. The teaching tool is provided with a positioning device which can be recognized by the pose acquisition system. The method comprises the following steps: determining the pose information of the teaching tool at multiple teaching position points during a teaching process of the teaching tool; determining the pose information of the multiple teaching position points by using the multiple pose information of the teaching tool; and fitting a teaching trajectory corresponding to the teaching process according to the pose information of the multiple teaching position points. According to the trajectory processing method provided by the application, an operator only needs to move the teaching tool to obtain the corresponding teaching trajectory, and the operation is simple and convenient. Through the trajectory processing method, complex programming work can be omitted, and the application scene of the robot is expanded, and the use convenience and efficiency of the robot are improved.

Description

Technical Field

[0001] This application relates to the field of robot teaching, and more particularly to a teaching trajectory processing method, device, robotic arm, teaching controller, system, and medium. Background Technology

[0002] Robots are being used more and more widely in various industries. Compared with manual labor, robot operations have significantly improved accuracy and efficiency. For some scenarios that require consumables, such as painting, gluing, and welding, robot operations can also greatly improve the utilization rate of consumables and reduce waste. In addition, robot operations also have many advantages such as a large working space and improved working environment for workers.

[0003] The prerequisite for a robot to perform precise movements is that the operator has strong programming skills to program the motion control program and input it into the robot. This places very high demands on the operator. Workers on the production line generally find it difficult to program complex movements, which limits the application scenarios of robots. Summary of the Invention

[0004] This application provides a teaching trajectory processing method, device, robotic arm, teaching controller, system, and medium, which can quickly and easily teach robots.

[0005] In a first aspect, this application provides a teaching trajectory processing method applied to a robotic arm teaching system. The robotic arm teaching system includes: a teaching tool and a pose acquisition system. The teaching tool is equipped with a positioning device that can be used to identify the pose of the pose acquisition system. The method includes:

[0006] During the teaching process, the pose information of the teaching tool at multiple teaching position points is determined;

[0007] Using multiple pose information of the teaching tool, the pose information of multiple teaching position points is determined;

[0008] Based on the pose information of multiple teaching location points, the teaching trajectory corresponding to the teaching process is fitted to obtain the teaching trajectory.

[0009] When there are two teaching position points, the line shape of the teaching trajectory is determined to be a straight line shape. The straight line teaching trajectory where the two teaching position points are located is obtained by fitting the straight line shape, or the joint motion trajectory is generated based on the two teaching position points.

[0010] When there are three teaching position points, the line shape of the teaching trajectory is determined to be an arc shape, and the arc teaching trajectory where the three teaching position points are located is obtained by fitting the arc shape.

[0011] When there are at least four teaching position points, the line shape of the teaching trajectory is determined to be a curved line shape, and the curved teaching trajectory where at least four teaching position points are located is obtained by fitting the curved line shape.

[0012] Secondly, this application provides a teaching apparatus, including a unit for performing the teaching trajectory processing method as described in any of the first aspects.

[0013] Thirdly, this application provides a robotic arm including a unit for performing the teaching trajectory processing method as described in any of the first aspects.

[0014] Fourthly, this application provides a teach pendant controller, including a processor, a communication interface, a memory, and a communication bus, wherein the processor, the communication interface, and the memory communicate with each other through the communication bus;

[0015] Memory, used to store computer programs;

[0016] When a processor executes a program stored in memory, it implements the steps of the teaching trajectory processing method as described in any of the first aspects.

[0017] Fifthly, this application provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the teaching trajectory processing method as described in any of the first aspects.

[0018] Sixthly, this application provides a robotic arm teaching system, comprising: a teaching tool, a positioning device, a pose acquisition system, and a teaching controller, wherein,

[0019] The teaching tool is equipped with a positioning device that allows the pose acquisition system to recognize the pose; the pose acquisition system is communicatively connected to the teaching controller; the teaching controller is used to execute the steps of the teaching trajectory processing method as described in any of the first aspects.

[0020] In a seventh aspect, embodiments of this application provide a robotic arm control system, including: a robotic arm, an operating table, a robotic arm controller, and a robotic arm teaching system as described in the sixth aspect above, wherein...

[0021] The robotic arm teaching system includes: a teaching tool, a positioning device, a pose acquisition system, and a teaching controller. The teaching tool is equipped with a positioning device that allows the pose acquisition system to recognize the pose. The pose acquisition system is communicatively connected to the teaching controller. The teaching controller is used to execute the steps of the teaching trajectory processing method as described in any one of the claims.

[0022] The robotic arm is fixed to the operating table, which includes an operating table body and an operating table surface. The robotic arm controller can drive the robotic arm to move on the operating table surface of the operating table.

[0023] The robotic arm controller communicates with the robotic arm; the robotic arm controller also communicates with the teaching controller in the robotic arm teaching system.

[0024] The teaching controller stores the coordinate system transformation relationship between the pose acquisition coordinate system of the pose acquisition system and the table surface coordinate system of the operating table. It can use this transformation relationship to convert the teaching trajectory of the teaching tool in the pose acquisition coordinate system into a motion trajectory in the table surface coordinate system and send it to the robotic arm controller. The robotic arm controller receives the motion trajectory and uses it to control the robotic arm. Alternatively, the robotic arm controller stores the coordinate system transformation relationship between the pose acquisition coordinate system of the pose acquisition system and the table surface coordinate system of the operating table. The teaching controller 300 sends the teaching trajectory of the teaching tool in the pose acquisition coordinate system to the robotic arm controller. The robotic arm controller uses the transformation relationship to convert the teaching trajectory of the teaching tool in the pose acquisition coordinate system into a motion trajectory in the table surface coordinate system and controls the robotic arm to move on the operating table according to the motion trajectory.

[0025] The technical solutions provided in this application have the following advantages compared with the prior art:

[0026] The trajectory processing method provided in this application embodiment allows operators to directly manipulate a teaching tool for movement teaching during trajectory teaching. During the teaching process, the pose information of the teaching tool at multiple teaching position points is determined. Using this pose information, the pose information of multiple teaching position points is determined. Based on the pose information of the multiple teaching position points, a teaching trajectory corresponding to the teaching process is fitted according to a preset trajectory fitting method. Specifically, when there are two teaching position points, the line type of the teaching trajectory is determined to be a straight line, and a straight teaching trajectory for the two teaching position points is fitted based on the straight line type, or a joint motion trajectory is generated based on the two teaching position points. When there are three teaching position points, the line type of the teaching trajectory is determined to be an arc, and an arc teaching trajectory for the three teaching position points is fitted based on the arc type. When there are at least four teaching position points, the line type of the teaching trajectory is determined to be a curve, and a curve teaching trajectory for at least four teaching position points is fitted based on the curve type.

[0027] By applying the trajectory processing method provided in this application embodiment, the operator only needs to move the teaching tool to obtain the corresponding teaching trajectory. The operation is simple and convenient. Through this trajectory processing method, there is no need to perform complex programming work, thereby expanding the application scenarios of the robot and improving the ease of use and efficiency of the robot. Attached Figure Description

[0028] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with the invention and, together with the description, serve to explain the principles of the invention.

[0029] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0030] Figure 1 A schematic diagram of a robotic arm teaching system provided in an embodiment of this application;

[0031] Figure 2 A flowchart illustrating a teaching trajectory processing method provided in an embodiment of this application;

[0032] Figure 3 A flowchart illustrating another teaching trajectory processing method provided in an embodiment of this application;

[0033] Figure 4 A flowchart illustrating another teaching trajectory processing method provided in this application embodiment;

[0034] Figure 5 A schematic diagram of another robotic arm teaching system provided in this application embodiment;

[0035] Figure 6 This is a schematic diagram of the structure of a teaching tool provided in an embodiment of this application;

[0036] Figure 7 A schematic diagram of the calibration plate of the teaching tool provided in the embodiments of this application. Figure 1 ;

[0037] Figure 8 A schematic diagram of the calibration plate of the teaching tool provided in the embodiments of this application. Figure 2 ;

[0038] Figure 9 A teaching diagram provided for an embodiment of this application;

[0039] Figure 10 Another teaching diagram provided for an embodiment of this application;

[0040] Figure 11 This application provides a schematic diagram of a teaching switching method.

[0041] Figure 12 Another teaching diagram provided for an embodiment of this application;

[0042] Figure 13 Another teaching diagram provided for an embodiment of this application;

[0043] Figure 14 Another teaching diagram provided for an embodiment of this application;

[0044] Figure 15 This is another teaching switching diagram provided in the embodiments of this application;

[0045] Figure 16 Another teaching diagram provided for an embodiment of this application;

[0046] Figure 17 Another teaching diagram provided for an embodiment of this application;

[0047] Figure 18 Another teaching diagram provided for an embodiment of this application;

[0048] Figure 19 Another teaching diagram provided for an embodiment of this application;

[0049] Figure 20 This is another teaching switching diagram provided in the embodiments of this application;

[0050] Figure 21 A flowchart illustrating another teaching trajectory processing method provided in this application embodiment;

[0051] Figure 22 This is a schematic diagram of the structure of a teaching trajectory processing device provided in an embodiment of this application;

[0052] Figure 23 This is a schematic diagram of the structure of a robotic arm provided in an embodiment of this application;

[0053] Figure 24 This application provides a schematic diagram of the structure of a robotic arm control device;

[0054] Figure 25 This is a schematic diagram of the structure of a robotic arm control system provided in an embodiment of this application. Detailed Implementation

[0055] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0056] An example:

[0057] Figure 1 This is a schematic diagram of a robotic arm teaching system provided in an embodiment of this application.

[0058] exist Figure 1 In this diagram, 400 is the worktable surface (not shown in the worktable diagram), 100 is the teaching pendant, 200 is the pose acquisition system, and 300 is the teaching controller. The worktable surface 400 can be a platform on which parts or equipment to be processed are placed. The teaching pendant 100 can move or be operated on the surface of the worktable surface 400 under the control of an operator. The pose acquisition system 200 is located above the worktable surface 400 and is used to identify the pose information of the teaching pendant 100. The teaching controller 300 has a processor and can communicate with the pose acquisition system 200 to receive pose information sent by the pose acquisition system 200. In some embodiments, the teaching pendant 100 also has some control buttons (such as…). Figure 1 In order to obtain the control information of these control buttons, the teach pendant controller 300 may optionally also be communicatively connected to the teach pendant 100 to receive the control information sent by the teach pendant 100.

[0059] In this embodiment, the teaching controller 300 can be a teaching controller for a robotic arm. The teaching controller 300 can also store the coordinate system transformation relationship between the pose acquisition coordinate system of the pose acquisition system and the table coordinate system of the operating table. It also stores the coordinate system transformation relationship between the coordinate system of the robotic arm (which can be the base coordinate system, the end effector coordinate system of the robotic arm, or the tool coordinate system of the center point of the end effector of the robotic arm) and the table coordinate system. Then, when the teaching trajectory of the teaching tool in the pose acquisition coordinate system is determined, the teaching trajectory of the teaching tool can be converted into the motion trajectory in the table coordinate system through the coordinate system transformation relationship between the two coordinate systems. Then, according to the coordinate transformation relationship between the coordinate system of the robotic arm and the table coordinate system, the parameters of each joint of the robotic arm motion are calculated, and the robotic arm motion is directly driven.

[0060] See Figure 1 As shown, in Figure 1The teaching pendant 100 includes a positioning device 101, a teaching pendant body 102, and a teaching tip 103. The positioning device 101 is fixed to the teaching pendant body 102, and the teaching tip 103 is located at the bottom end of the teaching pendant body 102. In other embodiments, the teaching pendant 100 is also provided with a control button 104, which allows the operator to press to select a teaching position.

[0061] In this embodiment, the positioning device 101 can be fixed to the teaching tool body 102 via a fixed connection or a detachable connection, facilitating disassembly and assembly. Regardless of the connection method, the relative position between the positioning device 101 and the teaching tool body 102 remains fixed throughout a complete teaching process, preventing slippage or loosening. Furthermore, the relative positional relationship between the positioning device 101 and the teaching tool body 102 is known; for example, the positions of the positioning device 101 and the teaching tool body 102 are known and fixed in the spatial coordinate system of the teaching tool 100. In this embodiment, the installation structure information of the teaching tip and the positioning device on the teaching tool body 102 is known.

[0062] In one embodiment of this application, the teaching pendant 100 can be a standalone simulated teaching device, that is, the trajectory points are collected by moving the teaching pendant 100; when the teaching pendant 100 is a simulated teaching device, the positioning device 101 can be fixed to the teaching pendant body 102 in a fixed connection manner. In another embodiment of this application, the teaching pendant 100 can be an existing operating tool on a robotic arm, such as a spray gun, welding gun, glue gun, etc. In this case, the positioning device 101 can be fixed to the teaching pendant body 102 in a detachable manner.

[0063] like Figure 1 As shown in the embodiment of this application, the positioning device 101 is a combination of multiple positioning light spheres, such as... Figure 1 As shown, the positioning sphere is 1011. In one specific embodiment of this application, the positioning sphere 1011 can be an active positioning sphere with a built-in light-emitting device; in another embodiment, the positioning sphere 1011 can also be a passive positioning sphere, with a reflective material disposed on its surface to reflect light. In the embodiments of this application, the positioning sphere assembly includes at least four positioning spheres that are not on the same plane.

[0064] In this embodiment, the pose acquisition system 200 can identify the pose information of the positioning device 101 on the teaching pendant 100. (In conjunction with...) Figure 1The positioning device 101 shown uses a positioning optical sphere, and the pose acquisition system 200 can be a stereo camera, such as a depth camera or motion capture camera. Figure 1 In this embodiment, there is one camera. In other embodiments, in order to improve the accuracy of pose information, the pose acquisition system 200 may also include two or more stereo cameras.

[0065] exist Figure 1 Based on the illustrated embodiments, this application provides a teaching trajectory processing method. This method is used to acquire the teaching trajectory of a teaching pendant during teaching. This method can be applied to... Figure 1 In the teach pendant controller 300 shown, such as Figure 2 As shown, the method may include the following steps S101-S103.

[0066] S101, during the teaching process of the teaching tool, the pose information of the teaching tool at multiple teaching position points is determined.

[0067] During the use of teaching tools, such as Figure 1 As shown, the operator can hold the teaching tool and move it on the operating platform; the teaching is completed during the movement. The teaching position point is the point indicated by the teaching tip of the teaching tool during the movement. In practical applications, a teaching process includes at least two teaching position points.

[0068] In one embodiment of this application, the teaching position point can be a teaching point automatically generated during the teaching process according to a preset teaching point selection method. For example, when the teaching tool moves, the teaching position point is selected according to a fixed frequency or a fixed distance. In specific applications, a teaching position point can be recorded every 5 seconds when the teaching tool moves (the aforementioned frequency of recording once every 5 seconds is just an example; in actual applications, the frequency can be 120 times per second, or 60 Hz / s), or a teaching position point can be recorded every 1 centimeter the teaching tool moves. Those skilled in the art can set different teaching point selection methods as needed in practical applications. For example, when turning a corner, 5 teaching position points can be collected for each turn; or, in the same teaching process, different teaching position point selection methods can be set under different conditions. For example, during straight-line teaching, a teaching position point can be selected every 2 centimeters, and when turning a corner, a teaching position point can be selected every 1 second.

[0069] In another embodiment of this application, the teaching location point can also be a specific location point specified by the operator, see [link to relevant documentation]. Figure 1As shown in the figure, the teaching pendant 100 includes a control button 104. The control button 104 can be a virtual button, such as a touch button on a touch screen, or a physical button, such as a push-button switch or other switch. When the operator moves the teaching pendant to the correct position, pressing the control button 104 will set the point specified by the teaching tip on the teaching pendant at the moment of pressing as the teaching position point.

[0070] See Figure 1 As shown, the pose acquisition system 200 uses a camera to acquire images of the positioning device 101 on the teaching pendant 100, and can determine the position and orientation of the positioning device 101 in the coordinate system of the pose acquisition system. Furthermore, based on the spatial relationship of the positioning light sphere assembly 1011 on the positioning device 101, the position and orientation of the positioning device 101 can be determined. Referring to the foregoing, the relative position between the positioning device 101 and the teaching pendant body 102 is obtained in advance, and the positions of the positioning device 101 and the teaching pendant body 102 in the spatial coordinate system of the teaching pendant 100 are known in advance and remain fixed. Therefore, after acquiring the position and orientation of the positioning device 101, the position and orientation of the teaching pendant 100 can be calculated.

[0071] In this embodiment, pose information refers to the spatial information of the teaching tool in the camera coordinate system, including position information and attitude information. Of course, depending on the coordinate system transformation, pose information can also refer to the spatial information of the teaching tool in the table coordinate system, including position information and attitude information.

[0072] In this embodiment of the application, taking the positioning device as a positioning light ball combination as an example, step S101 may specifically include:

[0073] The positioning information of multiple light spheres in the light sphere assembly of the teaching tool is collected using a pose acquisition system during the teaching process; the pose information of the teaching tool is determined when the light sphere assembly is located based on the collected positioning information of the light sphere assembly.

[0074] S102, using multiple pose information of the teaching tool, determine the pose information of multiple teaching position points.

[0075] When using a teaching pendant for teaching, in order to facilitate accurate indication of the teaching position point, the teaching tip 103 at the bottom of the teaching pendant 100 is usually moved on the operating table 400. At this time, the point where the teaching tip 103 contacts the operating table 400 during movement, or the point indicated by the teaching tip 103 on the operating table (with a small gap between it and the operating table), is the teaching position point.

[0076] In this embodiment, pose information refers to the spatial information of the teaching position point in the camera coordinate system, including position information and attitude information. Of course, depending on the coordinate system transformation, pose information can also refer to the spatial information of the teaching position point in the platform coordinate system, including position information and attitude information.

[0077] S103, based on the pose information of multiple teaching position points, the teaching trajectory corresponding to the teaching process is obtained by fitting according to a preset trajectory fitting method.

[0078] During the teaching process, the teaching position points recorded by the teaching tool as it moves form the basis for the teaching trajectory. However, simply stringing these teaching position points together will result in a trajectory with significant uncertainty. For example, three collected teaching position points on a straight line do not necessarily mean the teaching trajectory is a straight line; it could be an arc, a curve, or other irregular lines. Therefore, although the teaching position points are the foundation for the teaching trajectory, fitting should still be performed according to a pre-defined trajectory fitting method to ensure the relative uniqueness of the teaching trajectory and thus achieve the desired teaching effect.

[0079] In this embodiment of the application, the preset trajectory fitting method includes:

[0080] 1) Trajectory fitting method one: Two teaching position points are used to fit a straight line teaching trajectory, or a joint motion trajectory is generated based on the two teaching position points.

[0081] Specifically: If adopted Figure 1 In the system shown, if there are two teaching locations during a particular teaching demonstration, step S103 may include:

[0082] Based on the pose information of the two teaching positions, the line shape of the teaching trajectory is determined to be a straight line shape, and the straight line teaching trajectory of the two teaching positions is obtained by fitting the straight line shape.

[0083] In this embodiment, the linear teaching trajectory refers to the straight line between the two teaching position points. See also... Figure 10 As shown in the figure, when the teaching tool is in the first teaching position, the time is T1 and the teaching position point is A; then it moves, and when it moves to a certain position, the time is T2 and the teaching position point is B. Then, the corresponding teaching trajectory line is the straight line segment indicated by 502.

[0084] The joint motion trajectory mainly specifies the path for the robotic arm to move arbitrarily between two designated points; it drives the rotation of each joint of the robotic arm so that the end effector of the robotic arm can move from the first taught position point to another taught position point along the fastest or most convenient path. In this embodiment, the joint motion trajectory of the robotic arm can also be generated based on the real-time state of each joint of the robotic arm and the two taught points.

[0085] 2) Trajectory fitting method two: Three teaching position points are used to fit a circular arc-shaped teaching trajectory.

[0086] Specifically, in a particular teaching process, if there are three teaching locations, step S103 may include:

[0087] Based on the pose information of the three teaching position points, the line shape of the teaching trajectory is determined to be an arc shape, and the arc-shaped teaching trajectory where the three teaching position points are located is obtained by fitting the arc shape.

[0088] In this embodiment, the arc-shaped teaching trajectory refers to the arc where all three teaching points are located. See [link / reference]. Figure 13 As shown in the figure, when the teaching tool is in the first teaching position, the time is T1 and the teaching position point is A; then it moves, and when it moves to a certain position, the time is T2 and the teaching position point is B; then it moves, and when it moves to the next position, the time is T3 and the teaching position point is C. Accordingly, the teaching trajectory line is the arc segment indicated by 502, which is a curve segment on the arc where the teaching position points A, B and C are located.

[0089] 3) Trajectory fitting method three: Four teaching position points, fitting curve teaching trajectory.

[0090] Specifically, during a teaching demonstration, if there are at least four teaching locations, step S103 may include:

[0091] Based on the pose information of the four teaching position points, the line shape of the teaching trajectory is determined to be a curved line shape, and the curved teaching trajectory of at least four teaching position points is obtained by fitting the curved line shape.

[0092] In this embodiment, the curve teaching trajectory refers to the trajectory of a spline curve shape, see [link to relevant documentation]. Figure 19As shown in the figure, when the teaching tool is in the first posture, the time is T1 and the teaching position point is A; then it moves, and when it moves to a certain position, the time is T2 and the teaching position point is B; then it moves again, and when it moves to the next posture, the time is T3 and the teaching position point is C; then it moves again, and when it moves to the next posture, the time is T4 and the teaching position point is D. Accordingly, the teaching trajectory line is the curve segment indicated by 502, which is the spline curve segment where the teaching position points A, B, C and D are located.

[0093] The trajectory processing method provided in this application embodiment allows operators to directly manipulate a teaching tool for movement teaching during trajectory teaching. During the teaching process, the pose information of the teaching tool at multiple teaching position points is determined. Using this pose information, the pose information of multiple teaching position points is determined. Based on the pose information of the multiple teaching position points, a teaching trajectory corresponding to the teaching process is fitted according to a preset trajectory fitting method. Specifically, when there are two teaching position points, the line type of the teaching trajectory is determined to be a straight line, and a straight teaching trajectory for the two teaching position points is fitted based on the straight line type. When there are three teaching position points, the line type of the teaching trajectory is determined to be an arc shape, and an arc-shaped teaching trajectory for the three teaching position points is fitted based on the arc shape. When there are at least four teaching position points, the line type of the teaching trajectory is determined to be a curve shape, and a curve teaching trajectory for at least four teaching position points is fitted based on the curve shape.

[0094] By applying the trajectory processing method provided in this application embodiment, the operator only needs to move the teaching tool to obtain the corresponding teaching trajectory. The operation is simple and convenient. Through this trajectory processing method, there is no need to perform complex programming work, thereby expanding the application scenarios of the robot and improving the ease of use and efficiency of the robot.

[0095] An example:

[0096] exist Figure 1 Based on the embodiments shown, this application provides a teaching trajectory processing method. This method is used to acquire the teaching trajectory of a teaching pendant during teaching. This method can be applied to... Figure 1 In the teach pendant controller 300 shown, such as Figure 3 As shown, the method may include the following steps S201-S206.

[0097] S201, upon receiving a teaching start signal, the pose acquisition system is controlled to acquire the positioning device on the teaching tool according to a preset acquisition frequency during the teaching process.

[0098] In this embodiment of the application, the teaching start signal refers to the trigger signal that indicates the start of the current teaching process. In one case, the teaching start signal can be triggered by the control button 104. Specifically, when the operator starts teaching, he / she presses the control button 104 on the teaching tool 100, and then the teaching tool sends the pressing signal of the control button 104 to the pose acquisition system 200 or the processor 300 as the teaching start signal.

[0099] In another scenario, the teaching start signal can also be a movement detection signal of the teaching tool. Specifically, the teaching tool is equipped with a displacement sensor, and the movement signal sensed by the displacement sensor is used as the teaching start signal. Alternatively, the pose acquisition system can be used to detect whether the pose of the teaching tool has changed, and the signal of the pose change is used as the teaching start signal.

[0100] In another scenario, the teaching start signal can also be an operation signal on the teaching pendant controller. Specifically, the operator clicks the "Start" button on the teaching pendant controller using a mouse / keyboard / button, and the teaching pendant controller receives the click operation and uses it as the teaching start signal. Alternatively, the operator can input a start command into the teaching pendant controller via a button, graphical user interface, or voice command as the teaching start signal.

[0101] When a teaching start signal is received, in this embodiment, data can be collected at a fixed frequency. This preset frequency can be freely set according to different teaching procedures, but it is generally related to the movement speed of the teaching procedure. For example, when teaching procedures with faster movement speeds, the frequency can be set higher. For instance, during spraying, the spray gun moves quickly, so the frequency can be 1 second interval, meaning that during spraying teaching, a signal can be collected once every 1 second. Conversely, when teaching procedures with slower movement speeds, the frequency can be set lower. For instance, during glue application, the glue gun moves slowly, so the frequency can be 3 seconds interval, meaning that during glue application teaching, a signal can be collected once every 3 seconds.

[0102] In this embodiment of the application, the information collected by the positioning device may be image information of the positioning sphere on the positioning device captured by the camera, as well as the time of shooting, etc.

[0103] S202, upon receiving the teaching end signal, the pose acquisition system is controlled to stop acquiring the information acquired by the positioning device.

[0104] Referring to the aforementioned description of the teaching start signal, the corresponding teaching end signal can be another signal that corresponds one-to-one with the teaching start signal. For example, if the teaching start signal is triggered by pressing and holding the control button 104, then the teaching end signal can be triggered by releasing the control button 104.

[0105] If the teaching start signal is triggered by clicking the control button 104, then the teaching end signal can be triggered by clicking the control button 104 again.

[0106] If the movement signal sensed by the displacement sensor (not shown in the figure) is used as the teaching start signal, then the stop of movement sensed by the displacement sensor or the stop of movement exceeding a preset time threshold (such as 5 seconds) is used as the teaching stop signal.

[0107] If the signal from the pose acquisition system that detects the pose change of the teaching tool is used as the teaching start signal, then the stop of pose change of the teaching tool detected by the pose acquisition signal or the stop of pose change exceeding a preset time threshold (such as 6 seconds) is used as the teaching stop signal.

[0108] If the teaching start signal is the click operation signal of clicking the "Start" button on the teaching controller, then the teaching stop signal can be the click operation signal of clicking the "Stop" button.

[0109] If the operator inputs a start command into the teach pendant controller via a button, graphical user interface, or voice command as the teach start signal, then the teach stop signal can also be the operator inputting an end command into the teach pendant controller via a button, graphical user interface, or voice command as the teach end signal.

[0110] In other embodiments of this application, the teaching start signal and the teaching end signal may not be in a one-to-one correspondence. For example, the teaching start signal may be triggered by clicking the control button 104, and the teaching end signal may be a click operation signal of clicking the "stop" button on the teaching controller, or the displacement sensor may detect the stop of movement or the stop of movement exceeding a preset time threshold (such as 5 seconds). This application does not limit this, and other ways of setting the teaching start signal and teaching end signal based on this are all within the protection scope of this application.

[0111] S203, the position of the teaching tip on the teaching tool corresponding to each piece of collected information is determined as the teaching position point.

[0112] S204, based on the installation structure information, convert all the acquired information collected by the pose acquisition system into pose information of the teaching position point corresponding to the teaching tip.

[0113] Installation structure information refers to the spatial information of the teaching pendant in its tool coordinate system. In the tool coordinate system, the positions of the positioning device, the main body of the teaching pendant, and the teaching tip are known in advance and remain fixed. That is, the relative positional relationships of the various parts of the teaching pendant are known in advance. Once the acquisition information of the positioning device is determined, the pose information of the teaching position point corresponding to the teaching tip can be obtained by using the relative positional relationships of the various parts in the tool coordinate system.

[0114] S205, using the multiple pose information of the teaching tool, determine the pose information of multiple teaching position points.

[0115] Each pose information of the teaching tool can represent the teaching tool passing through a teaching position point. Accordingly, the pose information of a teaching position point can be calculated based on each pose information of the teaching operation.

[0116] S206, Based on the pose information of multiple teaching position points, the teaching trajectory corresponding to the teaching process is obtained by fitting according to a preset trajectory fitting method.

[0117] For a detailed description of steps S205 and S206, please refer to the foregoing. Figure 2 In the illustrated embodiment, the detailed description of steps S102 and S103 will not be repeated here.

[0118] The method provided in this application embodiment triggers the operation only at the beginning and end of the teaching process. During the intermediate teaching process, signals are collected according to a set frequency or method. This method is suitable for a complete teaching process or a longer teaching process, where the operator does not need to perform any operation during the teaching process, but only needs to control the operation at the beginning and end.

[0119] An example:

[0120] exist Figure 1 Based on the embodiments shown, this application provides a teaching trajectory processing method. This method is used to acquire the teaching trajectory of a teaching pendant during teaching. This method can be applied to... Figure 1 In the teach pendant controller 300 shown, such as Figure 4 As shown, the method may include the following steps S301-S306.

[0121] S301, during the teaching process of the teaching tool, detect whether a data acquisition trigger signal has been received.

[0122] In the foregoing Figure 14In the illustrated embodiment, the teaching process is monitored only at the beginning and end of the teaching phases. During the intermediate teaching process, signals are collected according to a set frequency or method. This approach is suitable for a complete teaching process or a longer teaching process, where the operator does not need to perform any operations during the teaching process, but only needs to control the process at the beginning and end.

[0123] However, for some teaching processes that require micro-manipulation or are not continuous and last for a long time, if the following methods are adopted... Figure 3 The method described above would require frequent starting and stopping, resulting in a very disjointed and inconvenient operation. Therefore, in this embodiment, triggering is no longer performed at the beginning of the teaching phase; instead, data is collected as needed during the teaching process. Furthermore, in this step, the first step is to detect whether a trigger signal has been collected.

[0124] The trigger signal here can be of various types. For example, it can be the pressing operation of the control button 104 on the teaching pendant, the pressing operation of the "acquisition" button on the teaching controller, or a fixed posture of the teaching pendant. For example, when the teaching pendant is placed vertically, the signal when it is placed vertically is used as the trigger signal.

[0125] S302, if a collection trigger signal is received, the pose recognition system is controlled to collect the collection information of the positioning device on the teaching tool during the teaching process; the collection information corresponds one-to-one with the collection trigger signal.

[0126] When a data acquisition trigger signal is received, it indicates that the position of the teaching tip on the teaching tool at that moment is a teaching position point that needs to be recorded. Therefore, the pose recognition system is used to collect the data acquisition information from the positioning device on the teaching tool.

[0127] S303, the position of the teaching tip on the teaching tool corresponding to each piece of collected information is determined as the teaching position point.

[0128] S304, based on the installation structure information, convert all the acquired information collected by the pose acquisition system into pose information of the teaching position point corresponding to the teaching tip.

[0129] Installation structure information refers to the spatial information of the teaching pendant in its tool coordinate system. In the tool coordinate system, the positions of the positioning device, the main body of the teaching pendant, and the teaching tip are known in advance and remain fixed. That is, the relative positional relationships of the various parts of the teaching pendant are known in advance. Once the acquisition information of the positioning device is determined, the pose information of the teaching position point corresponding to the teaching tip can be obtained by using the relative positional relationships of the various parts in the tool coordinate system.

[0130] S305, using the multiple pose information of the teaching tool, determine the pose information of multiple teaching position points.

[0131] Each pose information of the teaching tool can represent the teaching tool passing through a teaching position point. Accordingly, the pose information of a teaching position point can be calculated based on each pose information of the teaching operation.

[0132] S306, Based on the pose information of multiple teaching position points, the teaching trajectory corresponding to the teaching process is obtained by fitting according to a preset trajectory fitting method.

[0133] For a detailed description of steps S305 and S306, please refer to the foregoing. Figure 2 In the illustrated embodiment, the detailed description of steps S102 and S103 will not be repeated here.

[0134] The method provided in this application embodiment can achieve refined management during teaching. When the operator operates the teaching tool to teach, and when it is necessary to record the point corresponding to the current posture as the teaching position point, the operator can directly operate the trigger signal to collect and record the posture, which can make the teaching process more flexible and convenient.

[0135] An example:

[0136] Figure 5 This is a schematic diagram of a robotic arm teaching system provided in an embodiment of this application.

[0137] exist Figure 5 In this design, 400 is the work surface, 100 is the teaching pendant, 200 is the pose acquisition system, and 300 is the teaching controller. The work surface 400 can be a platform on which parts or equipment to be processed are placed. The teaching pendant 100 can move or be operated on the surface of the work surface 400 under the control of an operator. The pose acquisition system 200 is located above the work surface 400 and is used to identify the pose information of the teaching pendant 100. The teaching controller 300 has a processor and can communicate with the pose acquisition system 200 to receive pose information sent by the pose acquisition system 200. In some embodiments, the teaching pendant 100 also has some control buttons (such as…). Figure 5 In order to obtain the control information of these control buttons, the teach pendant controller 300 may optionally also be communicatively connected to the teach pendant 100 to receive the control information sent by the teach pendant 100.

[0138] See Figure 5 As shown, in Figure 5The teaching pendant 100 includes a positioning device 101, a teaching pendant body 102, and a teaching tip 103. The positioning device 101 is fixed to the teaching pendant body 102, and the teaching tip 103 is located at the bottom end of the teaching pendant body 102. In other embodiments, the teaching pendant 100 is also provided with a control button 104, which allows the operator to press to select a teaching position.

[0139] In this embodiment, the positioning device 101 can be fixed to the teaching tool body 102 by a fixed connection or by a detachable connection, which facilitates disassembly and assembly. However, regardless of the connection method, the relative position between the positioning device 101 and the teaching tool body 102 is fixed during a complete teaching process, and there should be no sliding or loosening. Furthermore, the relative positional relationship between the positioning device 101 and the teaching tool body 102 needs to be known in advance. For example, the positions of the positioning device 101 and the teaching tool body 102 in the spatial coordinate system of the teaching tool 100 are known in advance and remain fixed.

[0140] In one embodiment of this application, the teaching pendant 100 can be a standalone simulated teaching device, that is, the trajectory points are collected by moving the teaching pendant 100; when the teaching pendant 100 is a simulated teaching device, the positioning device 101 can be fixed to the teaching pendant body 102 in a fixed connection manner. In another embodiment of this application, the teaching pendant 100 can be an existing operating tool on a robotic arm, such as a spray gun, welding gun, glue gun, etc. In this case, the positioning device 101 can be fixed to the teaching pendant body 102 in a detachable manner.

[0141] like Figure 5 as well as Figure 6 As shown in the embodiment of this application, the positioning device 101 is a calibration plate, such as... Figure 7 and Figure 8 As shown, calibration graphics can be set on the calibration plate. The calibration graphics can be regular block graphics or dot matrix graphics, and the points in the blocks or dot matrix of the calibration graphics are positioning points.

[0142] In this embodiment, the pose acquisition system 200 can identify the pose information of the positioning device 101 on the teaching pendant 100. (In conjunction with...) Figure 5 The positioning device 101 shown uses a calibration plate, and the pose acquisition system 200 can be a planar camera. Figure 5 In this embodiment, there is one depth camera. In other embodiments, to improve the accuracy of pose information, the pose acquisition system 200 may also include two or more planar cameras. For example... Figure 6As shown, the teaching tool body 102 is perpendicular to the calibration plate of the positioning device 101. Furthermore, in this embodiment of the invention, there are no limitations on the area of ​​the calibration plate, the length of the teaching tool body 102, or the proportional relationship between the side length of the calibration plate and the length of the teaching tool body 102; those skilled in the art can freely set these parameters as needed.

[0143] In this embodiment of the application, in order to improve the range of trajectory acquisition, a shooting distance is set between the pose acquisition system 200 and the operating table 400, such as... Figure 5 As shown, there is a height difference between the pose acquisition system 200 and the operating table 400, so that the operating table 400 can be located within the shooting range of the pose acquisition system 200. Depending on the actual focal length of the pose acquisition system 200, the shooting range of the pose acquisition system 200 can cover part or all of the area on the operating table 400. In one embodiment, the shooting range of the pose acquisition system 200 covers the entire area of ​​the operating table 400; in another embodiment, an effective operating area is provided on the operating table 400, the area of ​​which is smaller than the entire area of ​​the operating table 400, so that the shooting range of the pose acquisition system 200 only needs to cover this effective operating area.

[0144] exist Figure 6 Based on the embodiments shown, this application provides a teaching trajectory processing method. This method is used to acquire the teaching trajectory of a teaching pendant during teaching. This method can be applied to... Figure 6 In the teach pendant controller 300 shown, such as Figure 2 As shown, the method may include the following steps S101-S103.

[0145] S101, during the teaching process of the teaching tool, the pose information of the teaching tool at multiple teaching position points is determined.

[0146] During the use of teaching tools, such as Figure 1 As shown, the operator can hold the teaching pendant and move it on the operating platform; the teaching process is completed during the movement. The teaching position point is the point indicated by the teaching pendant during the movement. In practical applications, a teaching process includes at least two teaching position points.

[0147] See Figure 1As shown, the pose acquisition system 200 uses a camera to acquire a planar image of the positioning device 101 on the teaching pendant 100, and can determine the position of the positioning device 101 in the camera coordinate system within the pose acquisition system's coordinate system. In a specific implementation, the camera of the pose acquisition system 200 faces the operating table, the teaching pendant moves on the operating table, and the camera acquires an image including the calibration plate. There are two acquisition methods: the first is to control the camera to directly capture an image; the second is to control the camera to capture video in real time and extract at least one frame from the camera's video stream to obtain the captured image.

[0148] Furthermore, based on the coordinates of each positioning point in the positioning plate image on the positioning device 101 in the camera coordinate system of the planar camera, and then based on the spatial coordinates of the positioning points in the coordinate system of the teaching pendant and their coordinates in the camera coordinate system, the pose information of the positioning device 101 is obtained. As mentioned above, the relative position between the positioning device 101 and the teaching pendant body 102 is obtained in advance, and the positions of the positioning device 101 and the teaching pendant body 102 in the spatial coordinate system of the teaching pendant 100 are known in advance and remain fixed. Therefore, when the pose of the positioning device 101 is acquired, the pose information of the teaching pendant 100 can be calculated.

[0149] In this embodiment, pose information refers to the spatial information of the teaching tool in the camera coordinate system, including position information and attitude information. Of course, depending on the coordinate system transformation, pose information can also refer to the spatial information of the teaching tool in the table coordinate system, including position information and attitude information.

[0150] In this embodiment of the application, taking the positioning device as a positioning light ball combination as an example, step S101 may specifically include:

[0151] The pose acquisition system is used to acquire image information of multiple teaching images of the two-dimensional teaching board during the teaching process; the pose information of the teaching tool is calculated based on the image information at the position corresponding to each teaching image.

[0152] S102, using multiple pose information of the teaching tool, determine the pose information of multiple teaching position points.

[0153] Each pose information of the teaching tool can represent the teaching tool passing through a teaching position point. Accordingly, the pose information of a teaching position point can be calculated based on each pose information of the teaching operation.

[0154] S103, based on the pose information of multiple teaching position points, the teaching trajectory corresponding to the teaching process is obtained by fitting according to a preset trajectory fitting method.

[0155] The trajectory processing method provided in this application embodiment allows operators to directly manipulate a teaching tool for movement teaching during trajectory teaching. During the teaching process, the pose information of the teaching tool at multiple teaching position points is determined. Using this pose information, the pose information of multiple teaching position points is determined. Based on the pose information of the multiple teaching position points, a teaching trajectory corresponding to the teaching process is fitted according to a preset trajectory fitting method. Specifically, when there are two teaching position points, the line type of the teaching trajectory is determined to be a straight line, and a straight teaching trajectory for the two teaching position points is fitted based on the straight line type, or a joint motion trajectory is generated based on the two teaching position points. When there are three teaching position points, the line type of the teaching trajectory is determined to be an arc, and an arc teaching trajectory for the three teaching position points is fitted based on the arc type. When there are at least four teaching position points, the line type of the teaching trajectory is determined to be a curve, and a curve teaching trajectory for at least four teaching position points is fitted based on the curve type.

[0156] By applying the trajectory processing method provided in this application embodiment, the operator only needs to move the teaching tool to obtain the corresponding teaching trajectory. The operation is simple and convenient. Through this trajectory processing method, there is no need to perform complex programming work, thereby expanding the application scenarios of the robot and improving the ease of use and efficiency of the robot.

[0157] An example:

[0158] exist Figure 1 Based on the embodiments shown, this application provides a teaching trajectory processing method. This method is used to acquire the teaching trajectory of a teaching pendant during teaching. This method can be applied to... Figure 1 In the teach pendant controller 300 shown, such as Figure 21 As shown, the method may include the following steps S101-S105.

[0159] S101, during the teaching process of the teaching tool, the pose information of the teaching tool at multiple teaching position points is determined.

[0160] S102, using multiple pose information of the teaching tool, determine the pose information of multiple teaching position points.

[0161] S103, based on the pose information of multiple teaching position points, the teaching trajectory corresponding to the teaching process is obtained by fitting according to a preset trajectory fitting method.

[0162] For a detailed description of steps S101 and S103, please refer to the foregoing. Figure 2In the illustrated embodiment, detailed descriptions of steps S101 and S103 will not be repeated here.

[0163] S104, Collect the set of process parameters corresponding to the process operation performed by the teaching tool at at least one teaching position point, wherein the set of process parameters includes process parameters of at least one process type.

[0164] In practical applications, when using a machining tool on a robotic arm as a teaching tool, in addition to recording the teaching position point, the parameters corresponding to some operations performed by the machining tool at that teaching position point are also recorded. During teaching, the process operations at each teaching position point can be the same or different; generally, some detailed parameters of the process operations differ at different teaching position points. In this embodiment, all parameters corresponding to the process operations are considered as a process parameter set. Taking the spraying process as an example, the process parameter set may include: spraying volume, spraying speed, spraying material, etc. Taking dispensing as an example, the process parameter set may include: dispensing pressure, dispensing duration, dispensing delay time, etc.

[0165] By recording the process parameter set, after the teaching is completed, the teaching process can be completely reproduced when performing real operations using the teaching process in the future, making the teaching process simpler and more accurate.

[0166] S105, based on the correspondence between each set of process parameters and its corresponding teaching position point, fit the set of process parameters of at least one teaching position point into the teaching trajectory to obtain the process teaching trajectory.

[0167] Because the teaching tool may correspond to different process operations at different teaching positions, at different times, and on different processing equipment during its movement, the process parameter set and the teaching position point must have a one-to-one correspondence in order to perform actual operations based on the data recorded during the teaching process. Otherwise, the positions and process parameter sets will be confused. In this step, the process parameters are fitted to the teaching trajectory based on the correspondence between the process parameter set and its corresponding teaching position point. This ensures that the resulting process teaching trajectory includes not only the teaching trajectory line of the teaching position point but also the process parameter set at each teaching position point.

[0168] In one embodiment of this application, the aforementioned step S104 may specifically be:

[0169] The pose acquisition system acquires the acquisition information at a preset acquisition frequency, records the acquisition order of the teaching position point when the teaching tool has any process operation, and records the process parameter set corresponding to the process operation; and establishes the order correspondence between the acquisition information and the process parameter set according to the acquisition order.

[0170] See Figure 3 In the illustrated embodiment, this method can begin counting each acquisition process after receiving a teaching start signal, and use the counting result as the acquisition order. For example, after receiving the teaching start signal, the acquisition information from the positioning device on the teaching tool is acquired every 5 seconds. The acquisition order for the first 5 seconds is M001, the acquisition order for the second 5 seconds is M002, and so on, until a teaching stop signal is received. Each acquisition order corresponds to acquisition information and a set of process parameters, so a sequential correspondence between the acquisition information and the set of process parameters can be established based on the acquisition order.

[0171] Accordingly, the aforementioned step S105 can specifically be:

[0172] Based on the order correspondence between the collected information and the process parameter set, each of the obtained process parameter sets is fitted to the corresponding teaching position point in the teaching trajectory to obtain the process teaching trajectory.

[0173] In another embodiment of this application, the aforementioned step S104 may specifically be:

[0174] When collecting the information after receiving the collection trigger signal, it is detected whether there is a process operation; if there is a process operation, the process parameter set corresponding to the process operation is recorded; and a time correspondence is established between the process parameter set recorded at the current time and the collection information collected at the current time.

[0175] See Figure 4 In the embodiment shown, the method can start collecting information from the positioning device on the teaching tool only when a collection trigger signal is detected. Therefore, the collection time is random. Thus, when establishing the correspondence, upon receiving the collection trigger signal, it is determined whether there is a process operation. If so, the process parameter set and collection information are recorded simultaneously, and a time correspondence is established.

[0176] Accordingly, the aforementioned step S105 can specifically be:

[0177] Based on the time correspondence between the process parameters and the collected information, all the obtained process parameter sets are fitted to the corresponding teaching position points in the teaching trajectory to obtain the process teaching trajectory.

[0178] The method provided in this application embodiment can not only record the teaching trajectory during the teaching process, but also form a process teaching trajectory containing the teaching location point and the process parameter set by recording the process operation corresponding to each teaching location point during the teaching process. Then, when performing real operations based on the process teaching trajectory, the teaching location point and the process operation at each teaching location point can be restored simultaneously, which is more intelligent and makes the teaching process simpler and more convenient.

[0179] An example

[0180] Based on any of the foregoing method embodiments, after fitting the teaching trajectory corresponding to the teaching process according to the pose information of multiple teaching position points, the method may further include the following steps:

[0181] The teaching trajectory is shown.

[0182] In one embodiment, the teaching trajectory can be displayed on a graphical user interface in the display screen of the teaching controller. In other embodiments, if the teaching controller does not have a display screen, but is connected to a separate display screen, the teaching trajectory can also be displayed on a graphical user interface in the separate display screen.

[0183] The teaching trajectory can be a single line graph, or it can be a diagram containing line graphs and other schematic diagrams, for example: Figures 9-20 As shown.

[0184] There are many ways to demonstrate this, and this application only provides some examples.

[0185] In one embodiment, the method may include the following steps:

[0186] S401, after fitting the teaching trajectory corresponding to the teaching process based on the pose information of multiple teaching position points, the teaching trajectory is displayed in a preset schematic display mode; and the pose information of other teaching position points is continuously detected.

[0187] In one embodiment of this application, the preset schematic display method includes at least: non-solid line display, light color display, first display color and / or thin line display.

[0188] like Figure 9 As shown, Figure 9 In this process, teaching is performed by acquiring trigger signals. At the first pose of the teaching tool at time T1, control button 104 is pressed, and teaching position point A is recorded. Then, the teaching tool moves to the second pose at time T2, and control button 104 is pressed again, recording teaching position point B. Since there may be other teaching position points subsequently, ... Figure 9In the diagram, the teaching trajectory between teaching point A and teaching point B is shown as a dashed line, also known as the schematic trajectory line 501.

[0189] S402, If no pose information of other teaching position points is detected, the teaching trajectory is switched from the preset schematic display mode to the teaching display mode to display the teaching trajectory.

[0190] In this embodiment of the application, in step S401, when detecting the pose information of other teaching position points, a time threshold can be added. If the time threshold is exceeded and no detection is performed, then step S402 is executed directly.

[0191] Based on any of the foregoing method embodiments, after fitting the teaching trajectory corresponding to the teaching process according to the pose information of multiple teaching position points, the method may further include the following steps:

[0192] S501, if the pose information of two teaching position points is detected, the straight teaching trajectory of the two teaching position points is pre-fitted in the background according to the straight line shape corresponding to the two teaching position points; the straight teaching trajectory is displayed in a preset schematic display mode, and the pose information of the third teaching position point is continuously detected.

[0193] like Figure 10 As shown, when only two points A and B are determined, the schematic trajectory line 501 can be switched to the teaching display mode.

[0194] The teaching display method described in the embodiments of this application includes at least: solid line display; dark color display; second display color and / or thick line display.

[0195] In this embodiment of the application, since the meaning of the schematic trajectory line 501 is still uncertain, the schematic trajectory line is distinguished from the actual teaching trajectory line. For example, the schematic trajectory line can be a non-solid line, while the teaching trajectory line is a solid line; or, the schematic trajectory line can be a light color, while the teaching trajectory line is a dark color; or, the schematic trajectory line is red, while the teaching trajectory line is blue; or, the schematic trajectory line is a thin line, while the teaching trajectory line is a thick line.

[0196] For a better demonstration of the transition effect, please refer to Figure 11 As shown, the left side of the arrow shows the screen before the switch, and the right side shows the screen after the switch. The left side shows the preset demonstration mode, and the right side shows the teaching demonstration mode. Figure 11 As can be seen, the schematic trajectory line 501 is a dashed line, while the teaching trajectory line 502 is a solid line.

[0197] S502, if the pose information of the third teaching position point is not detected, the straight teaching trajectory is switched to the teaching display mode to display the teaching trajectory.

[0198] S503, if the pose information of the third teaching position point is detected, the arc teaching trajectory of the three teaching position points is obtained in the background by fitting the arc shape corresponding to the three teaching position points; the arc teaching trajectory is displayed in a preset schematic display mode, and the pose information of the fourth teaching position point is continuously detected.

[0199] S504, if the pose information of the fourth teaching position point is not detected, the circular arc teaching trajectory is switched to the teaching display mode to display the teaching trajectory.

[0200] See Figure 15 As shown, when the teaching tool determines the three teaching position points A, B, and C, a schematic trajectory line in the shape of an arc containing A, B, and C is generated, and the three teaching position points are represented by dashed lines. At this point, the operator may select a fourth point, so... Figure 12 The dashed lines in the diagram are for illustrative purposes only. Once it is determined that there are only three teaching locations (A, B, and C), then refer to... Figure 13 As shown, the schematic trajectory line 501 is switched to the teaching trajectory line 502. Additionally, to make the arc containing ABC more intuitive and visual, it can also be... Figure 14 As shown, the entire arc containing ABC is represented by dashed lines, as shown below. Figure 14 Extended schematic line 503 in the diagram.

[0201] For a better demonstration of the transition effect, please refer to Figure 15 As shown, the left side is a schematic trajectory line with a straight line connecting AB and a dashed line when only the two teaching position points AB are determined. Once the teaching position point C is determined, the schematic trajectory line is changed from a straight line to an arc shape and a dashed line.

[0202] S505, if the pose information of the fourth teaching position point is detected, the curve teaching trajectory of the four teaching position points is pre-fitted in the background according to the curve line type corresponding to the four teaching position points; the curve teaching trajectory is displayed in a preset schematic display mode, and the pose information of other teaching position points is continuously detected.

[0203] S506, if no pose information of other teaching positions is detected, the curve teaching trajectory is switched to teaching display mode until no pose information of other teaching positions is detected.

[0204] like Figure 20As shown, after detecting three teaching position points A, B, and C, it is necessary to determine whether there is a fourth teaching position point. If there is a fourth teaching position point, then display... Figure 18 The schematic trajectory line 501 shown by the dashed line is in Figure 18 Based on the above, if no other points are detected, then Figure 18 The trajectory line 501 in the diagram changes from a dashed line to a solid line, as shown below. Figure 19 As shown.

[0205] In addition, for a better demonstration of the transition effect, see Figure 16 As shown, in Figure 16 In the process, when two teaching positions A and B are determined, the operator may move the teaching pendant to select a better teaching position C. Before determining C, the operator may first place the teaching tip of the teaching pendant at point C1, which will directly indicate the trajectory of the arc shape containing ABC1. If the operator does not select point C1 but moves the teaching pendant to point C3, the trajectory of the arc shape containing ABC3 will be directly indicated. If the operator does not select point C3 but moves the teaching pendant to point C, the trajectory of the arc shape containing ABC will be directly displayed.

[0206] See Figure 22 This application provides a teaching trajectory processing device, which includes units for executing the teaching method described in any of the above embodiments. Specifically, the teaching trajectory processing device includes a first pose information determination unit 11, a second pose information determination unit 12, and a teaching trajectory fitting unit 13.

[0207] The first pose information determination unit 11 is used to determine the pose information of the teaching tool at multiple teaching position points during the teaching process of the teaching tool;

[0208] The second pose information determination unit 12 is used to determine the pose information of multiple teaching position points using multiple pose information of the teaching tool;

[0209] The teaching trajectory fitting unit 13 is used to fit the teaching trajectory corresponding to the teaching process according to the pose information of multiple teaching position points and a preset trajectory fitting method.

[0210] When there are two teaching position points, the teaching trajectory fitting unit 13 determines that the line shape of the teaching trajectory is a straight line shape, and obtains the straight line teaching trajectory where the two teaching position points are located based on the straight line shape, or generates the joint motion trajectory based on the two teaching position points.

[0211] When there are three teaching position points, the teaching trajectory fitting unit 13 determines that the line shape of the teaching trajectory is an arc line shape, and obtains the arc teaching trajectory where the three teaching position points are located based on the arc line shape fitting.

[0212] When there are at least four teaching position points, the teaching trajectory fitting unit 13 determines that the line type of the teaching trajectory is a curved line type, and obtains the curved teaching trajectory where at least four teaching position points are located based on the curved line type.

[0213] See Figure 23 This application provides a robotic arm, which includes units for performing the teaching method described in any of the above embodiments. Specifically, the robotic arm includes a first pose information determination unit 11, a second pose information determination unit 12, and a teaching trajectory fitting unit 13.

[0214] The first pose information determination unit 11 is used to determine the pose information of the teaching tool at multiple teaching position points during the teaching process of the teaching tool;

[0215] The second pose information determination unit 12 is used to determine the pose information of multiple teaching position points using multiple pose information of the teaching tool;

[0216] The teaching trajectory fitting unit 13 is used to fit the teaching trajectory corresponding to the teaching process according to the pose information of multiple teaching position points and a preset trajectory fitting method.

[0217] When there are two teaching position points, the teaching trajectory fitting unit 13 determines that the line shape of the teaching trajectory is a straight line shape, and obtains the straight line teaching trajectory where the two teaching position points are located based on the straight line shape, or generates the joint motion trajectory based on the two teaching position points.

[0218] When there are three teaching position points, the teaching trajectory fitting unit 13 determines that the line shape of the teaching trajectory is an arc line shape, and obtains the arc teaching trajectory where the three teaching position points are located based on the arc line shape fitting.

[0219] When there are at least four teaching position points, the teaching trajectory fitting unit 13 determines that the line type of the teaching trajectory is a curved line type, and obtains the curved teaching trajectory where at least four teaching position points are located based on the curved line type.

[0220] like Figure 24 As shown in the figure, this application embodiment provides a robotic arm control device, including a processor 111, a communication interface 112, a memory 113, and a communication bus 114, wherein the processor 111, the communication interface 112, and the memory 113 communicate with each other through the communication bus 114.

[0221] Memory 113 is used to store computer programs;

[0222] In one embodiment of this application, when the processor 111 executes the program stored in the memory 113, it implements the steps of the teaching trajectory processing method provided in any of the foregoing method embodiments.

[0223] This application also provides a computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements the steps of the teaching trajectory processing method provided in any of the foregoing method embodiments.

[0224] This application also provides a robotic arm teaching system, such as... Figure 1 and Figure 5 As shown, it includes: a teaching tool 100, a positioning device 101, a pose acquisition system 200, and a teaching controller 300, wherein,

[0225] The teaching tool 100 is equipped with a positioning device 101 that can be used to identify the pose of the pose acquisition system 200; the pose acquisition system 200 is communicatively connected to the teaching controller; the teaching controller is used to execute the steps of the teaching trajectory processing method as described in any of the foregoing method embodiments.

[0226] Optionally, such as Figure 1 and Figure 5 As shown, the teaching tool 100 is provided with a teaching tip 103, and the installation structure information of the teaching tip 103 and the positioning device 101 is known.

[0227] Optionally, the robotic arm teaching system also includes control buttons, such as... Figure 1 and Figure 5 As shown, the control button 104 is located on the teaching tool, or the control button is independent of the teaching tool (not shown in the figure).

[0228] The control button 104 is communicatively connected to the teaching controller 300, and the control button 104 is used to send a data acquisition trigger signal to the teaching controller.

[0229] Optionally, the robotic arm teaching system further includes a start / stop button (not shown in the figure), which is connected to the pose acquisition system and is used to send a teaching start signal or a teaching end signal to the pose acquisition system.

[0230] like Figure 25 As shown, this application embodiment also provides a robotic arm control system, including: a robotic arm 500, an operating table, a robotic arm teaching controller 600, and the robotic arm teaching system of any of the foregoing embodiments, wherein,

[0231] The robotic arm 500 is fixed to the operating table, which includes an operating table body (not shown in the figure) and an operating table surface 400. The robotic arm controller 600 can drive the robotic arm 500 to move on the operating table surface 400 of the operating table, that is, the robotic arm 500 can move on the operating table surface 400 of the operating table under the control of the robotic arm controller 600.

[0232] The robotic arm teaching system includes: a teaching tool 100, a positioning device 101, a pose acquisition system 200, and a teaching controller 300, wherein...

[0233] The acquisition range of the pose acquisition system 200 can cover the operating surface 400 of the operating table. Regarding the positional relationship between the pose acquisition system 200 and the operating table, in one feasible embodiment, the pose acquisition system 200 can be fixed to the operating table body. For example, the pose acquisition system 200 can be fixed to the side of the operating table body of the operating table 400 via a mounting rod or mounting bracket, or fixed to the operating surface 400. In another feasible embodiment, the pose acquisition system 200 may not be fixed to the operating table, but rather there may be a gap between them. For example, the pose acquisition system 200 can be fixed to the ground, wall, or ceiling near the operating surface via a mounting bracket or support rod. Similarly, the acquisition range of the pose acquisition system 200 can cover the operating surface of the operating table, and the acquisition range of the pose acquisition system 200 covers the operating table.

[0234] The robotic arm controller 600 is connected to the robotic arm 500 through communication. In specific implementation, the robotic arm controller 600 can communicate with the robotic arm 500 through a communication cable or through wireless communication. The robotic arm controller 600 can control the robotic arm 500 to move on the operating table 400.

[0235] The robotic arm controller 600 also communicates with the teach pendant controller 300 in the robotic arm teaching system.

[0236] In practical applications, the teach pendant controller 300 can also store the coordinate system transformation relationship between the pose acquisition coordinate system of the pose acquisition system and the table coordinate system of the operating table. Then, when the teaching trajectory of the teaching tool in the pose acquisition coordinate system is determined, the teaching trajectory of the teaching tool in the pose acquisition coordinate system can be converted into the motion trajectory in the table coordinate system through the aforementioned coordinate system transformation relationship, and then sent to the robotic arm controller 600. This allows the robotic arm controller 600 to directly control the robotic arm 500 using the motion trajectory, so that the robotic arm 500 moves on the operating table 400 according to the teaching trajectory, thereby restoring the teaching trajectory.

[0237] In another embodiment of this application, the robotic arm controller 600 may store the coordinate system transformation relationship between the pose acquisition coordinate system of the pose acquisition system and the table coordinate system of the operating table. The teaching controller 300 simply sends the teaching trajectory of the teaching tool in the pose acquisition coordinate system to the robotic arm controller 600. The robotic arm controller 600 can convert the teaching trajectory of the teaching tool in the pose acquisition coordinate system into the motion trajectory in the table coordinate system through the coordinate system transformation relationship between the two coordinate systems. Then, the robotic arm controller 600 can directly use the converted motion trajectory to control the robotic arm to move on the operating table 400 in order to restore the teaching trajectory.

[0238] In some specific embodiments of this application, the robotic arm controller 600 and the teach pendant controller 300 may use two separate processors to perform processing operations respectively. Alternatively, in other embodiments of this application, the robotic arm controller 600 and the teach pendant controller 300 may share the same processor to save hardware costs and avoid communication delays caused by signal transmission between different processors.

[0239] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0240] The above description is merely a specific embodiment of the present invention, enabling those skilled in the art to understand or implement the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the present invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features claimed herein.

Claims

1. A teaching trajectory processing method, characterized in that, An application is made in a robotic arm teaching system, the robotic arm teaching system comprising: a teaching tool and a pose acquisition system, wherein the teaching tool is equipped with a positioning device that allows the pose acquisition system to identify the pose, and the method comprises: During the teaching process, the pose information of the teaching tool at multiple teaching position points is determined; Using multiple pose information of the teaching tool, the pose information of multiple teaching position points is determined; Based on the pose information of multiple teaching location points, the teaching trajectory corresponding to the teaching process is fitted to obtain the teaching trajectory. When there are two teaching position points, the line shape of the teaching trajectory is determined to be a straight line shape. The straight line teaching trajectory where the two teaching position points are located is obtained by fitting the straight line shape, or the joint motion trajectory is generated based on the two teaching position points. When there are three teaching position points, the line shape of the teaching trajectory is determined to be an arc shape, and the arc teaching trajectory where the three teaching position points are located is obtained by fitting the arc shape. When there are at least four teaching position points, the line shape of the teaching trajectory is determined to be a curved line shape, and the curved teaching trajectory where at least four teaching position points are located is obtained by fitting the curved line shape. The method further includes: Based on the pose information of multiple teaching location points, a teaching trajectory corresponding to the teaching process is fitted and then displayed. The method further includes: Based on the pose information of multiple teaching location points, a teaching trajectory corresponding to the teaching process is fitted and displayed according to a preset schematic display method; and the pose information of other teaching location points is continuously detected; the preset schematic display method includes at least: non-solid line display, light color display, first display color and / or thin line display. If no pose information of other teaching locations is detected, the teaching trajectory is switched from the preset schematic display mode to the teaching display mode to display the teaching trajectory. The teaching display mode includes at least: solid line display; dark color display; second display color and / or thick line display.

2. The method according to claim 1, characterized in that, The teaching tool is provided with a teaching tip, and the installation structure information of the teaching tip and the positioning device on the teaching tool is known. Determining the pose information of the teaching tool at multiple teaching position points includes: During the teaching process of the teaching tool, it is detected whether a data acquisition trigger signal is received; If a data acquisition trigger signal is received, the pose acquisition system is controlled to acquire the acquisition information of the positioning device on the teaching tool during the teaching process; the acquisition information corresponds one-to-one with the acquisition trigger signal. The position of the teaching tip on the teaching tool corresponding to each piece of collected information is determined as the teaching position point; Based on the installation structure information, all the acquired information collected by the pose acquisition system is converted into pose information of the teaching position point corresponding to the teaching tip.

3. The method according to claim 1, characterized in that, The teaching tool is provided with a teaching tip, and the installation structure information of the teaching tip and the positioning device on the teaching tool is known. Determining the pose information of the teaching tool at multiple teaching position points includes: Upon receiving a teaching start signal, the pose acquisition system is controlled to acquire the positioning device on the teaching tool according to a preset acquisition frequency during the teaching process; Upon receiving the end-of-teaching signal, the pose acquisition system is controlled to stop acquiring the information collected by the positioning device; The position of the teaching tip on the teaching tool corresponding to each piece of collected information is determined as the teaching position point; Based on the installation structure information, all the acquired information collected by the pose acquisition system is converted into pose information of the teaching position point corresponding to the teaching tip.

4. The method according to any one of claims 1-3, characterized in that, The method further includes: Collect a set of process parameters corresponding to the process operation performed by the teaching tool at at least one teaching location point, wherein the set of process parameters includes process parameters of at least one process type; Based on the correspondence between each set of process parameters and its corresponding teaching position point, the process parameter set of at least one teaching position point is fitted into the teaching trajectory to obtain the process teaching trajectory.

5. The method according to claim 4, characterized in that, The acquisition of the process parameter set corresponding to at least one of the teaching positions by the teaching tool includes: The pose acquisition system acquires the acquisition information at a preset acquisition frequency, records the acquisition order of the teaching position point when the teaching tool has any process operation, and records the process parameter set corresponding to the process operation; and establishes the order correspondence between the acquisition information and the process parameter set according to the acquisition order. Based on the correspondence between each set of process parameters and its corresponding teaching position point, the process parameter set of at least one teaching position point is fitted into the teaching trajectory to obtain the process teaching trajectory, including: Based on the order correspondence between the collected information and the process parameter set, each of the obtained process parameter sets is fitted to the corresponding teaching position point in the teaching trajectory to obtain the process teaching trajectory.

6. The method according to claim 4, characterized in that, The acquisition of the process parameter set corresponding to at least one of the teaching positions by the teaching tool includes: When collecting the information after receiving the collection trigger signal, it is detected whether there is a process operation; if there is a process operation, the process parameter set corresponding to the process operation is recorded; a time correspondence relationship is established between the process parameter set recorded at the current time and the collection information collected at the current time. Based on the correspondence between each set of process parameters and its corresponding teaching position point, the process parameter set of at least one teaching position point is fitted into the teaching trajectory to obtain the process teaching trajectory, including: Based on the time correspondence between the process parameters and the collected information, all the obtained process parameter sets are fitted to the corresponding teaching position points in the teaching trajectory to obtain the process teaching trajectory.

7. The method according to any one of claims 1-6, characterized in that, The positioning device is a two-dimensional teaching board; determining the pose information of the teaching tool at multiple teaching position points includes: The pose acquisition system is used to acquire image information of multiple teaching images of the two-dimensional teaching board during the teaching process of the teaching tool; The pose information of the teaching tool is calculated based on the image information when the position corresponding to each teaching image is determined.

8. The method according to any one of claims 1-6, characterized in that, The positioning device is a positioning optical ball assembly, which includes at least four positioning optical balls that are not on the same plane. Determining the pose information of the teaching tool at multiple teaching position points includes: The positioning information of multiple positioning light spheres in the positioning light sphere assembly of the teaching tool is collected using a pose acquisition system during the teaching process; The pose information of the teaching tool is determined when the position of the behavior light ball assembly is determined based on the positioning information of the positioning light ball assembly.

9. The method according to claim 1, characterized in that, The method further includes: If the pose information of two teaching position points is detected, the straight teaching trajectory of the two teaching position points is pre-fitted in the background according to the straight line shape corresponding to the two teaching position points; the straight teaching trajectory is displayed in a dashed line manner, and the pose information of the third teaching position point is continuously detected. If the pose information of the third teaching position point is not detected, the straight teaching trajectory is switched from the dashed line display mode to the solid line display mode to display the teaching trajectory.

10. The method according to claim 1, characterized in that, The method further includes: If the pose information of the third teaching position point is detected, the circular arc teaching trajectory of the three teaching position points is obtained in the background by fitting the circular arc line corresponding to the three teaching position points; the circular arc teaching trajectory is displayed in a light color or the first display color, and the pose information of the fourth teaching position point is continuously detected. If the pose information of the fourth teaching position point is not detected, the circular arc-shaped teaching trajectory is switched from the light color display mode to the dark color display mode, or from the first display color to the second display color, to display the teaching trajectory.

11. The method according to claim 1, characterized in that, The method further includes: If the pose information of the fourth teaching position point is detected, the background prefits the curve teaching trajectory of the four teaching position points according to the curve line type corresponding to the four teaching position points; the curve teaching trajectory is displayed in a thin line display mode, and the pose information of other teaching position points is continuously detected; If no pose information of other teaching points is detected, the curve teaching trajectory is switched from thin line display mode to thick line display mode until no pose information of other teaching points is detected.

12. A teaching device, characterized in that, It includes a unit for performing the teaching trajectory processing method as described in any one of claims 1-11.

13. A robotic arm, characterized in that, It includes a unit for performing the teaching trajectory processing method as described in any one of claims 1-11.

14. A teach pendant controller, characterized in that, It includes a processor, a communication interface, a memory, and a communication bus, wherein the processor, the communication interface, and the memory communicate with each other through the communication bus; Memory, used to store computer programs; A processor, when executing a program stored in memory, implements the steps of the teaching trajectory processing method as described in any one of claims 1-11.

15. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the steps of the teaching trajectory processing method as described in any one of claims 1-11.

16. A robotic arm teaching system, characterized in that, include: Teaching tools, positioning devices, pose acquisition systems, and teaching controllers, among which, The teaching tool is equipped with a positioning device that allows the pose acquisition system to recognize the pose; the pose acquisition system is communicatively connected to the teaching controller; the teaching controller is used to execute the steps of the teaching trajectory processing method as described in any one of claims 1-7.

17. The system according to claim 16, characterized in that, The teaching tool is provided with a teaching tip, and the installation structure information of the teaching tip and the positioning device is known.

18. The system according to claim 16 or 17, characterized in that, The robotic arm teaching system also includes control buttons, which are located on the teaching tool, or the control buttons are independent of the teaching tool; The control button is communicatively connected to the teaching controller, and the control button is used to send a data acquisition trigger signal to the teaching controller.

19. The system according to claim 16, characterized in that, The robotic arm teaching system also includes a start / stop button, which is connected to the pose acquisition system and is used to send a teaching start signal or a teaching end signal to the pose acquisition system.

20. A robotic arm control system, characterized in that, include: The robotic arm, the control panel, the robotic arm controller, and the robotic arm teaching system as described in any one of claims 16-19, wherein, The robotic arm teaching system includes: a teaching tool, a positioning device, a pose acquisition system, and a teaching controller. The teaching tool is equipped with a positioning device that allows the pose acquisition system to recognize the pose. The pose acquisition system is communicatively connected to the teaching controller. The teaching controller is used to execute the steps of the teaching trajectory processing method as described in any one of claims 1-11. The robotic arm is fixed to the operating table, which includes an operating table body and an operating table surface. The robotic arm controller can drive the robotic arm to move on the operating table surface of the operating table. The robotic arm controller communicates with the robotic arm; the robotic arm controller also communicates with the teaching controller in the robotic arm teaching system. The teaching controller stores the coordinate system transformation relationship between the pose acquisition coordinate system of the pose acquisition system and the table surface coordinate system of the operating platform. It can use this transformation relationship to convert the teaching trajectory of the teaching tool in the pose acquisition coordinate system into a motion trajectory in the table surface coordinate system and send it to the robotic arm controller. The robotic arm controller receives the motion trajectory and uses it to control the robotic arm. Alternatively, the robotic arm controller stores the coordinate system transformation relationship between the pose acquisition coordinate system of the pose acquisition system and the table surface coordinate system of the operating platform. The teaching controller sends the teaching trajectory of the teaching tool in the pose acquisition coordinate system to the robotic arm controller. The robotic arm controller uses this transformation relationship to convert the teaching trajectory of the teaching tool in the pose acquisition coordinate system into a motion trajectory in the table surface coordinate system and controls the robotic arm to move on the operating platform according to the motion trajectory.

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