Robot Teaching by 3D Hand Trajectory Recognition
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Solution Overview
Problem
Current robot teaching methods using jog operation keys or screen interactions are limited by the degree of freedom, restricting the ability to teach robots with higher complexity and intuitiveness.
Innovation Solution
A robot teaching device equipped with an image acquisition device to detect hand movements, a trajectory detection section to identify linear or rotational movements, and a command generation section to translate these movements into robot commands, allowing for more intuitive and complex robot instruction.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If jog operation keys or screen touching/sliding operation are used for robot teaching, then the teaching operation is simplified, but the degree of freedom of instruction is limited
Solution Approach 1:
The patent replaces the mechanical teaching operation system (jog keys and screen interactions) with an optical recognition system that captures and analyzes hand gesture images. This substitution enables three-dimensional spatial instruction freedom while maintaining operational simplicity, as the system automatically interprets hand movements without requiring physical buttons or two-dimensional screen interactions.
Solution Approach 2:
The patent introduces an image processing system as an intermediary between the operator's hand gestures and the robot control commands. This intermediary captures images of hand movements, processes them to extract trajectory information, and converts them into robot instructions, thereby enabling natural three-dimensional gesture control while simplifying the user interface.
2Device complexity
If traditional jog operation keys are used, then the device structure remains simple, but the instruction capability is restricted to predefined operations
Solution Approach 1:
The patent replaces the mechanical teaching device structure (physical keys and buttons) with an optical sensing system using cameras and image processing. This substitution dramatically increases instruction capability by enabling recognition of arbitrary three-dimensional hand gestures while keeping the physical device structure relatively simple, requiring only imaging devices and processing units rather than numerous physical controls.
Solution Approach 2:
The patent makes the teaching device universal by enabling it to recognize and interpret various types of hand gestures in three-dimensional space. The image processing system can handle multiple gesture types (pointing, moving, rotating) and translate them into different robot commands, making a single device capable of performing multiple teaching functions that would traditionally require separate controls.
3Ease of operation
If screen touching/sliding operation is used, then the operation interface is visual, but the instruction is limited to a two-dimensional plane
Solution Approach 1:
The patent transitions from two-dimensional screen interaction to three-dimensional spatial gesture recognition by using image capturing devices to detect hand positions and movements in three-dimensional space. The system processes image data to extract three-dimensional trajectory information, enabling natural spatial instructions that go beyond the limitations of flat screen interfaces while maintaining visual feedback through displayed images.
Data Source
AI summary
A robot teaching device includes: an image acquisition device configured to acquire, as a moving image, a distance image representing distance information of an imaging object, or a two-dimensional image of the imaging object; a trajectory detection section configured to detect a movement trajectory of an operator's hand depicted as the imaging object in the moving image by using the moving image; an identification section configured to identify whether the detected movement trajectory represents a linear movement or a rotational movement; and a command generation section configured to output a command for translating a predetermined movable part of the robot based on the movement trajectory when the movement trajectory is identified as representing a linear movement, and to output a command for rotating the predetermined movable part based on the movement trajectory when the movement trajectory is identified as representing a rotational movement.