CN108356817A - A kind of teaching method based on 3D models - Google Patents
A kind of teaching method based on 3D models Download PDFInfo
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- CN108356817A CN108356817A CN201810030293.6A CN201810030293A CN108356817A CN 108356817 A CN108356817 A CN 108356817A CN 201810030293 A CN201810030293 A CN 201810030293A CN 108356817 A CN108356817 A CN 108356817A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
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- Automation & Control Theory (AREA)
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Abstract
The invention discloses a kind of teaching methods based on 3D models, are related to mechanical arm teaching technical field, are implemented by following teaching systems, teaching system includes：Teaching machine, mechanical arm and controller, controller are arranged on the robotic arm, and controller is used for the movement and operation of control machinery arm；Teaching method based on 3D models includes the following steps：First by teaching machine and controller by network connection, teaching machine by the 3D models of mechanical arm teaching machine display screen display；Then the visual angle of the 3D models on display screen is adjusted；Move signal is sent out by teaching machine, and by move signal propagation controller, under user coordinate system to directly control the movement of mechanical arm in the user coordinate system for then establishing 3D models；The present invention effectively reduces the use difficulty of teaching machine, uses simple and convenient；The compatibility for enhancing teaching machine simultaneously, can apply to the industrial machinery arm of different model.
Description
Technical field
The present invention relates to mechanical arm teaching technical field, especially a kind of teaching method based on 3D models.
Background technology
For industrial machinery arm when doing teaching preservation ending coordinates point, height relies on reason of the operator to " coordinate system "
Solution.This has higher requirement to the mathematics standard of operator：Must have X-axis, the correlation of Y-axis, these space coordinates of Z axis is known
Know, corresponding mechanical arm tail end position can be estimated according to the value of XYZ；It is main because of movement of the teaching machine to mechanical arm tail end
If being realized by the modification of the mathematical coordinates value of " X-axis adds ", " X-axis subtracts " etc.
Using space coordinates as description mechanical arm tail end position it is this in a manner of, be a kind of very non-intuitive operation side
One big feature of formula and industrial machinery arm operating difficulties；Whenever operator moves the position of oneself, operator is resulted in need
Oneself relativeness with mechanical arm is re-established, the relative movement for estimating mechanical arm tail end again with oneself is needed, is operated
Member needs frequently to redefine the relative coordinate system of oneself, operates very troublesome, and operation difficulty is high.
A kind of master slave mode teaching system for mechanical arm of as disclosed in Chinese invention patent CN107030679A and
Teaching method, the cardinal principle for the master slave mode teaching method of mechanical arm are that by two identical mechanical arms or have phase
The control device of congenerous, one as teaching mechanical arm (master control mechanical arm), another as execute work mechanical arm (from
Dynamic mechanical arm), realize that slave manipulator arm is run according to master control mechanical arm teaching track by operating master control mechanical arm.Use main controller
Tool arm carries out teaching, and slave manipulator arm is sent an instruction to after confirmation is errorless, and slave manipulator arm executes what master control mechanical arm was sent
Instruction.Can also the operation of master/slave mechanical arm real-time synchronization, master/slave mechanical arm is corresponding in real time and executes in real time；The teaching of the invention
For method in teaching there is still a need for the coordinate system for establishing actual machine arm terminal position, the complicated and difficulty that operates is high.
For another example a kind of mechanical arm teaching method, the apparatus and system disclosed in Chinese invention patent CN106182003A.It should
Mechanical arm teaching method, including：Obtain the teaching action data of working end, teaching action data be arranged on working end it is used
Property measuring unit IMU acquisition data of the working end in teaching action process；Working end is obtained according to teaching action data
Motion trace data and spatial attitude data；Movement instruction is generated according to motion trace data and spatial attitude data, and will fortune
Dynamic instruction is sent to mechanical arm, so that mechanical arm completes action corresponding with teaching action.The present invention is by motion trace data
It is shown in three-dimensional environment with spatial attitude data, desired mechanical arm movement locus is generated by visualization, simple editing,
This track is converted into manipulator motion instruction and is sent to mechanical arm, so that mechanical arm is completed comprising teaching action relevant work step
Suddenly；The invention teaching apparatus is complicated, such as Inertial Measurement Unit IMU etc., while its teaching method is more demanding to proficiency.
Invention content
One, technical problems to be solved
The purpose of the present invention is for the drawbacks described above present in the prior art, provide a kind of teaching based on 3D models
Method solves operator frequently around the caused relative coordinate system variation of mechanical arm movement, and mechanical arm moving direction is difficult
The problem of to calculate, while also solving the problem that button is more, complicated for operation on traditional teaching machine.
Two, technical solution
In order to solve the above technical problems, the present invention provides a kind of teaching method based on 3D models, pass through following teaching systems
System is implemented, and teaching system includes：Teaching machine, mechanical arm and controller, controller are arranged on the robotic arm, and controller is for controlling
The movement and operation of mechanical arm；
Teaching method based on 3D models includes the following steps：
First by teaching machine and controller by network connection, teaching machine by the 3D models of mechanical arm teaching machine display
Screen display；
Then the visual angle of the 3D models on display screen is adjusted；
In the user coordinate system for then establishing 3D models, under user coordinate system, move letter is sent out by teaching machine
Number, and by move signal propagation controller, to directly control the movement of mechanical arm.
Wherein, the moving direction of move signal is based on user coordinate system, including upper, lower, left, right, front and rear,
Simultaneously further include mechanical arm axle, joint angular turn move signal.
Wherein, the 3D models on display screen, can real-time update simultaneously simultaneous display shifting on 3D models when mechanical arm moves
It is dynamic；The expansion scene that 3D models are used as 3D models by running the WebGL pages in WebView webpages.
Wherein, when mechanical arm moves, teaching machine receives the udp broadcast of controller, to receive location parameter, teaching machine
The location parameter of processing is sent to the WebGL pages, WebGL page synchronizations show the movement on 3D models.
Wherein, when the visual angle adjustment of 3D models, the visual angle of 3D models and the mechanical arm visual angle in reality on display screen can be made
Unanimously so that user coordinate system is consistent with the base coordinate system all directions of mechanical arm.
Wherein, teaching machine uses tablet computer, versatile.
Three, advantageous effect
Compared with prior art, a kind of teaching method based on 3D models provided by the invention, effectively reduces teaching
The use difficulty of device, uses simple and convenient；The compatibility for enhancing teaching machine simultaneously, can apply to the industry of different model
Mechanical arm.
Specific implementation mode
With reference to embodiment, the embodiment of the present invention is furthur described in detail.Following embodiment is used for
Illustrate the present invention, but cannot be used for limiting the scope of the invention.
A kind of teaching method based on 3D models of the embodiment of the present invention, is implemented, teaching system by following teaching systems
Including：Teaching machine, mechanical arm and controller, controller be arranged on the robotic arm, controller for control machinery arm movement and
Operation；
Teaching method based on 3D models includes the following steps：
First by teaching machine and controller by network connection, teaching machine by the 3D models of mechanical arm teaching machine display
Teaching machine is connect, teaching machine is compatible with by controller by screen display using WIFI patterns with controller in the concrete realization
TCP communication interface realize control machinery arm purpose；
Then the visual angle of the 3D models on display screen is adjusted；
In the user coordinate system for then establishing 3D models, under user coordinate system, move letter is sent out by teaching machine
Number, and by move signal propagation controller, to directly control the movement of mechanical arm；The moving direction of move signal
Based on user coordinate system, including upper, lower, left, right, front and rear, at the same further include mechanical arm axle, joint angular turn
Move signal.
The teaching machine of the present invention can be used other intelligent mobile terminals such as tablet computer or smart mobile phone, on display screen
3D models, can real-time update simultaneously simultaneous display movement on 3D models when mechanical arm moves；3D models pass through in WebView nets
Expansion scene of the operation WebGL pages as 3D models in page；When mechanical arm moves, teaching machine receives the udp broadcast of controller,
To receive location parameter, the location parameter of processing is sent to the WebGL pages by teaching machine, and WebGL page synchronizations show 3D
Movement on model；In specific implementation process, mechanical arm is by each axis, the rotational angle information in joint, once with 200 milliseconds
Refreshing frequency, tablet computer is sent to by the form of UDP network packets, tablet computer after receiving UDP network packets, parsing
Go out wherein each axis of mechanical arm, joint rotational angle information, and shown by 3D models.
When the visual angle of 3D models adjusts, the visual angle of 3D models and the mechanical arm visual angle one in reality on display screen can be made
It causes so that user coordinate system is consistent with the base coordinate system all directions of mechanical arm, in actual mechanical process, in order to simplify operation stream
Journey can cancel the process being adjusted to the visual angle of 3D models, directly carry out teaching.
A kind of teaching method based on 3D models of patent of the present invention, in actual application, operator builds operator
The base coordinate system of mechanical arm under the vertical visual angle when under previous orientation, then in the tablet computer as teaching machine, by 3D moulds
The camera position in scene is unfolded, makes the 3D models of mechanical arm in teaching machine by finger drag function, adjustment in the visual angle of type
Visual angle with reality in the visual angle of mechanical arm it is consistent, that is, the base coordinate system of the user coordinate system and mechanical arm of the 3D models established
All directions are consistent, wherein using expansion scene of the operation WebGL pages as 3D models in WebView webpages；Operator at this time
Move signal is sent to mechanical arm on the basis of user coordinate system, when operator position moves, is directly sat in user
Continue to send move signal to mechanical arm on the basis of mark system, greatly reduces the use difficulty of teaching machine, solve behaviour
Frequent mobile this site problems for leading to habitual teaching mistake of work person；Controller is directly connected by tablet computer simultaneously
Mode, greatly improve for different mechanical arms carry out teaching compatibility, further solve on traditional teaching machine by
Key is more, problem complicated for operation.
It the above is only the preferred embodiment of the present invention, it is noted that those skilled in the art are come
It says, without departing from the technical principles of the invention, several improvements and modifications can also be made, these improvements and modifications are also answered
It is considered as protection scope of the present invention.
Claims (7)
1. a kind of teaching method based on 3D models, which is characterized in that the teaching method based on 3D models is shown by following
Teaching system is implemented, and the teaching system includes：Teaching machine, mechanical arm and controller, the controller are arranged in the mechanical arm
On, the controller is used to control the movement and operation of the mechanical arm；
The teaching method based on 3D models includes the following steps：
First by the teaching machine and the controller by network connection, the teaching machine exists the 3D models of the mechanical arm
The display screen display of the teaching machine；
Then the visual angle of the 3D models on display screen is adjusted；
The user coordinate system for finally establishing 3D models sends out move signal under the user coordinate system by teaching machine,
And by move signal propagation controller, to directly control the movement of mechanical arm.
2. a kind of teaching method based on 3D models as described in claim 1, which is characterized in that the move signal
Moving direction is based on user coordinate system, including upper, lower, left, right, front and rear.
3. a kind of teaching method based on 3D models as described in claim 1, which is characterized in that the 3D moulds on the display screen
Type, can real-time update simultaneously simultaneous display movement on the 3D models when mechanical arm moves.
4. a kind of teaching method based on 3D models as claimed in claim 3, which is characterized in that the 3D models by
Expansion scene of the WebGL pages as 3D models is run in WebView webpages.
5. a kind of teaching method based on 3D models as claimed in claim 4, which is characterized in that when the mechanical arm movement,
The teaching machine receives the udp broadcast of the controller, and to receive location parameter, the teaching machine joins the position of processing
Number is sent to the WebGL pages, and WebGL page synchronizations show the movement on 3D models.
6. a kind of teaching method based on 3D models as described in claim 1, which is characterized in that the visual angle tune of the 3D models
When whole, the visual angle of 3D models on display screen can be made consistent with the mechanical arm visual angle in reality so that user coordinate system and mechanical arm
Base coordinate system all directions it is consistent.
7. a kind of teaching method based on 3D models as described in claim 1, which is characterized in that the teaching machine uses tablet
Computer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201810030293.6A CN108356817A (en) | 2018-01-12 | 2018-01-12 | A kind of teaching method based on 3D models |
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| CN201810030293.6A CN108356817A (en) | 2018-01-12 | 2018-01-12 | A kind of teaching method based on 3D models |
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| CN108356817A true CN108356817A (en) | 2018-08-03 |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110053054A (en) * | 2019-04-09 | 2019-07-26 | 浙江工业大学 | Mechanical arm teaching method based on Android phone IMU |
| CN111390908A (en) * | 2020-03-26 | 2020-07-10 | 哈尔滨工业大学 | Webpage-based mechanical arm virtual dragging method |
| CN113059558A (en) * | 2020-01-02 | 2021-07-02 | 京东方科技集团股份有限公司 | Control method and terminal of medical mechanical arm and readable medium |
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| CN111390908A (en) * | 2020-03-26 | 2020-07-10 | 哈尔滨工业大学 | Webpage-based mechanical arm virtual dragging method |
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Application publication date: 20180803 |