Industrial robot object grabbing teaching system and method based on depth vision

Abstract

The invention discloses an industrial robot object grabbing teaching system based on depth vision. The industrial robot object grabbing teaching system comprises a teaching workbench, a camera, a robot, a clamping jaw, a robot controller and a depth calculation platform, wherein the clamping jaw and the camera are arranged on the tail end of an arm of the robot; the robot controller is in controlconnection with the robot and controls the robot to drive the clamping jaw and the camera to synchronously move on the teaching workbench; the camera and the robot controller are in communication connection with the depth calculation platform; and the depth calculation platform acquires position image data of the clamping jaw through the camera, computes the actual position information of a targetgrabbed by the clamping jaw and finally commands the robot controller to control the robot to grab and release the object. The invention also discloses a related teaching method. The system has higher positioning precision, meets the requirements for industrial production, and has important significance for improving an intelligent flexible production line.

Description

technical field [0001] The invention relates to the field of robots and automation equipment, in particular to an object grasping and teaching system and teaching method for industrial robots based on depth vision. Background technique [0002] Robotics is a comprehensive discipline, which covers many disciplines such as information technology, control theory, mechanical design, sensor technology, artificial intelligence and bionics. The emergence of robots has had a major impact on people's daily life. There are many types of robots. According to different application scenarios, robots can be divided into service robots, medical robots, special robots, underwater robots and industrial robots. Driven by modern science and technology, robot technology has made great progress, especially in the industry, where it is widely used and the technology is relatively mature. Industrial robots can help people quickly complete heavy and repetitive tasks, and can also work in extreme e...

AI Technical Summary

Problems solved by technology

Traditional industrial robots need to be taught first (the steps to set up the robot to complete the task) when dealing with new tasks, but most industrial robots on the production line control the robot to perform predetermined command actions through pre-teaching or offline programming. Once the working environment or the target object changes, the robot cannot adapt to these changes in time, resulting in grasping failure. Therefore, this working method limits the flexibility and work efficiency of industrial robots to a large extent.

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