System for correcting teaching point of robot

Abstract

An operating method of a teaching point correction system for correcting a teaching point defining a work path of a robot includes: setting a representative teaching point of a robot performing a task in a work unit; teaching a plurality of sub-teaching points on the basis of the representative teaching point; and automatically correcting a coordinate system of the sub-teaching points included in the representative teaching point by correcting the coordinate system of the representative teaching point in a state in which correction of the teaching point is required.

Description

Robot teaching point correction system

[0001] The present invention relates to a teaching point correction system for a robot, and more specifically, to a teaching point correction system for a robot that corrects a teaching point set to perform a repetitive task.

[0002] In general, robotic technology is widely utilized across various industrial sectors to perform repetitive and precise tasks. In particular, robots perform operations based on predefined teaching points to ensure consistent quality across diverse environments and working conditions. A teaching point can refer to a specific point set to pre-define the robot's motion path. Accordingly, teaching points are utilized as coordinates that define the precise position and orientation to which the robot must move to perform a specific task.

[0003] However, since robots change position for various reasons, correction of the teaching point may be necessary. For example, if a robot is detached from its installation location and then reconnected for reasons such as cleaning or maintenance, correction may be required due to the change in its position. Furthermore, during the manufacturing process of systems that include robots, minute differences in coordinate systems occur between robots, so correction may be required for each product even for the same task. Additionally, when using mobile robots or non-stationary robots, correction may be required as the robot's position changes slightly depending on the environment and conditions.

[0004] Ultimately, for accurate repetitive tasks by a robot, correction of teaching points based on the actual position after a position change is required. However, in conventional correction methods, the operator manually performs reteaching for all teaching points. Since hundreds to thousands of teaching points may be necessary depending on the robot task, manual correction presented the problem of requiring a massive amount of labor.

[0005] The objective of the present invention is to provide a teaching point correction system for a robot that automatically and quickly corrects a plurality of teaching points.

[0006] The method of operating a teaching point correction system according to the present invention, in a method of operating a teaching point correction system that corrects a teaching point defining a work path of a robot, sets a representative teaching point of a robot performing a task in a work unit, teaches a plurality of sub-teaching points based on the representative teaching point, and corrects the coordinate system of the representative teaching point when correction of the teaching point is required, thereby automatically correcting the coordinate system of the sub-teaching points included in the representative teaching point.

[0007] In setting the representative teaching point above, a point that the robot does not reach during actual operation may be selected.

[0008] The above representative teaching point may comprise a plurality of representative teaching points as a set, and the plurality of representative teaching points may include a pair of representative teaching points separated by a predetermined distance or more.

[0009] The above pair of representative teaching points can be configured as a set to improve the angular precision of the taught direction when high precision of the directional component is required.

[0010] In the above-mentioned work unit, a marker serving as a reference for the above-mentioned representative teaching point is formed, and in the correction of the above-mentioned teaching point, the coordinate system of the above-mentioned representative teaching point can be changed based on the coordinate system recognized from the marker.

[0011] The above marker can be formed on the above work unit used for teaching the above teaching point.

[0012] The above-mentioned teaching point correction is performed when at least one of the robot and the work unit is installed in a workspace or when the position of the robot changes. In the correction of the teaching point, a marker placed in the workspace is photographed, and the coordinate system of the representative teaching point is corrected based on the marker to automatically correct the coordinate system of the sub-teaching point included in the representative teaching point.

[0013] Meanwhile, the teaching point correction system according to the present invention comprises a robot; a work unit forming a space in which the robot performs a task; and a correction unit for correcting a teaching point that defines a work path of the robot, wherein the teaching point includes a representative teaching point that includes a plurality of sub-teaching points, and the correction unit corrects the coordinate system of the representative teaching point to automatically correct the sub-teaching points included in the representative teaching point.

[0014] In setting the representative teaching point above, a point that the robot does not reach during actual operation may be selected.

[0015] The above representative teaching point may comprise a plurality of representative teaching points as a set, and the plurality of representative teaching points may include a pair of representative teaching points separated by a predetermined distance or more.

[0016] The above pair of representative teaching points can be configured as a set to improve the angular precision of the taught direction when high precision of the directional component is required.

[0017] The above-described teaching point correction system further includes a marker placed in the above-described work unit, and the correction unit can cause the coordinate system of the above-described representative teaching point to change based on the coordinate system recognized from the marker.

[0018] The above marker can be formed on the above work unit used for teaching the above teaching point.

[0019] The above-mentioned teaching point correction is performed when at least one of the robot and the work unit is installed in a workspace or when the position of the robot changes, and the correction of the teaching point can automatically correct the coordinate system of the sub-teaching point included in the representative teaching point by photographing a marker placed in the workspace and correcting the coordinate system of the representative teaching point based on the marker.

[0020] The above correction unit may be included in a robot controller that controls the robot.

[0021] The robot teaching point correction system using vision recognition according to the present invention has the effect of enabling stable operation of the robot by rapidly performing teaching point correction even when a change in the robot's position occurs.

[0022] In addition, the robot teaching point correction system using vision recognition according to the present invention has the advantage of enabling stable operation of the robot by rapidly performing teaching point correction even when the working environment conditions or the type of robot differ during the installation process of the robot and the work unit.

[0023] The technical effects of the present invention as described above are not limited to those mentioned above, and other unmentioned technical effects will be clearly understood by those skilled in the art from the description below.

[0024] FIG. 1 is a block diagram schematically illustrating a teaching point correction system of a robot according to the present embodiment, and

[0025] FIG. 2 is a conceptual diagram showing a teaching point in a teaching point correction system of a robot according to the present embodiment, and

[0026] FIG. 3 is a flowchart illustrating a teaching point teaching method of a robot according to the present embodiment, and

[0027] FIG. 4 is a flowchart illustrating a first operation method of a teaching point correction system of a robot according to the present embodiment, and

[0028] FIG. 5 is a flowchart illustrating a second operation method of a robot teaching point correction system according to the present embodiment.

[0029] Embodiments of the present invention will be described in detail below with reference to the attached drawings. However, the embodiments disclosed below are not limited to those disclosed below and may be implemented in various forms; the embodiments provided are merely intended to ensure that the disclosure of the present invention is complete and to fully inform those skilled in the art of the scope of the invention. The shapes of elements in the drawings may be exaggerated for clearer explanation, and elements indicated by the same reference numeral in the drawings represent the same element.

[0030] FIG. 1 is a block diagram schematically showing a teaching point correction system of a robot according to the present embodiment, and FIG. 2 is a conceptual diagram showing a teaching point in a teaching point correction system of a robot according to the present embodiment.

[0031] As illustrated in FIGS. 1 and 2, a teaching point correction system (100, hereinafter referred to as the correction system) of a robot according to the present embodiment is provided in a work environment where a work unit (10) and a robot (30) are installed, and corrects a teaching point that defines the work position of the robot (30) as needed.

[0032] The work unit (10) forms a space where the robot (30) repeatedly performs any task. The work unit (10) may be provided in various shapes, sizes, and arrangements depending on the purpose and environment of the task performed by the robot (30). For example, the work unit (10) may form a space where the robot (30) prepares food, and the work unit (10) may include various cooking utensils. However, this is for the purpose of explaining the present embodiment and the types of the work unit (10) are not limited.

[0033] And the robot (30) is placed adjacent to the work unit (10) and can repeat the set operation and perform the set task based on the work unit (10).

[0034] For example, the robot (30) may be provided as a cooking robot and may produce food through a work unit (10). The robot (30) may include an end effector (31) and a body (33). The end effector (31) may include a gripper or a work tool connected to the body (33). The end effector (31) operates the work unit (10) and the cooking tool to produce food. The body (33) may be provided as a robot arm having a plurality of multi-joint structures and may perform lifting and rotating movements, etc., to enable the end effector (31) to perform a set operation. Here, the robot (30) may be provided as a collaborative robot that shares a work environment with humans, but the type of robot (30) is not limited.

[0035] Meanwhile, the robot (30) performs a task based on commands provided by the robot controller (50). The robot controller (50) generates work commands for the end effector (31) and the body (33). The robot controller (50) outputs control signals for the end effector (31) and the body (33) to operate based on work commands provided by the operator. For example, in this embodiment, the robot controller (50) can output control signals for the robot (30) to manufacture food based on the work unit (10).

[0036] Meanwhile, the correction system (100) includes a correction unit (110) that performs the function of correcting the teaching point. However, in this embodiment, the correction unit (110) is described as being provided as a separate component. However, this is for the purpose of explaining this embodiment, and the correction unit (110) may be integrated with the robot controller (50) or the function of the correction unit (110) may be mounted on the robot controller (50).

[0037] Generally, when a robot (30) performs a set task, hundreds to thousands of teaching points are set to define a repetitive work path and control a precise position. Here, each teaching point is set as an absolute coordinate, so that the robot (30) can perform repetitive actions based on the teaching points. However, various problems may occur in the teaching points forming absolute coordinates depending on the position of the robot (30) or the working environment.

[0038] For example, absolute coordinates operate under the premise that the workspace and coordinate system of the robot (30) are perfectly fixed. Therefore, if the position of the robot (30) changes slightly, an error occurs between the set teaching point and the actual work position. Consequently, problems may arise where the robot (30) fails to properly perform set actions, such as grasping a cooking tool or performing cooking. Furthermore, the robot (30), which operates based on absolute coordinates, may fail to find a cooking tool or perform incorrect cooking due to small positional changes, increasing the likelihood of work interruption or defective products.

[0039] Therefore, when the position of the robot (30) changes or the conditions of the working environment change, the operator manually corrects the absolute coordinates by recalibrating hundreds to thousands of teaching points. Consequently, there was a problem in that the correction of teaching points required a huge amount of labor and time.

[0040] However, the correction system (100) according to the present embodiment may include the effect of automatically and quickly correcting hundreds to thousands of teaching points by utilizing a representative teaching point that represents hundreds to thousands of teaching points.

[0041] Hereinafter, the correction system (100) will be described in detail with reference to the attached drawings. First, the teaching point teaching method will be described below with reference to the attached drawings. However, detailed descriptions of the components described above will be omitted, and they will be described by assigning the same reference numerals.

[0042] Lesson Point Teaching Method

[0043] FIG. 3 is a flowchart illustrating a teaching point teaching method of a robot according to the present embodiment.

[0044] As illustrated in FIG. 3, in the teaching point teaching of the robot (30) according to the present embodiment, hundreds to thousands of sub-teaching points (T1) need to be defined so that the robot (30) can perform repetitive actions of a preset task in the three-dimensional space of the work unit (10).

[0045] Accordingly, the operator designates at least one representative teaching point (T2) (S310). Here, the representative teaching point (T2) may be selected as a point that the robot (30) does not reach during actual operation. However, this is for the purpose of explaining the present embodiment and the location of the representative teaching point (T2) is not limited.

[0046] Then, the operator teaches multiple sub-teaching points (T1) based on the representative teaching point (T2) (S320). For teaching the sub-teaching points (T1), a relative movement teaching method or a relative coordinate system teaching method based on the representative teaching point (T1) may be applied. Accordingly, multiple lower sub-teaching points (T1) may be gathered at the upper representative teaching point (T2). Here, the multiple sub-teaching points (T1) gathered at the representative teaching point (T2) may be set to recognize the upper representative teaching point (T1) as an absolute coordinate.

[0047] In addition, the operator can set up a correction unit (110) to change the coordinate system of multiple representative teaching points (T2) using a marker (M) optimized for high-precision recognition (S330). That is, the operator can place the marker (M) at a preset location and recognize the coordinate system of the marker (M) as an absolute coordinate to change the coordinate system of the representative teaching points (T2). Here, the marker (M) can be placed in the space where the robot (30) operates, i.e., the work unit (10), but the location of the marker (M) is not limited.

[0048] Accordingly, the correction system (100) can automatically change the coordinate systems of hundreds to thousands of sub-teaching points (T1) by changing the coordinate system of the representative teaching point (T2) according to the coordinate system of the marker (M).

[0049] However, it should be noted that the teaching point teaching method described above is for the purpose of explaining the present invention, and that the teaching point teaching method may be modified in various ways.

[0050] In addition, various teaching methods of the robot (30) may be used, such as teaching pendant programming, lead-through teaching, and offline programming, and the types of teaching methods at the teaching point are not limited.

[0051] Meanwhile, in setting the representative teaching point (T2), multiple representative teaching points (T2) may be configured as a single set. In particular, when high precision of the directional component is required, two representative teaching points (T2) that are far apart may be configured as a single set to improve the angular precision of the taught direction.

[0052] For example, a pair of representative teaching points (T2) included in a set must satisfy the condition of being separated by a predetermined distance. Here, the directionality of the robot can be defined based on a straight line connecting the two points. If two points closer than the predetermined distance are set as representative teaching points (T2), a small positional error can have a significant effect on the directionality of the robot (30). For instance, the closer a pair of representative teaching points (T2) are, the more the directionality of the robot (30) can change significantly even if the connecting line between the representative teaching points (T2) is slightly crooked. However, if two points satisfying the predetermined distance are set as representative teaching points (T2), the influence of a small positional error on the overall directionality is reduced. That is, because the distance between a pair of representative teaching points (T2) is long, the angle of the robot's (30) directionality can be set more stably and accurately.

[0053] Meanwhile, the following describes a method for correcting teaching points according to various embodiments with reference to the attached drawings.

[0054] Work environment setup and teaching point correction based on robot position changes

[0055] FIG. 4 is a flowchart showing a first operation method of a robot teaching point correction system according to the present embodiment, and FIG. 5 is a flowchart showing a second operation method of a robot teaching point correction system according to the present embodiment.

[0056] As illustrated in FIGS. 4 and 5, the correction system (100) according to the present embodiment can be performed during the process of installing a robot and a work unit (10) in a work environment (S410).

[0057] Even if the operating range of the robot (30) is defined through the teaching point teaching described above before the initial establishment of the work environment, correction of the teaching point may be required depending on the conditions of the work environment or the type of robot (30).

[0058] For example, in the work environment where the robot (30) and the work unit (10) are installed, there may be imbalances and deformations in the installation space. Therefore, even if teaching of the teaching point is performed before the installation of the robot (30) and the work unit (10), correction of the teaching point may be required again when constructing the work environment. In addition, since there may be slight differences in coordinate systems between robots (30) of the same type, correction of the teaching point may be required again when constructing the work environment.

[0059] Accordingly, after installing the robot (30) and the work unit (10) in the work environment, the operator can perform correction of the teaching point. For example, the operator can operate the correction system (100) through an application installed on a terminal to make the correction of the teaching point occur.

[0060] For example, the robot (30) can acquire marker (M) information using a camera (S420). Here, the camera may be mounted on the end effector (31) of the robot (30). However, this is for the purpose of explaining the present embodiment, and the camera may be fixed separately at a position spaced apart from the robot (30). Also, the marker (M) may be attached to the work unit (10). Since the marker (M) must be used as an absolute coordinate regardless of the conditions of the work environment, it is preferable to place it at a fixed position in the three-dimensional space where the robot (30) operates, that is, at the work unit (10). In other words, even if there is an imbalance on the floor surface where the robot (30) and the work unit (10) are installed, the three-dimensional space where the robot operates is set based on the work unit (10). Therefore, if the marker (M) is placed on the work unit (10), the three-dimensional space where the robot (30) operates can be accurately defined even if there is an imbalance in the installation environment.

[0061] Accordingly, the correction system (100) recognizes the position of the marker (M) as an absolute coordinate to correct hundreds to thousands of sub-teaching points (T1). Then, the correction system (100) causes the coordinate system of a plurality of representative teaching points (T2) to recognize the coordinate system of the marker (M) as an absolute coordinate (S430). Accordingly, the coordinate systems of the plurality of sub-teaching points (T1) belonging to the lower of the representative teaching point (T2) can be automatically corrected based on the coordinate system of the upper representative teaching point (T2).

[0062] Accordingly, the correction system (100) can automatically correct hundreds to thousands of teaching points without manual correction by utilizing the coordinate system of the marker (M) as the coordinate system of the representative teaching point (T1) where the sub-teaching point (T2) is collected (S440).

[0063] Therefore, there is an advantage in that the robot (30) can be operated stably by quickly performing correction of the teaching point even when the conditions of the work environment or the type of robot differ during the installation process of the robot (30) and the work unit (10).

[0064] Meanwhile, the correction system (100) according to the present embodiment can perform correction of the teaching point when the position of the robot (30) changes (S510).

[0065] For example, if the robot (30) is separated from the installation location and reconnected for reasons such as cleaning and maintenance, correction of the teaching point may be required due to a change in the position of the robot (30). In addition, when using a mobile robot or a non-fixed robot, correction of the teaching point may be required as the position of the robot (30) changes slightly depending on the environment and conditions.

[0066] Accordingly, when the position of the robot (30) is finally determined and fixed after the position change of the robot (30), the operator can perform teaching point correction using the correction system (100).

[0067] At this time, the operator can operate the correction system (100) to correct the teaching point. First, the robot (30) can acquire marker (M) information using a camera (S520). Then, the correction system (100) causes the coordinate system of a plurality of representative teaching points (T2) to recognize the coordinate system of the marker (M) as an absolute coordinate (S530). Accordingly, the coordinate systems of a plurality of sub-teaching points (T1) belonging to the lower part of the representative teaching point (T2) can be automatically corrected based on the coordinate system of the upper representative teaching point (T2).

[0068] Accordingly, the correction system (100) can automatically correct hundreds to thousands of teaching points without manual correction by utilizing the coordinate system of the marker (M) as the coordinate system of the representative teaching point (T1) where the sub-teaching point (T2) is collected (S540).

[0069] Therefore, even if a change in the robot's position occurs, there is an advantage in that teaching point correction is performed quickly and the robot can be operated stably.

[0070] As such, the teaching point correction system for a robot using vision recognition according to the present invention has the effect of enabling stable operation of the robot by rapidly performing teaching point correction even when a change in the robot's position occurs.

[0071] In addition, the robot teaching point correction system using vision recognition according to the present invention has the advantage of enabling stable operation of the robot by rapidly performing teaching point correction even when the working environment conditions or the type of robot differ during the installation process of the robot and the work unit.

[0072] An embodiment of the present invention described above and illustrated in the drawings should not be interpreted as limiting the technical scope of the present invention. The scope of protection of the present invention is limited only by the matters described in the claims, and a person skilled in the art may modify or change the technical scope of the present invention in various forms. Accordingly, such modifications and changes will fall within the scope of protection of the present invention insofar as they are obvious to a person skilled in the art.

Claims

1. A method of operating a teaching point correction system that corrects teaching points defining a robot's work path, Set the representative teaching point of the robot performing the task in the work unit, and Teaching multiple sub-teaching points based on the above representative teaching point, and A method of operating a teaching point correction system that corrects the coordinate system of the representative teaching point and automatically corrects the coordinate system of the sub-teaching point included in the representative teaching point when correction of the representative teaching point is required.

2. In Paragraph 1, In setting the representative teaching point above, A method of operating a teaching point correction system in which a point not reached during actual operation by the above robot is selected.

3. In Paragraph 1, The above representative teaching point is, Multiple representative teaching points are configured as a single set, and The above multiple representative teaching points are, A method of operating a teaching point correction system comprising a pair of representative teaching points separated by a predetermined distance or more.

4. In Paragraph 3, The above pair of representative teaching points is, A method of operating a teaching point correction system configured as a single set to improve the angle precision of the taught direction when high precision of the directional component is required.

5. In Paragraph 1, In the above work unit, A marker serving as a reference for the above representative teaching point is formed, and In the correction of the above teaching point, A method of operating a teaching point correction system that causes the coordinate system of the representative teaching point to change based on the coordinate system recognized from the marker.

6. In Paragraph 5, The above marker is, A method of operating a teaching point correction system formed in the above-mentioned work unit used for teaching the above-mentioned teaching point.

7. In Paragraph 1, The above teaching point correction is, This is performed when at least one of the above robot and the above work unit is installed in a workspace or when the position of the robot changes, and In the correction of the above teaching point, Photograph the marker placed in the above workspace, and A method of operating a teaching point correction system that corrects the coordinate system of the representative teaching point based on the above marker and automatically corrects the coordinate system of the sub-teaching point included in the above representative teaching point.

8. Robot; A work unit forming a space where the above-mentioned robot performs a task; and It includes a correction unit that corrects a teaching point defining the work path of the above robot, and The above teaching point is, It includes a representative teaching point that includes multiple sub-teaching points, and The above correction unit is, A teaching point correction system that corrects the coordinate system of the representative teaching point to automatically correct the sub-teaching points included in the representative teaching point.

9. In Paragraph 8, In setting the representative teaching point above, A teaching point correction system in which a point not reached by the above robot during actual operation is selected.

10. In Paragraph 8, The above representative teaching point is, Multiple representative teaching points are configured as a single set, and The above multiple representative teaching points are, A teaching point correction system comprising a pair of representative teaching points separated by a preset distance or more.

11. In Paragraph 10, The above pair of representative teaching points is, A teaching point correction system configured as a single set to improve the angle precision of the taught direction when high precision of the directional component is required.

12. In Paragraph 8, It further includes a marker placed on the above-mentioned work unit, and The above correction unit is, A teaching point correction system characterized by changing the coordinate system of the representative teaching point based on the coordinate system recognized from the marker.

13. In Paragraph 12, The above marker is, A teaching point correction system formed in the above-mentioned work unit used for teaching the above-mentioned teaching point.

14. In Paragraph 8, In the correction of the above teaching point, This is performed when at least one of the above robot and the above work unit is installed in a workspace or when the position of the robot changes, and The correction of the above teaching point is, Photograph the marker placed in the above workspace, and A teaching point correction system that corrects the coordinate system of the representative teaching point based on the above marker and automatically corrects the coordinate system of the sub-teaching point included in the representative teaching point.

15. In Paragraph 8, The above correction unit is, A teaching point correction system included in a robot controller that controls the above robot.

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