The invention relates to the technical field of industrial robots, and discloses a
robot flexible plug-in teaching method and
system based on double-vision
collaboration.The method comprises the steps that S1, a double-vision
system and a
robot coordinate
system are calibrated, and a feeder area is defined; s2, in a teaching mode, a human hand track is tracked through a global positioning camera, and a'material taking 'action at a feeder is automatically identified by using a sliding window clustering
algorithm; s3, triggering a high-precision Mark point camera to
shoot a local image of the PCB after the human hand leaves the plug-in, and accurately calculating a plug-in position coordinate of the component through an image difference technology; and S4, automatically synthesizing a
robot executable program according to the identified action sequence and the calculated accurate coordinates. According to the method, traditional manual
programming is replaced with visual teaching, the operation technical threshold is remarkably reduced, the industrial-grade operation precision is guaranteed through a double-layer cooperation mechanism of hand guiding and visual fine calibration, the multi-variety
production line changing time is greatly shortened, and flexible automatic plug-in is achieved.