A robot teaching method, system, medium, and device

Abstract

This invention discloses a robot teaching method, system, medium, and device. The method includes the following steps: constructing a virtual robot; acquiring and synchronously updating the initial pose data of the virtual robot based on the initial pose data of the actual robot; receiving robot control commands input by the user; processing the robot control commands to generate virtual robot control commands; processing the virtual robot control commands to generate actual robot control commands; and controlling the actual robot to perform pose changes according to the actual robot control commands. This invention can handle control commands from different brands of teach pendants by processing the input robot control commands to generate virtual robot control commands, and then processing the virtual robot control commands to generate actual robot control commands, thereby controlling robots of different brands and achieving interoperability between teach pendants and robots of different brands.

Description

Technical Field

[0001] This invention belongs to the field of robot control technology, specifically relating to a robot teaching method, system, medium, and device. Background Technology

[0002] Currently, some foreign research institutions have developed and designed relatively mature teach pendants with comprehensive functions, while also possessing strong technical confidentiality. Although domestic research on industrial robot technology started later, with the increasing demand for industrial automation, more and more universities, research institutions, and manufacturing enterprises have devoted themselves to the research and development of industrial robots, and teach pendants, as an important component of robot control systems, have also developed rapidly.

[0003] With the advancement of technology, users have placed higher demands on industrial robots, leading to their development towards intelligence, multi-functionality, and networking. The teach pendant, as the human-machine interface for robots, provides the interface for operating the robot, and its performance and the ease of use of the operating system directly impact the user experience.

[0004] The existing technology has the following drawbacks:

[0005] 1) Due to the wide variety of robot brands and the significant differences in teach pendants between them, as well as the different operating methods, the training costs for industrial robot-related personnel are high. Furthermore, teach pendants from different brands can only be used to control robots of the corresponding brand or even the corresponding model, resulting in poor universality of teach pendants.

[0006] 2) Most branded teach pendants use Windows CE as the system platform, which has limited CPU processing performance, weak computing power, poor expandability of functional modules, and lacks simulation analysis functions.

[0007] 3) Most teach pendants and robot controllers still use limited connection methods such as serial ports, which makes operation inconvenient. Summary of the Invention

[0008] To overcome the aforementioned technical deficiencies, this invention provides a robot teaching method that enables interoperability between teach pendants and robots from different brands.

[0009] To solve the above problems, the present invention is implemented according to the following technical solution:

[0010] A robot teaching method includes the following steps:

[0011] Build virtual robots;

[0012] Acquire and update the initial pose data of the virtual robot synchronously based on the initial pose data of the actual robot;

[0013] Receive robot control commands input by the user;

[0014] Process robot control commands to generate virtual robot control commands;

[0015] Process the virtual robot control commands to generate actual robot control commands;

[0016] Based on the actual robot control instructions, control the actual robot to perform pose changes.

[0017] Furthermore, the initial pose data includes the initial joint angles and initial pose points of the actual robot.

[0018] Further, the robot control commands are processed to generate virtual robot control commands, including the following steps:

[0019] The robot control commands are interpreted and processed to obtain command parameters;

[0020] Based on the command parameters, robot end-effector pose, robot trajectory planning, and robot kinematics, virtual robot control commands are generated.

[0021] Further, the virtual robot control commands are processed to generate actual robot control commands, including the following steps:

[0022] Data processing is performed on the virtual robot control commands to obtain command data;

[0023] Generate actual robot control commands based on the instruction data.

[0024] Furthermore, after controlling the actual robot to perform pose changes according to the actual robot control instructions, the steps also include:

[0025] The virtual robot's pose data is updated synchronously based on the actual robot's pose changes.

[0026] Compared with the prior art, the present invention has the following beneficial effects:

[0027] This invention discloses a robot teaching method. For control commands from teach pendants of different brands, the method can process the input robot control commands to generate virtual robot control commands, and then process the virtual robot control commands to generate actual robot control commands, thereby controlling robots of different brands and achieving interoperability between teach pendants and robots of different brands.

[0028] The present invention also discloses a robot teaching system, comprising:

[0029] The virtual teach pendant module is used to receive robot control commands input by the user;

[0030] The virtual simulation module is used to construct a virtual robot; synchronously update the initial pose data of the virtual robot; process robot control commands and virtual robot control commands to generate actual robot control commands; and control the actual robot to perform pose changes according to the actual robot control commands.

[0031] The actual robot is used to perform pose changes according to the actual robot control instructions.

[0032] Furthermore, the virtual simulation module includes:

[0033] The robot control command processing unit is used to process robot control commands and generate virtual robot control commands.

[0034] The virtual robot control instruction processing unit is used to process virtual robot control instructions and generate actual robot control instructions.

[0035] The present invention also discloses a computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed, implements the above-described method.

[0036] The present invention also discloses a computer device, comprising:

[0037] processor;

[0038] Memory used to store the processor's executable instructions;

[0039] The processor is configured to execute the instructions to implement the method described above. Attached Figure Description

[0040] The specific embodiments of the present invention will be further described in detail below with reference to the accompanying drawings, wherein:

[0041] Figure 1 This is a flowchart of the robot teaching method described in Example 1;

[0042] Figure 2 This is a schematic diagram of the robot teaching system described in Example 2;

[0043] Figure 3 This is a schematic diagram of the device described in Example 4. Detailed Implementation

[0044] The preferred embodiments of the present invention will be described below with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are for illustration and explanation only and are not intended to limit the present invention.

[0045] Example 1

[0046] like Figure 1 This embodiment discloses a robot teaching method, including the following steps:

[0047] S1. Construct a virtual robot.

[0048] S2. Acquire and update the initial pose data of the virtual robot synchronously based on the initial pose data of the actual robot. The initial pose data includes the initial position joint angles and initial position pose points of the actual robot.

[0049] S3. Receive robot control commands input by the user.

[0050] S4. Process the robot control commands to generate virtual robot control commands.

[0051] Specifically, step S4 includes the following steps:

[0052] The robot control commands are interpreted and processed to obtain command parameters.

[0053] Based on the command parameters, robot end-effector pose, robot trajectory planning, and robot kinematics, virtual robot control commands are generated.

[0054] S5. Process the virtual robot control commands to generate actual robot control commands.

[0055] Specifically, step S5 includes the following steps:

[0056] Based on the actual robot's brand, the corresponding data conversion function is invoked to process the virtual robot control commands and obtain command data.

[0057] Based on the instruction data, control instructions for the actual robot of that brand are generated.

[0058] S6. Control the actual robot to change its pose according to the actual robot control instructions.

[0059] The above embodiments also include the following steps:

[0060] The virtual robot's pose data is updated synchronously based on the actual robot's pose changes.

[0061] The following explanation is based on the specific implementation process:

[0062] A virtual robot is constructed based on the brand and model of the actual robot. The initial pose data of the virtual robot is acquired and synchronously updated based on the initial pose data of the actual robot. Upon receiving robot control commands input by the user, the commands are interpreted and processed to obtain command parameters. These parameters, combined with the robot's end-effector pose, robot trajectory planning, and robot motion learning, are used to generate virtual robot control commands. Based on the brand of the actual robot, the corresponding data conversion function is invoked to process the virtual robot control commands, obtaining command data. Control commands for that brand of actual robot are then generated based on this command data. According to the actual robot's control commands, the actual robot is controlled to perform pose changes, and the pose data of the virtual robot is synchronously updated based on these changes.

[0063] This invention interprets and processes robot control commands from teach pendants of different brands to generate virtual robot control commands, and then processes the virtual robot control commands to generate actual robot control commands. This enables robots from different brands of teach pendants to perform pose changes, achieving interoperability between teach pendants and robots from different brands.

[0064] Example 2

[0065] like Figure 2 This embodiment discloses a robot teaching system, including a virtual teach pendant module, a virtual simulation module, and an actual robot. The virtual teach pendant module is used to receive robot control commands input by the user; the virtual simulation module is used to construct a virtual robot; synchronously update the initial pose data of the virtual robot; process the robot control commands and virtual robot control commands to generate actual robot control commands; control the actual robot to perform pose changes according to the actual robot control commands; and the actual robot is used to perform pose changes according to the actual robot control commands.

[0066] Specifically, the virtual simulation module includes a robot control command processing unit and a virtual robot control command processing unit. The robot control command processing unit processes robot control commands to generate virtual robot control commands; the virtual robot control command processing unit processes virtual robot control commands to generate actual robot control commands.

[0067] In the above embodiments, an instruction set module is also included, which is used to interpret and process robot control instructions and generate instruction parameters; it is also used to call the corresponding data conversion function according to the different brands of the robot to process the virtual robot instructions and generate instruction data.

[0068] In the above embodiments, the virtual teach pendant module and the virtual simulation module communicate via TCP / IP protocol, and the virtual simulation module and the actual robot communicate via TCP / IP protocol.

[0069] The following explanation is based on the specific implementation process:

[0070] The virtual simulation module connects to the actual robot. Based on the brand and model of the actual robot, the virtual simulation module constructs a corresponding virtual robot, acquires and synchronously updates the initial pose data of the virtual robot based on the initial pose data of the actual robot, and displays this data on the virtual teach pendant. The user inputs robot control commands through the virtual teach pendant module, which transmits these commands to the virtual simulation module. The robot control command processing unit in the virtual simulation module calls the instruction set module to interpret and process the robot control commands, obtaining command parameters. It then combines this with the actual robot's end-effector pose, trajectory planning, and motion learning to generate virtual robot control commands. The virtual robot control command processing unit calls the instruction set module to process the virtual robot commands, obtaining command data. Based on this data, it generates control commands for the corresponding brand of actual robot and sends these commands to the actual robot. The actual robot performs pose changes according to the control commands and sends the changed pose data to the virtual simulation module to synchronously update the pose data of both the virtual robot and the virtual teach pendant.

[0071] In this invention, the virtual teach pendant module is developed based on the Qt 5.14.2 library, using its Core, GUI, and Widgets modules for graphical interface design. It is compiled using the MinGW 7.3.0 (64-bit) compiler suite to obtain *.exe files that can run on Windows and Linux systems. Alternatively, it can be compiled using the Android for armeabi-v7a compiler suite to obtain *.apk files that can run on Android systems. This allows for cross-platform use of the virtual teach pendant module, enabling operation on both computers and mobile terminals.

[0072] This invention interprets and processes robot control commands from teach pendants of different brands to generate virtual robot control commands. Then, it processes these virtual commands to generate actual robot control commands, enabling the control of robots from different brands of teach pendants to perform pose changes, achieving interoperability between teach pendants and robots from different brands. Simultaneously, leveraging Qt's cross-platform capabilities, it enables cross-platform use of the virtual teach pendant, improving hardware performance while reducing costs. Furthermore, by using the TCP / IP protocol instead of traditional serial port connections, it ensures accurate and rapid communication control and reduces on-site wiring.

[0073] Example 3

[0074] This embodiment discloses a computer-readable storage medium that stores a computer program thereon, which, when executed, implements the method described in Embodiment 1.

[0075] Example 4

[0076] like Figure 3 This embodiment discloses a computer device, including: a processor; a memory for storing processor-executable instructions; wherein the processor is configured to execute the instructions to implement the method described in Embodiment 1.

[0077] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention in any way. Therefore, any modifications, equivalent changes, and alterations made to the above embodiments based on the technical essence of the present invention without departing from the scope of the present invention shall still fall within the scope of the present invention.

Claims

1. A robot teaching method, characterized in that, Includes the following steps: Build virtual robots; Acquire and update the initial pose data of the virtual robot synchronously based on the initial pose data of the actual robot; Receive robot control commands input by the user; Process robot control commands to generate virtual robot control commands; Process the virtual robot control commands to generate actual robot control commands; Control the actual robot to perform pose changes according to the actual robot control instructions; The virtual robot control commands are processed to generate actual robot control commands, including: Based on the actual robot's brand, the corresponding data conversion function is invoked to process the virtual robot control commands and obtain command data. Based on the instruction data, control instructions for the actual robot of that brand are generated.

2. The robot teaching method according to claim 1, characterized in that, The initial pose data includes the initial joint angles and initial pose points of the actual robot.

3. The robot teaching method according to claim 1, characterized in that, The steps involved in processing robot control commands to generate virtual robot control commands include the following: The robot control commands are interpreted and processed to obtain command parameters; Based on the command parameters, robot end-effector pose, robot trajectory planning, and robot kinematics, virtual robot control commands are generated.

4. The robot teaching method according to claim 1, characterized in that, After controlling the actual robot to perform pose changes according to the actual robot control instructions, the steps also include: The virtual robot's pose data is updated synchronously based on the actual robot's pose changes.

5. A robot teaching system, characterized in that, include: The virtual teach pendant module is used to receive robot control commands input by the user; The virtual simulation module is used to build virtual robots; Synchronously update the initial pose data of the virtual robot; The robot control commands and virtual robot control commands are processed to generate actual robot control commands; based on the actual robot control commands, the actual robot is controlled to perform pose changes. The actual robot is used to perform pose changes according to the actual robot control instructions; The virtual simulation module includes: The virtual robot control instruction processing unit is used to call the corresponding data conversion function according to the brand of the actual robot, process the virtual robot control instructions to obtain instruction data, and generate control instructions for the actual robot of that brand based on the instruction data.

6. The robot teaching system according to claim 5, characterized in that, The virtual simulation module includes: The robot control command processing unit is used to process robot control commands and generate virtual robot control commands.

7. A computer-readable storage medium, characterized in that, It is a computer-readable storage medium having a computer program stored thereon, which, when executed, implements the method as described in any one of claims 1-4.

8. A computer device, characterized in that, include: processor; Memory used to store the processor's executable instructions; The processor is configured to execute the instructions to implement the method as described in any one of claims 1-4.

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