Robot teaching method and robot working method
The robot teaching method includes a pre-registration step, robot operation step, and teaching step. The pre-registration step is for specifying a relative self-position of a measuring device with respect to surrounding environment by measuring the surrounding environment using the measuring device, and registering an environment teaching point that is a teaching point of the robot specified using the relative self-position. The robot operation step for automatically operating the robot so that the relative self-position of the robot with respect to the surrounding environment become equal to the environment teaching point in a state where the measuring device is attached to the robot. The teaching step for registering a detection value of a position and a posture of the robot measured by an internal sensor as teaching information in a state where the relative self-position of the robot with respect to the surrounding environment become equal to the environment teaching point.
1. A robot teaching method for an industrial robot comprising:
a pre-registration step for specifying a relative self-position of a measuring device with respect to a surrounding environment by measuring the surrounding environment using the measuring device, and registering an environment teaching point that is a teaching point of the industrial robot specified using the relative self-position;
a robot operation step for automatically operating the industrial robot so that the relative self-position of the industrial robot with respect to the surrounding environment becomes equal to the environment teaching point, based on a measuring result of the surrounding environment by the measuring device, in a state where the measuring device is attached to the industrial robot; and
a teaching step for registering a detection value of a position and a posture of the industrial robot measured by a sensor as teaching information in a state where the relative self-position of the industrial robot with respect to the surrounding environment becomes equal to the environment teaching point.
2. The robot teaching method according to claim 1 , wherein
in the pre-registration step, the environment teaching point is registered based on the relative self-position in a state where an operator holds the measuring device and moves the measuring device to the teaching point of the industrial robot in actual space.
3. The robot teaching method according to claim 2 , wherein
the measuring device is a stereo camera, and an image captured in the pre-registration step is stored as an image indicating a teaching intention of the operator even after the teaching step is completed.
4. The robot teaching method according to claim 1 , further comprising:
a preparatory step, performed before the pre-registration step, in which an environment map of the surrounding environment is created by measuring the surrounding environment using the measuring device and performing a SLAM process, wherein
in the pre-registration step, the environment map is displayed, an input of the environment teaching point by an operator is received, and the teaching point is registered based on the input of the operator.
5. The robot teaching method according to claim 1 , wherein
in the robot operation step, a plurality of correspondence relations between an environment coordinate which is a coordinate of an environment map created by performing a SLAM process to the measuring result of the measuring device and a robot coordinate which is a coordinate of the industrial robot based on a detection value of the sensor are acquired,
in the robot operation step, conversion data for converting the environment coordinate to the robot coordinate are created based on the plurality of the correspondence relations, and
in the robot operation step, the relative self-position in the environment map created by performing the SLAM process to the measuring result of the measuring device is converted into a current coordinate value of the robot coordinate using the conversion data, and the industrial robot is controlled based on the coordinate value so that the relative self-position in the environment map becomes equal to the environment teaching point.
6. The robot teaching method according to claim 5 , wherein
after creating the conversion data, the correspondence relation is acquired between the environment coordinate and the robot coordinate again, and the conversion data are updated based on the acquired correspondence relation.
7. The robot teaching method according to claim 1 , wherein
the sensor used in the teaching step for detecting the position and the posture of the industrial robot is an internal sensor of the industrial robot.
8. The robot teaching method according to claim 1 , wherein
the industrial robot is of a teaching playback type.
9. The robot teaching method according to claim 1 , wherein
in the pre-registration step, a support virtual image in which the industrial robot is arranged in a workplace of a virtual space corresponding to a current position and a current orientation of the measuring device is output using an output device.
10. The robot teaching method according to claim 1 , wherein
in the pre-registration step, a support Augmented Reality (AR) image in which the industrial robot corresponding to a current position and a current orientation of the measuring device is overlapped with an image photographed by a camera of an information device is displayed on a display of the information device.
11. A robot working method in which an industrial robot works using teaching information registered by a robot teaching method,
the robot teaching method comprising:
a pre-registration step for specifying a relative self-position of a measuring device with respect to a surrounding environment by measuring the surrounding environment using the measuring device, and registering an environment teaching point that is a teaching point of the industrial robot specified using the relative self-position;
a robot operation step for automatically operating the industrial robot so that the relative self-position of the industrial robot with respect to the surrounding environment becomes equal to the environment teaching point, based on a measuring result of the surrounding environment by the measuring device, in a state where the measuring device is attached to the industrial robot; and
a teaching step for registering a detection value of a position and a posture of the industrial robot measured by a sensor as the teaching information in a state where the relative self-position of the industrial robot with respect to the surrounding environment becomes equal to the environment teaching point, wherein
in the robot working method, the industrial robot works without attaching the measuring device.
12. A robot working method in which an industrial robot works using teaching information registered by a robot teaching method,
the robot teaching method comprising:
a pre-registration step for specifying a relative self-position of a measuring device with respect to a surrounding environment by measuring the surrounding environment using the measuring device, and registering an environment teaching point that is a teaching point of the industrial robot specified using the relative self-position;
a robot operation step for automatically operating the industrial robot so that the relative self-position of the industrial robot with respect to the surrounding environment becomes equal to the environment teaching point, based on a measuring result of the surrounding environment by the measuring device, in a state where the measuring device is attached to the industrial robot; and
a teaching step for registering a detection value of a position and a posture of the industrial robot measured by a sensor as the teaching information in a state where the relative self-position of the industrial robot with respect to the surrounding environment becomes equal to the environment teaching point, wherein
in the robot working method, the industrial robot works with the measuring device attached thereto, and the position and the posture of the industrial robot with respect to a workpiece which is a work target is adjusted based on the measuring result of the measuring device.