CN109773782B - Method, system and device for updating transition point of specified attitude position of robot - Google Patents
Method, system and device for updating transition point of specified attitude position of robot Download PDFInfo
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- CN109773782B CN109773782B CN201811607375.9A CN201811607375A CN109773782B CN 109773782 B CN109773782 B CN 109773782B CN 201811607375 A CN201811607375 A CN 201811607375A CN 109773782 B CN109773782 B CN 109773782B
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Abstract
The invention discloses a method, a system and a device for updating transition points of specified attitude positions of a robot, wherein the method comprises the following steps: according to all the selected objects, classifying the selected objects into a temporary set; and carrying out corresponding transition point processing according to the types of the elements in the temporary set. The invention updates according to different types of requirements, thereby realizing that all robots move to new home positions by one key, all transition points needing to be at the home positions of the robots in the path are updated to the new home positions by one key, a user only needs to select an operation area needing to update the home positions in a software interface, and other operation steps are automatically completed by a program, so that the time of simulation personnel is greatly saved, and the working efficiency is greatly improved. The invention can be widely applied to the field of robots.
Description
Technical Field
The invention relates to the technical field of robot simulation, in particular to a method, a system and a device for updating a transition point of a specified attitude position of a robot.
Background
At present, software Process Design and Process Simulation are the mainstream software for Process Simulation in the smart manufacturing industry.
In the field or in the simulation environment, some important robot postures, such as home posture, are zero-point postures where the robot stays when the work cycle of the linear body starts and ends, and also start and end positions of the motion trail of the robot. In the simulation process, the robot home setting needs to consider the factors such as the whole space posture of the robot, small occupied space, robot stress (the stress can influence the service life of the robot), whether the robot can conveniently and quickly move to a first process point and the like, so that the robot needs to reset a more reasonable home posture because the equipment and the three-dimensional layout of the robot need to be changed in the early stage of project simulation and the middle stage of the project simulation is in a verification optimization stage. When the home pose of the robot is changed, the robot needs to return to a new home position, and some transition points in the motion trail of the robot also need to be updated to the changed home pose. The current practice of most simulators is as follows: and finding a path associated with the robot in the path operation tree, finding transition points needing to be located at the home position, moving each transition point to a new position by using a 'relocation' function of software, and updating the positions of the transition points by one robot if the home positions of a plurality of robots are changed. The above process is time-consuming and labor-consuming, and the situation that the position of the transition point is updated wrongly exists. At present, the existing functions of the Process Simulation software are limited, and other faster methods are not available.
Disclosure of Invention
In order to solve the above technical problems, an object of the present invention is to provide a method, a system, and an apparatus for updating a transition point of a designated attitude position of a robot, which can improve efficiency.
The technical scheme adopted by the invention is as follows:
a method for updating a transition point of a specified attitude position of a robot comprises the following steps:
according to all the selected objects, classifying the selected objects into a temporary set;
and carrying out corresponding transition point processing according to the types of the elements in the temporary set.
As a further improvement of the method for updating the transition point of the specified posture position of the robot, the step of performing corresponding transition point processing according to the types of the elements in the temporary set specifically includes:
when the elements in the temporary set are judged to be single or multiple transition points, performing corresponding processing on the transition points;
when the element in the temporary set is judged to be a single path, carrying out corresponding path judgment processing on the single path;
and when the elements in the temporary set are judged to be a plurality of paths, performing corresponding processing on the plurality of paths.
As a further improvement of the method for updating the transition point of the specified posture position of the robot, the step of performing corresponding processing on the transition point specifically includes:
acquiring a parent path of the transition point;
judging whether the parent-level path is associated with the robot or not, if so, controlling the robot to move to a new home position, assigning the value of the TCPF position of the robot to the position of a transition point, reading an xml file from the specified path, acquiring the naming rule of the transition point of the home position, and renaming the transition point according to the standard; otherwise, the pop-up window prompts the user and ends the program.
As a further improvement of the method for updating the transition point of the specified posture position of the robot, the step of correspondingly processing the plurality of paths specifically includes:
acquiring all sub-level paths of which the types are robot paths in the temporary set, and classifying the sub-level paths into a path set;
traversing all paths in the path set, and performing path judgment processing on each single path;
after traversing each single path, updating all home position points in the path;
judging whether the robot association array list is empty or not, if so, ending the program; otherwise, the association array list of the inorganic robots is output to a window, and the path of the robot which is not associated with the path is prompted.
As a further improvement of the method for updating the transition point of the specified posture position of the robot, the path determination process specifically includes:
if the single path is not associated with the robot, adding the path name into an association array list of the robot, and prompting the path unassociated robot through a pop-up window;
if the single path has the associated robot, the associated robot is moved to a new home position, all transition points under the single path are obtained, all the transition points are classified into a temporary set, the transition points meeting the naming rule are searched in the temporary set in a traversing mode, and the position of the transition points is moved to the position of the TCPF of the robot.
The other technical scheme adopted by the invention is as follows:
an updating system for robot-specified attitude location transition points, comprising:
the object acquisition unit is used for classifying all the selected objects into a temporary set;
the type judgment unit is used for carrying out corresponding transition point processing according to the types of the elements in the temporary set;
as a further improvement of the system for updating the robot specified posture position transition point, the type determination unit specifically includes:
the transition point processing unit is used for correspondingly processing the transition points when judging that the elements in the temporary set are single or multiple transition points;
the single path processing unit is used for carrying out corresponding path judgment processing on the single path when the element in the temporary set is judged to be the single path;
and the multipath processing unit is used for performing corresponding processing on the paths when the elements in the temporary set are judged to be the paths.
As a further improvement of the system for updating the transition point of the specified posture position of the robot, the transition point processing unit specifically includes:
a parent path acquiring unit, configured to acquire a parent path of the transition point;
the transition point association processing unit is used for judging whether the parent-level path is associated with the robot or not, controlling the robot to move to a new home position if the parent-level path is not associated with the robot, assigning the value of the TCPF position of the robot to the position of the transition point, reading an xml file from the specified path, acquiring the naming rule of the transition point of the home position, and renaming the transition point according to the standard; otherwise, the pop-up window prompts the user and ends the program.
As a further improvement of the system for updating the specified attitude and position transition point of the robot, the multipath processing unit specifically includes:
the sub-level path acquisition unit is used for acquiring all sub-level paths of which the types are robot paths in the temporary set and classifying the sub-level paths into the path set;
the path traversing unit is used for traversing all paths in the path set and judging and processing the path of each single path;
the position updating unit is used for updating all home position points in the path after traversing each single path;
the list judging unit is used for judging whether the robot associated array list is empty or not, and if so, the program is ended; otherwise, the association array list of the inorganic robots is output to a window, and the path of the robot which is not associated with the path is prompted.
The invention adopts another technical scheme that:
an updating apparatus for robot-specified attitude location transition points, comprising:
a memory for storing a program;
a processor for executing the program, the program causing the processor to execute the method for updating the robot specified pose position transition point.
The invention has the beneficial effects that:
the method, the system and the device for updating the transition points of the designated posture positions of the robot are updated according to different types of requirements, so that all robots can be moved to new home positions by one key, all transition points needing to be located at the home positions of the robots in a path are updated to the new home positions by one key, a user only needs to select an operation area needing to update the home positions in a software interface, other operation areas are automatically completed by a program, operation steps are few, the time of simulation personnel is greatly saved, and the working efficiency is greatly improved.
Drawings
FIG. 1 is a flowchart illustrating the steps of a method for updating a transition point of a designated attitude position of a robot according to the present invention;
fig. 2 is a block diagram of a system for updating a robot-specified attitude location transition point according to the present invention.
Detailed Description
The following further describes embodiments of the present invention with reference to the accompanying drawings:
referring to fig. 1, the invention relates to a method for updating a transition point of a specified attitude position of a robot, comprising the following steps:
s1, according to all the selected objects, classifying the selected objects into a temporary set;
and S2, performing corresponding transition point processing according to the types of the elements in the temporary set.
Further as a preferred embodiment, the performing the corresponding transition point processing according to the type of the element in the temporary set specifically includes:
s21, when judging that the elements in the temporary set are single or multiple transition points, carrying out corresponding processing on the transition points;
s22, when the element in the temporary set is judged to be a single path, carrying out corresponding path judgment processing on the single path;
and S23, when judging that the elements in the temporary set are a plurality of paths, performing corresponding processing on the paths.
Further as a preferred embodiment, the performing the corresponding processing on the transition point specifically includes:
s211, acquiring a parent-level path of the transition point;
s212, judging whether the parent-level path is associated with the robot or not, if so, controlling the robot to move to a new home position, assigning the value of the TCPF position of the robot to the position of a transition point, reading an xml file from the specified path, acquiring a naming rule of the transition point of the home position, and renaming the transition point according to the standard; otherwise, the pop-up window prompts the user and ends the program.
Further as a preferred embodiment, the performing corresponding processing on the plurality of paths specifically includes:
s231, acquiring all sub-level paths of which the types are robot paths in the temporary set, and classifying the sub-level paths into a path set;
and S232, traversing all paths in the path set, and performing path judgment processing on each single path.
S233, after traversing each single path, updating all home position points in the path;
s234, judging whether the association array list of the robot is empty or not, if so, ending the program; otherwise, the association array list of the inorganic robots is output to a window, and the path of the robot which is not associated with the path is prompted.
Further preferably, the path determining process specifically includes:
s221, if the single path is not associated with the robot, adding the path name into an association array list of the robot, and popping up a window to prompt the robot not associated with the path;
s222, if the single path has the associated robot, the associated robot is moved to a new home position, all transition points under the single path are obtained, all the transition points are classified into a temporary set, the transition points meeting the naming rule are searched in the temporary set in a traversing mode, and the position of the transition point is moved to the position of the TCPF of the robot.
In this embodiment, it is assumed that when a user modifies the home positions of multiple robots, the user selects an area to be updated by one key in the Process Simulation software operation structure tree, and then clicks a secondary development command for updating the transition point to a new home position by one key, so that all the robots can be seen in the window to automatically return to the home positions (if the robot is already at the home position, the robot does not move), the home transition point conforming to the naming standard is updated by one key, and the whole Process only needs several seconds.
When a user only modifies the home point of a certain robot, the user can only select the path corresponding to the robot, and then click a secondary development command for updating the transition point to a new home position by one key, so that the robot can be seen in the window to automatically return to the home position (if the robot is in the home position, the robot does not move), and the transition point named as the home (assuming that the transition point required to be in the home position is named as the home according to the client standard) is updated to the latest home position of the robot by one key.
If the user wants to move some points to the home position, a transition point is selected in the operation structure tree, and then the plug-in is developed for the second time by clicking one key to the home position, the name of the transition point is renamed to 'home' in which position of the path, and the position is moved to the latest home position of the robot regardless of whether the naming of the transition point meets the client standard or not.
Referring to fig. 2, the present invention provides a system for updating a transition point of a specified attitude position of a robot, including:
the object acquisition unit is used for classifying all the selected objects into a temporary set;
a type determining unit, configured to perform corresponding transition point processing according to the type of the element in the temporary set, as a further preferred embodiment, where the type determining unit specifically includes:
the transition point processing unit is used for correspondingly processing the transition points when judging that the elements in the temporary set are single or multiple transition points;
the single path processing unit is used for carrying out corresponding path judgment processing on the single path when the element in the temporary set is judged to be the single path;
and the multipath processing unit is used for performing corresponding processing on the paths when the elements in the temporary set are judged to be the paths.
Further as a preferred embodiment, the transition point processing unit specifically includes:
a parent path acquiring unit, configured to acquire a parent path of the transition point;
the transition point association processing unit is used for judging whether the parent-level path is associated with the robot or not, controlling the robot to move to a new home position if the parent-level path is not associated with the robot, assigning the value of the TCPF position of the robot to the position of the transition point, reading an xml file from the specified path, acquiring the naming rule of the transition point of the home position, and renaming the transition point according to the standard; otherwise, the pop-up window prompts the user and ends the program.
Further as a preferred embodiment, the multipath processing unit specifically includes:
the sub-level path acquisition unit is used for acquiring all sub-level paths of which the types are robot paths in the temporary set and classifying the sub-level paths into the path set;
and the path traversing unit is used for traversing all paths in the path set and judging the path of each single path.
The position updating unit is used for updating all home position points in the path after traversing each single path;
the list judging unit is used for judging whether the robot associated array list is empty or not, and if so, the program is ended; otherwise, the association array list of the inorganic robots is output to a window, and the path of the robot which is not associated with the path is prompted.
The invention also includes a device for updating the transition point of the designated attitude position of the robot, which comprises:
a memory for storing a program;
a processor for executing the program, the program causing the processor to execute the method for updating the robot specified pose position transition point.
According to the method, the robots can be moved to the new home position by one key, all transition points needing to be located at the home position of the robots in the path are updated to the new home position by one key, a user only needs to select an operation area needing to update the home position in a software interface, other operations are automatically completed by programs, operation steps are few, time of simulation personnel is greatly saved, and work efficiency is greatly improved.
While the preferred embodiments of the present invention have been illustrated and described, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (6)
1. A method for updating a transition point of a specified attitude position of a robot is characterized by comprising the following steps:
according to all the selected objects, classifying the selected objects into a temporary set;
carrying out corresponding transition point processing according to the types of the elements in the temporary set;
the step of performing corresponding transition point processing according to the types of the elements in the temporary set specifically includes:
when the elements in the temporary set are judged to be single or multiple transition points, performing corresponding processing on the transition points;
when the element in the temporary set is judged to be a single path, carrying out corresponding path judgment processing on the single path;
when the elements in the temporary set are judged to be a plurality of paths, carrying out corresponding processing on the plurality of paths;
the step of correspondingly processing the transition point specifically includes:
acquiring a parent path of the transition point;
judging whether the parent-level path is associated with the robot or not, if so, controlling the robot to move to a new home position, assigning the value of the TCPF position of the robot to the position of a transition point, reading an xml file from the specified path, acquiring the naming rule of the transition point of the home position, and renaming the transition point according to the standard; otherwise, the pop-up window prompts the user and ends the program.
2. The method for updating the robot-specified attitude location transition point according to claim 1, characterized in that: the processing corresponding to the multiple paths specifically includes:
acquiring all sub-level paths of which the types are robot paths in the temporary set, and classifying the sub-level paths into a path set;
traversing all paths in the path set, and performing path judgment processing on each single path;
after traversing each single path, updating all home position points in the path;
judging whether the robot association array list is empty or not, if so, ending the program; otherwise, the association array list of the inorganic robots is output to a window, and the path of the robot which is not associated with the path is prompted.
3. The method for updating a robot-specified attitude location transition point according to claim 1 or 2, characterized in that: the path judgment processing specifically includes:
if the single path is not associated with the robot, adding the path name into an association array list of the robot, and prompting the path unassociated robot through a pop-up window;
if the single path has the associated robot, the associated robot is moved to a new home position, all transition points under the single path are obtained, all the transition points are classified into a temporary set, the transition points meeting the naming rule are searched in the temporary set in a traversing mode, and the position of the transition points is moved to the position of the TCPF of the robot.
4. An updating system for robot-specified attitude location transition points, comprising:
the object acquisition unit is used for classifying all the selected objects into a temporary set;
the type judgment unit is used for carrying out corresponding transition point processing according to the types of the elements in the temporary set; the type judging unit specifically comprises:
the transition point processing unit is used for correspondingly processing the transition points when judging that the elements in the temporary set are single or multiple transition points;
the single path processing unit is used for carrying out corresponding path judgment processing on the single path when the element in the temporary set is judged to be the single path;
the multipath processing unit is used for carrying out corresponding processing on the paths when the elements in the temporary set are judged to be the paths;
the transition point processing unit specifically comprises:
a parent path acquiring unit, configured to acquire a parent path of the transition point;
the transition point association processing unit is used for judging whether the parent-level path is associated with the robot or not, controlling the robot to move to a new home position if the parent-level path is not associated with the robot, assigning the value of the TCPF position of the robot to the position of the transition point, reading an xml file from the specified path, acquiring the naming rule of the transition point of the home position, and renaming the transition point according to the standard; otherwise, the pop-up window prompts the user and ends the program.
5. The system for updating robot-specified attitude location transition points according to claim 4, characterized in that: the multipath processing unit specifically comprises:
the sub-level path acquisition unit is used for acquiring all sub-level paths of which the types are robot paths in the temporary set and classifying the sub-level paths into the path set;
the path traversing unit is used for traversing all paths in the path set and judging and processing the path of each single path;
the position updating unit is used for updating all home position points in the path after traversing each single path; the list judging unit is used for judging whether the robot associated array list is empty or not, and if so, the program is ended; otherwise, the association array list of the inorganic robots is output to a window, and the path of the robot which is not associated with the path is prompted.
6. An updating apparatus for specifying a posture position transition point of a robot, comprising:
a memory for storing a program;
a processor for executing the program, the program causing the processor to execute the method for updating a robot-specified attitude position transition point according to any one of claims 1 to 3.
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| KR102340828B1 (en) * | 2014-10-23 | 2021-12-17 | 삼성전자주식회사 | Printed circuit board assembly manufacturing method |
| US10545480B2 (en) * | 2016-11-07 | 2020-01-28 | Lincoln Global, Inc. | System and method for manufacturing and control thereof |
| US10960543B2 (en) * | 2017-05-30 | 2021-03-30 | Sisu Devices, LLC | Robotic point capture and motion control |
| CN107150341A (en) * | 2017-06-13 | 2017-09-12 | 南京理工大学 | A kind of welding robot path of welding planing method based on discrete particle cluster algorithm |
| CN107457781A (en) * | 2017-07-12 | 2017-12-12 | 国机智能技术研究院有限公司 | A kind of method and system of control machine people motion |
| CN107390684B (en) * | 2017-07-14 | 2019-10-18 | 华南理工大学 | A kind of auto-parts welding optimum path planning method of multirobot collaboration |
| CN108032333B (en) * | 2017-10-30 | 2020-06-09 | 广州明珞汽车装备有限公司 | Method capable of automatically checking simulation postures of robot in batches |
| CN108038861A (en) * | 2017-11-30 | 2018-05-15 | 深圳市智能机器人研究院 | A kind of multi-robot Cooperation method for sorting, system and device |
| CN108362284A (en) * | 2018-01-22 | 2018-08-03 | 北京工业大学 | A kind of air navigation aid based on bionical hippocampus cognitive map |
| CN108544495B (en) * | 2018-06-19 | 2021-05-11 | 广东工业大学 | Welding path planning method, system and equipment for multiple welding robots |
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