Somatosensory control demonstration device and industrial robot

Abstract

The utility model discloses a kind of somatic sensation control demonstration teaching devices and industrial robots, including somatic sensation controller and somatic sensation control box;The motion sensing module and first communication module are equipped in the somatic sensation controller, and visual identification mark is equipped on surface;The motion data for acquisition is transmitted to somatic sensation control box by first communication module by motion sensing module;The motion data is generated by somatic sensation controller load on mobile organism and perceived somatic sensation of mobile organism;The somatic sensation control box is set in a certain distance range from somatic sensation controller, and visual identification module and computing module are equipped in somatic sensation control box;Visual identification module obtains visual identification information by identifying visual identification mark, and with received motion data fusion, pass to computing module;Computing module converts received fusion data into robot control data output.The utility model can realize the demonstration teaching of industrial robot high efficiency precision, reduce the delay of data transmission, improve the demonstration reliability.

Description

Technical Field

[0001] This utility model relates to the fields of motion control and industrial robot teaching technology, and in particular to a motion control teaching device and an industrial robot. Background Technology

[0002] In the field of industrial robots, traditional teach-in programming mainly relies on manually recording point coordinates with a teach pendant or completing trajectory planning through drag-and-drop teaching. This has the following significant drawbacks: low efficiency, complex trajectories require point-by-point teaching, taking up to several hours, and poor flexibility in modification, making it difficult to adapt to the flexible production needs of small batches and multiple varieties; traditional teaching relies on a fixed coordinate system, and if the workpiece position shifts or the production line layout is adjusted, recalibration is required, making it unsuitable for highly mixed production scenarios. In recent years, teach-in technology based on motion-sensing devices has gradually emerged, but it still faces challenges in industrial scenarios such as low data reliability, large positioning errors, insufficient real-time performance, high motion latency, and lack of multi-device collaboration. Utility Model Content

[0003] The main purpose of this utility model is to provide a motion-sensing teaching device and an industrial robot. It adopts a technology that integrates motion-sensing control and visual sensing to achieve efficient and accurate trajectory teaching and real-time control of the industrial robot. Furthermore, it reduces data transmission latency and improves reliability by setting up base stations.

[0004] The technical solution adopted by this utility model is: a motion-sensing control teaching device, including a motion-sensing controller and a motion-sensing control box;

[0005] The motion controller is equipped with a motion sensing module and a first communication module, and has a visual recognition mark on its surface. The motion sensing module collects motion data, which is then transmitted to the motion control box through the first communication module. The motion data is generated by the motion controller being loaded onto the moving organism to sense the moving organism's body movements.

[0006] The motion control box is set within a certain distance from the motion controller. The motion control box contains a visual recognition module and a computing module. The visual recognition module obtains visual recognition information by recognizing visual recognition marks, fuses it with the received motion data, and transmits it to the computing module. The computing module converts the received fused data into robot control data for output.

[0007] The specified distance is less than or equal to the maximum communication distance of the first communication module and the maximum visual recognition distance of the visual recognition module.

[0008] According to the above technical solution, the motion controller is a handle structure, which includes a handle and a control end face. The control end face is embedded with multiple buttons, which are electrically connected to the motion sensing module.

[0009] According to the above technical solution, the motion sensing module includes a six-axis inertial measurement sensor.

[0010] According to the above technical solution, the first communication module is a Bluetooth communication module.

[0011] According to the above technical solution, the visual recognition module includes a visual sensor for acquiring visual recognition information, a second communication module for receiving motion data, and a data fusion unit for fusing visual recognition information and motion data; the visual sensor is a multi-view camera or a laser scanner.

[0012] According to the above technical solution, the proprioceptive control teaching device also includes a convenient movable component connected to the proprioceptive control box, which is used to move and adjust the position of the proprioceptive control box.

[0013] According to the above technical solution, the proprioceptive control teaching device also includes a human-computer interaction interface for real-time control, and the human-computer interaction interface includes a portable screen.

[0014] According to the above technical solution, the motion control box is also equipped with a robot control interface for wired output of robot control data.

[0015] According to the above technical solution, the visual recognition module and the computing module transmit data through a wireless communication network.

[0016] Another aspect of this utility model provides an industrial robot that receives teaching programming via the aforementioned somatosensory control teaching device.

[0017] The beneficial effects of this invention are as follows: This invention provides a motion-sensing teaching pendant and an industrial robot. The motion-sensing teaching pendant integrates motion data from the motion controller and visual recognition information from the motion control box, avoiding calculation errors caused by relying solely on motion data or visual recognition information, and improving the accuracy of pose calculation for the motion controller. Compared with existing technologies that upload data to the cloud for processing, this invention uses the motion control box as a data processing base station, shortening the data transmission path, reducing latency during data transmission, and improving the reliability of the motion-sensing teaching pendant.

[0018] Furthermore, the motion controller of this invention adopts a handle structure, which is convenient for users to operate by hand. Multiple buttons are set on the outside of the handle, and quick operation can be achieved through the physical mapping of the buttons, improving the operating efficiency of industrial teaching.

[0019] Furthermore, the motion controller and motion control box of this invention communicate via Bluetooth, and the visual recognition module and computing module transmit data via a wireless communication network, forming a dual-link data transmission architecture. When one link is affected by electromagnetic interference, the other link can ensure the stability of data transmission and improve anti-interference capability.

[0020] Furthermore, this invention enables rapid adjustment and fixation of the position of the motion control box through convenient moving components such as a tripod, which can meet the dynamic adjustment requirements of the distance between the motion control box and the motion controller during the movement of the motion controller following the moving organism.

[0021] Furthermore, this utility model is equipped with a human-computer interaction interface, which enables real-time visual operation of the motion-sensing control teaching device.

[0022] Furthermore, the motion control box is equipped with a robot control interface for wired output of robot control data, which shortens the data transmission path.

[0023] Of course, any product implementing this utility model does not necessarily need to achieve all of the advantages described above at the same time. Attached Figure Description

[0024] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0025] Figure 1 This is a schematic diagram of data transmission of the motion-sensing control teaching device according to an embodiment of the present invention;

[0026] Figure 2 This is a schematic diagram of the front view structure of the motion controller according to an embodiment of the present invention;

[0027] Figure 3 This is a side view of the motion controller according to an embodiment of the present invention.

[0028] Figure 4 This is a schematic diagram of the structure of the motion control box according to an embodiment of the present invention.

[0029] Reference numerals: 1. Visual recognition identifier; 2. Joystick; 3. Button; 4. Visual sensor; 5. Robot control interface. Detailed Implementation

[0030] To make the objectives, technical solutions, and advantages of this utility model clearer, the present utility model will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this utility model and are not intended to limit this utility model.

[0031] It should be noted that the illustrations provided in the embodiments of this utility model are only schematic representations of the basic concept of this utility model. Therefore, the drawings only show the components related to this utility model and are not drawn according to the number, shape and size of the components in actual implementation. In actual implementation, the form, quantity and proportion of each component can be arbitrarily changed, and the layout of the components may also be more complex.

[0032] In this utility model, it should also be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application. Furthermore, the terms "first" and "second" are used only for descriptive and distinguishing purposes and should not be construed as indicating or implying relative importance.

[0033] Example 1

[0034] This embodiment provides a motion-sensing teaching device, comprising a handheld motion-sensing controller and a motion-sensing control box serving as a data processing base station. The motion-sensing controller internally houses a motion sensing module and a first communication module, and externally features a visual recognition identifier 1, the shape of which is shown in the image below. Figure 2 or Figure 3 As shown. The motion control box contains a visual recognition module and a computing module.

[0035] The data transmission relationships between the various parts of the proprioceptive control teaching device are as follows: Figure 1 As shown, the motion data collected by the motion sensing module is transmitted to the motion control box via the first communication module. In the motion control box, the visual recognition module obtains visual recognition information by recognizing the visual recognition identifier 1 of the motion controller, and then fuses the obtained visual recognition information with the received motion data and transmits it to the calculation module.

[0036] Specifically, the motion controller is mounted on the mobile organism and collects motion data by sensing the motion of the mobile organism. The motion is the motion characteristics of the mobile organism, including the translational and rotational motions of the mobile organism, as well as the speed and acceleration of the motion.

[0037] Furthermore, the distance between the motion controller and the motion control box must simultaneously meet two constraints: it must not exceed the maximum data communication distance of the first communication module to ensure that motion data can be transmitted to the motion control box through the first communication module, nor exceed the maximum visual recognition distance of the visual recognition module to ensure that the visual recognition mark 1 can be effectively captured and located, ultimately realizing the fusion of motion data and visual information and the accurate generation of robot control data.

[0038] Furthermore, such as Figure 2 or Figure 3 As shown, the motion controller in this embodiment is an ergonomically designed handle structure, which is convenient for users to operate by hand. The handle structure includes a handle and a control end face. The control end face is provided with a joystick 2 and multiple reasonably arranged buttons 3, such as the menu button, Ctrl key and Shift key. Each button 3 is electrically connected to the motion sensing module and is set with a custom physical mapping. Through the physical mapping of the buttons 3, rapid teaching can be achieved.

[0039] Furthermore, the motion sensing module of the motion controller includes a six-axis inertial measurement sensor, which can calculate the spatial pose changes of the handle in real time and provide six degrees of freedom motion data.

[0040] The first communication module of the motion controller uses Bluetooth communication, which employs the most advanced communication protocol. This ensures the integrity and accuracy of data during transmission and minimizes signal interference, reducing the possibility of data loss.

[0041] Furthermore, the structure of the motion control box is as follows: Figure 4 As shown, the visual recognition module includes a visual sensor 4, a second communication unit, and a data processing unit. The data processing unit fuses motion data from the motion controller and visual recognition information from the visual sensor 4. The visual sensor 4 can be a multi-view camera or a laser scanner.

[0042] Specifically, the motion control box is also equipped with a power interface and a ventilation window.

[0043] The computing module includes a device capable of performing computational processes. The computing device converts the received fused data into robot control data outputs, including motion commands for the industrial robot arm and movement paths for the operating tools.

[0044] The visual recognition module and the computing module transmit data via a second communication module. This second communication module uses a wireless communication network and the latest wireless communication standards to ensure high data transmission speed and low latency. Furthermore, the motion controller and the motion control box of this invention communicate via Bluetooth, while the visual recognition module and the computing module communicate via a wireless communication network, forming a dual-link data transmission architecture. When one link is affected by electromagnetic interference, the other link can still ensure stable data transmission, demonstrating strong anti-interference capabilities.

[0045] The motion control box also features a robot control interface 5 for wired output of robot control data. In this embodiment, the robot control interface 5 is connected to a network cable, directly transmitting the robot control data generated by the computing module to the industrial robot. This shortens the physical transmission distance from the computing module to the robot, reduces data latency during transmission, ensures the real-time performance of control commands, and meets the high-precision real-time control requirements of industrial robots.

[0046] Furthermore, the motion-controlled teaching device in this embodiment also includes a convenient movable component for adjusting the position of the motion control box, enabling dynamic adjustment of the distance between the motion controller and the motion control box, ensuring that the motion control box remains within a certain distance range from the motion controller during the movement of the mobile organism. The convenient movable component connects to the motion control box, and in this embodiment, a lightweight tripod is selected to simultaneously satisfy the functions of easy movement and stable support.

[0047] Furthermore, the motion-controlled teaching device in this embodiment is also equipped with a human-computer interaction interface. In this embodiment, a portable screen is selected, which can realize the on-site real-time visual operation of the motion-controlled teaching device.

[0048] This embodiment also provides an industrial robot that receives teaching programming through the aforementioned motion-sensing control teaching device.

[0049] Example 2

[0050] This embodiment provides another motion-sensing teaching device, which differs from the motion-sensing teaching device described in Embodiment 1 in that this embodiment adopts a direct serial port connection instead of the Bluetooth communication used by the first communication module and the wireless network communication used by the second communication module in Embodiment 1.

[0051] In summary, this utility model provides a motion-sensing teaching device and an industrial robot, which adopts a technology that integrates motion-sensing control and visual sensing to achieve efficient and accurate trajectory teaching and real-time control of the industrial robot. Furthermore, by setting up a data processing base station, it reduces data transmission latency and improves reliability.

[0052] It should be noted that, depending on the implementation needs, the various steps / components described in this application can be broken down into more steps / components, or two or more steps / components or parts of the operation of steps / components can be combined into new steps / components to achieve the purpose of this utility model.

[0053] The order of the steps in the above embodiments does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0054] It should be understood that those skilled in the art can make improvements or modifications based on the above description, and all such improvements and modifications should fall within the protection scope of the appended claims.

Claims

1. A motion-controlled teaching device, characterized in that, Includes a motion controller and a motion control box; The motion controller is equipped with a motion sensing module and a first communication module, and has a visual recognition mark on its surface. The motion sensing module collects motion data, which is then transmitted to the motion control box through the first communication module. The motion data is generated by the motion controller being loaded onto the moving organism to sense the moving organism's body movements. The motion control box is set within a certain distance from the motion controller. The motion control box contains a visual recognition module and a computing module. The visual recognition module obtains visual recognition information by recognizing visual recognition marks, and merges it with the received motion data and transmits it to the computing module. The computing module converts the received fused data into robot control data for output. The specified distance is less than or equal to the maximum communication distance of the first communication module and the maximum visual recognition distance of the visual recognition module.

2. The motion-sensing control teaching device according to claim 1, characterized in that, The motion controller is a handle structure, which includes a grip and a control end face. Multiple buttons are embedded in the grip part of the handle and the control end face, and the buttons are electrically connected to the motion sensing module.

3. The motion-sensing control teaching device according to claim 1, characterized in that, The motion sensing module includes a six-axis inertial measurement sensor.

4. The motion-sensing control teaching device according to claim 1, characterized in that, The first communication module is a Bluetooth communication module.

5. The motion-sensing control teaching device according to claim 1, characterized in that, The visual recognition module includes a visual sensor for acquiring visual recognition information, a second communication module for receiving motion data, and a data fusion unit for fusing visual recognition information and motion data; the visual sensor is a multi-view camera or a laser scanner.

6. The motion-sensing control teaching device according to claim 1, characterized in that, The device also includes a convenient movable component that connects to the motion control box for moving and adjusting the position of the motion control box.

7. The motion-sensing control teaching device according to claim 1, characterized in that, The device also includes a human-machine interface for real-time control, which includes a portable screen.

8. The motion-sensing control teaching device according to claim 1, characterized in that, The motion control box is also equipped with a robot control interface for wired output of robot control data.

9. The motion-sensing control teaching device according to claim 1, characterized in that, The visual recognition module and the computing module transmit data through a wireless communication network.

10. An industrial robot, characterized in that, The robot receives instruction programming via the haptic control teaching device described in any one of claims 1-9.

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