CN109877828A - Machine point adjustment method, device, computer equipment and storage medium - Google Patents
Machine point adjustment method, device, computer equipment and storage medium Download PDFInfo
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- CN109877828A CN109877828A CN201910049164.6A CN201910049164A CN109877828A CN 109877828 A CN109877828 A CN 109877828A CN 201910049164 A CN201910049164 A CN 201910049164A CN 109877828 A CN109877828 A CN 109877828A
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Abstract
This application involves a kind of machine point adjustment method, device, computer equipment and storage mediums.The described method includes: display robot point Debugging interface；The robot point Debugging interface includes that point obtains entrance；Obtain the update point position that entrance is obtained for the point；It determines described corresponding bit identification in update point position, and determines the initial point position of described bit identification；The initial point position is replaced with into the update point position, is moved for joint of robot according to the update point position.It can reduce the production cost of industry manufacture using this method, realize the raising to robot point debugging efficiency.
Description
Technical field
This application involves robot motion's technical fields, more particularly to a kind of machine point adjustment method, device, calculating
Machine equipment and storage medium.
Background technique
With the development of industry 4.0, more and more industry manufactures need to use industrial robot, industrial robot
It is worked using too busy to get away robot teaching, and the execution of teaching work needs teaching personnel to operate teaching editing machine control machine on one side
Device people works one by one, carries out teaching on one side.
Traditional machine point adjustment method generallys use the automatic production routine of editor, and then debugging routine point, with reality
The teaching of existing program point.Among these, it needs teaching personnel to go deep into prehension program logic and program circuit, could generate complete
Automatic production routine executes automatic production task, and otherwise, debugging point is easy to appear mistake.
However, debugging point needs are repeated, this requires that enterprise due to the continuous replacement of product type in production
Employee has to have stronger learning ability, or needs to train for a long time, can understand robot debugging routine, smoothly
Point is debugged, but this virtually further increases the production cost of enterprise.
Therefore, traditional machine point adjustment method has that debugging efficiency is low.
Summary of the invention
Based on this, it is necessary to for the above-mentioned machine point adjustment method technical problem low there is debugging efficiency, provide
A kind of machine point adjustment method, device, computer equipment and storage medium can be improved debugging efficiency.
A kind of machine point adjustment method, includes the following steps:
Show robot point Debugging interface；The robot point Debugging interface includes that point obtains entrance；
Obtain the update point position that entrance is obtained for the point；
It determines described corresponding bit identification in update point position, and determines the initial point position of described bit identification；
The initial point position is replaced with into the update point position, for joint of robot according to the update point
It is moved position.
It is that point modifies control that the point, which obtains entrance, in one of the embodiments, and described obtain is directed to the point
Position obtains the update point position of entrance, comprising:
Detect that one of point modification control chooses trigger action；
Obtain the actual operational position of the joint of robot；
The actual operational position is determined, as the update point position.
The update point position includes interface point bit identification in one of the embodiments, the determination update
Corresponding of point position bit identification includes:
Obtain multiple candidate point bit identifications；
The interface point bit identification is matched with the multiple candidate point bit identification；
In the multiple candidate point bit identification, determine that mark matches consistent candidate point bit identification, as the update
Corresponding of point position bit identification.
The initial point position of described bit identification of the determination in one of the embodiments, comprising:
Obtain multiple candidate point bit identifications；The multiple candidate point bit identification is respectively provided with corresponding candidate point position；
Described bit identification is matched with the multiple candidate point bit identification；
In the multiple candidate point bit identification, target point bit identification is determined；
The corresponding candidate point position of the target point bit identification is extracted, as the initial point position.
It is that point updates control that the point, which obtains entrance, in one of the embodiments, and described obtain is directed to the point
The update point position of position input entrance, comprising:
Detect that the point updates one of control and chooses trigger action；
Show candidate point window；Candidate's point window includes multiple candidate point positions；
Detect in the multiple candidate point position a point position chooses trigger action；
Selected point position is obtained, as the update point position.
It is that point updates control that the point, which obtains entrance, in one of the embodiments, and described obtain is directed to the point
The update point position of position input entrance, comprising:
Detect that the point updates one of control and chooses trigger action；
Show candidate point window；Candidate's point window includes multiple candidate point positions；
Detect in the multiple candidate point position a point position chooses trigger action；
Selected point position is obtained, as the update point position.
The robot point Debugging interface includes type of sports selection control in one of the embodiments,；The point
Position debugging control selects the control selection of control to switch over according to the type of sports.
A kind of machine point debugging apparatus, described device include:
Interface display module, for showing robot point Debugging interface；The robot point Debugging interface includes a little
Position obtains entrance；
Point position acquisition module, for obtaining the update point position for being directed to the point and obtaining entrance；
Point position determination module for determining described corresponding bit identification in update point position, and determines the point
The initial point position of bit identification；
Point position replacement module, for the initial point position to be replaced with the update point position, for machine
Person joint moves according to the update point position.
In one embodiment, a kind of computer equipment, including memory and processor, the memory storage are provided
There is computer program, the processor performs the steps of when executing the computer program
Show robot point Debugging interface；The robot point Debugging interface includes that point obtains entrance；
Obtain the update point position that entrance is obtained for the point；
It determines described corresponding bit identification in update point position, and determines the initial point position of described bit identification；
The initial point position is replaced with into the update point position, for joint of robot according to the update point
It is moved position.
In one embodiment, a kind of computer readable storage medium is provided, computer program is stored thereon with, it is described
It is performed the steps of when computer program is executed by processor
Show robot point Debugging interface；The robot point Debugging interface includes that point obtains entrance；
Obtain the update point position that entrance is obtained for the point；
It determines described corresponding bit identification in update point position, and determines the initial point position of described bit identification；
The initial point position is replaced with into the update point position, for joint of robot according to the update point
It is moved position.
Above-mentioned machine point adjustment method, device, computer equipment and storage medium, provide a kind of robot point tune
Interface is tried, the robot point Debugging interface is shown, and obtain entrance using the point that the interface includes, robot can be obtained
The update point position in joint, and then determine and update corresponding of point position bit identification and initial point position, thus by first
Initial point position position, which replaces with, updates point position, is moved for joint of robot according to point position is updated.Using this method
It is straight that the display interface can be operated convenient for teaching personnel without understanding editing procedure in provided robot point Debugging interface
It connects and completes robot teaching work, reduce the production cost of industry manufacture, more realize to robot point debugging efficiency
It improves.
Detailed description of the invention
Fig. 1 is the applied environment figure of machine point adjustment method in one embodiment；
Fig. 2 is the flow diagram of machine point adjustment method in one embodiment；
Fig. 3 is the interface schematic diagram of robot point Debugging interface in one embodiment；
Fig. 4 is the structural block diagram of machine point debugging apparatus in one embodiment；
Fig. 5 is the internal structure chart of computer equipment in one embodiment.
Specific embodiment
It is with reference to the accompanying drawings and embodiments, right in order to which the objects, technical solutions and advantages of the application are more clearly understood
The application is further elaborated.It should be appreciated that specific embodiment described herein is only used to explain the application, not
For limiting the application.
Machine point adjustment method provided by the invention, can be applied in application environment as shown in Figure 1.Wherein, exist
In one machine point debugging system, terminal 102 is communicated by network with robot 104.Wherein, terminal 102 can with but
It is not limited to various personal computers, laptop, smart phone, tablet computer and portable wearable device, robot
104 can be, but not limited to be that the various electromechanical integration being made of operation machine, controller, servo drive system and sensing device are set
It is standby, such as industrial robot.Wherein, industrial robot includes Series FPB and parallel FPB by mechanical structure point；By operation coordinate form
Divide includes circular cylindrical coordinate type, spherical coordinates type, joint type, plane articulation type and cartesian co-ordinate type；By program input mode subpackage
It is imported imported with teaching to include programming.Machine point adjustment method provided by the present application can be applied to the industrial machine of joint type
Device people, such as six joint industrial robots.
In one embodiment, as shown in Fig. 2, providing a kind of machine point adjustment method, it is applied to Fig. 1 in this way
In terminal 102 for be illustrated, comprising the following steps:
Step S210 shows robot point Debugging interface；The robot point Debugging interface include point obtain into
Mouthful.
Wherein, robot point Debugging interface is the machine point adjustment method proposed based on the application, edits exploitation
Interactive interface, using the virtual control of provided multiple functions on the interface, the joint that can operate robot 104 is mobile, with
Execute corresponding task.Wherein, the interface schematic diagram of robot point Debugging interface is as shown in Figure 3.
In the specific implementation, the mobile variation in the joint of robot 104 can be by robot point Debugging interface that terminal 102 provides
It is controlled, i.e., entrance is obtained by the point on robot point Debugging interface, realized to 104 joint shift position of robot
Replacement.
For example, include multiple virtual push buttons with different function on robot point Debugging interface, each button tool
There is different functions, including a location revision button, then location revision button is that point obtains entrance.Operator
After clicking the button, i.e., point acquisition instruction is initiated to robot 104, responded by robot 104 and execute the instruction, feedback is worked as
Preceding practical point position is to terminal 102.
Step S220 obtains the update point position that entrance is obtained for the point.
Wherein, point, which obtains entrance, can be the virtual push button being shown on robot point Debugging interface, can also
To be a point input frame, the point candidate window of an available point can also be.
Wherein, updating point position can be and presets point position to be selected, be also possible to that robot 104 is currently practical to stop
The point position stayed, for example, the specific value of " A1-A6 ", " TX-TZ ", " RX-RZ ".
In the specific implementation, terminal 102 provides a robot point Debugging interface, operator utilizes to be provided on the interface
Point obtain entrance, obtain update point position.Wherein, if point obtain entrance be one be shown on interface it is virtual by
Button generates a point acquisition instruction, and execute the instruction by robot 104, to end then after operator clicks the button
10 one update point position of feedback of end, after can also be that operator clicks the button, shows point candidate's pop-up, grasps
The candidate pre- point of any one provided in pop-up is provided as personnel, then submits the point as update point position to terminal 102
It sets；If point obtain entrance be the point being shown on interface can input frame, when operator inputs point in frame
After position, the point position of the input can be submitted as update point position to terminal 102.
For example, it is " location revision " button shown in the interface Fig. 3 that point, which obtains entrance, operator is clicked the button
Afterwards, terminal 102 gets the practical position information in each joint of robot 104, then the practical position information is to update
Point position.
Step S230 determines described corresponding bit identification in update point position, and determines the initial of described bit identification
Point position.
Wherein, point position is the mobile absolute position of robot 104, refer to robot 104 according to the data of point position,
Mobile each joint is so that the coordinate or angle in each joint meet the data.And putting bit identification is the alias label to point position,
For modifying for the corresponding point position of same point bit identification, the case where to meet different product practical specification, for example,
" point of safes ", " intermediate point ", " top point " or " feeding point ".
Wherein, before initial point position refers to that terminal executes the replacement of point position, bit identification actually corresponding point is put
Position, for example, the specific value of " A1-A6 ", " TX-TZ ", " RX-RZ ".
In the specific implementation, terminal 102 is got after updating point position, further determine that the update point position is corresponding
Point bit identification.Wherein, terminal 102 can preset a mapping relations, which is that point obtains entrance, point
Relationship between mark and initial point position, terminal 102 get the update point position that entrance is obtained for point, then
The point bit identification that there is its point to obtain entrance for the update point position, and then can determine that its is corresponding just according to the bit identification
Initial point position position.It can also be that operator obtains entrance for point and operates, terminal 102 generates a point acquisition and refers to
It enables, carries corresponding bit identification of entrance in the instruction, then the update point position that robot 104 is fed back to terminal 102
It include the bit identification.Terminal 102 can further be divided using the update point position for carrying difference bit identification as a result,
Analysis processing.
For example, operator clicks, Tu3Zhong robot point Debugging interface is provided, point is identified as " point of safes " and corresponds to
" location revision " button, get the corresponding update point position of the bit identification, then terminal 102 using the determination point
Mark, it may be determined that its corresponding initial point position " A1=30.683 ... A6=-5.100 ".Wherein, " MOVJ " expression refers to
It enables, controls the point position under the execution of robot 104 instruction convenient for terminal 102.
The initial point position is replaced with the update point position, for joint of robot according to institute by step S240
Update point position is stated to be moved.
In the specific implementation, terminal 102 obtains the update point position that operator submits, and determine the update point position
After corresponding initial point position, initial point position will be replaced to update point position, if 104 joint of robot at this time
Positioned at initial point position, then after terminal replacement, 104 joint of robot, which will be moved to, updates point position.
For example, operator clicks, Tu3Zhong robot point Debugging interface is provided, point is identified as " point of safes " and corresponds to
" location revision " button, get " point of safes " corresponding update point position be " A1=45.332, A2=-163.247,
A3=42.635, A4=0.526, A5=-12.389, A6=0.845 ", and " point of safes " corresponding initial point position is " A1
=30.683, A2=-136.845, A3=37.697, A4=-0.001, A5=-80.854, A6=-5.100 ", then terminal 102
" point of safes " corresponding initial fiber position is replaced with after updating point position, is shown in robot point Debugging interface
" point of safes " corresponding initial point position, is at this time " A1=45.332, A2=-163.247, A3=42.635, A4=
0.526, A5=-12.389, A6=0.845 ".
In above-mentioned machine point adjustment method, a kind of robot point Debugging interface is provided, shows the robot point
Debugging interface, and entrance is obtained using the point that the interface includes, the update point position of joint of robot can be obtained, in turn
It determines and updates corresponding of point position bit identification and initial point position, so that initial point position is replaced with update point
Position is moved for joint of robot according to point position is updated.Boundary is debugged using robot point provided by this method
Face can be operated the display interface and be done directly robot teaching work, reduce convenient for teaching personnel without understanding editing procedure
The production cost of industrial manufacture, more realizes the raising to robot point debugging efficiency.
In one embodiment, it is that point modifies control that the point, which obtains entrance, and the step S220 includes:
Detect that one of point modification control chooses trigger action；Obtain the practical operation of the joint of robot
Position；The actual operational position is determined, as the update point position.
Wherein, point modification control is a virtual push button on robot point Debugging interface, for modifying interface
The initial point position of the corresponding display of point bit identification.
Wherein, the information such as actual coordinate, angle where actual operational position refers to each joint of robot 104, for example, " A1-
The specific value of A6 ", " TX-TZ ", " RX-RZ ".
In the specific implementation, providing the virtual push button of one " point modification ", operator on robot point Debugging interface
After clicking the button, terminal 102 gets the actual operational position of the transmission of robot 104 by network, then the practical operation position
It sets as update point position.
For example, actual operational position may include the direct coordinate value of joint of robot, i.e., the numerical value indicated with " TX-TZ ",
It is also possible to rotate (offset) coordinate value, i.e., the numerical value indicated with " RX-RZ " can also be joint angle angle value, that is, use " A1-A6 "
The numerical value of expression.After operator clicks the virtual push button of " point modification ", terminal 102 gets the pass of current robot 104
Each coordinate value, the angle value of section, then the coordinate value got, angle value are to update point position.
In one embodiment, the update point position includes interface point bit identification, and the step S230 includes:
Obtain multiple candidate point bit identifications；By the interface point bit identification and the progress of the multiple candidate point bit identification
Match；In the multiple candidate point bit identification, determine that mark matches consistent candidate point bit identification, as the update point position
Set corresponding bit identification.
Wherein, interface point bit identification is the mark being shown on robot point Debugging interface, for example, shown on interface
Four bit identifications: " point of safes ", " intermediate point ", " top point ", " feeding point ".
Wherein, candidate point bit identification is point that terminal 102 stores, being compiled in program, show for matched interface
Mark, for example, " point of safes ", " intermediate point ", " top point ", " feeding point " and other bit identifications.
In the specific implementation, point bit identification use in editing procedure to instruct paraphrase in the form of store, as program refers to
It enables " // the bit identification " of postedit, terminal 102 will determine the point position for needing to replace in storage program, it is necessary first to inquire
This needs corresponding of the point position bit identification modified.However, being stored with multiple bit identifications in program, terminal 102 is obtained
To update point position after, update point position can carry an interface point bit identification, the interface point bit identification with obtain
Taking the entrance of the update point position, there are relevances.Terminal 102 is using interface point bit identification to storing in its program as a result,
Candidate point bit identification is scanned, that is, can determine the consistent target identification of mark, obtains updating the corresponding point mark in point position
Know,
For example, " point of safes " that Tu3Zhong robot point Debugging interface is shown, terminal 102 by its with deposited in storage program
Multiple candidate point bit identifications, such as: " point of safes ", " intermediate point ", " top point ", " feeding point " are matched, matching one
" point of safes " mark caused, as terminal 102 is accessed updates corresponding of point position bit identification.
In one embodiment, the step S230 includes:
Obtain multiple candidate point bit identifications；The multiple candidate point bit identification is respectively provided with corresponding candidate point position；
Described bit identification is matched with the multiple candidate point bit identification；In the multiple candidate point bit identification, mesh is determined
Punctuate bit identification；The corresponding candidate point position of the target point bit identification is extracted, as the initial point position.
Wherein, candidate point position can be the mobile direct coordinate value of joint of robot, the number indicated with " TX-TZ "
Value is also possible to rotate (offset) coordinate value, i.e., the numerical value indicated with " RX-RZ " can also be joint angle angle value, that is, use " A1-
The numerical value that A6 " is indicated.
Wherein, target point bit identification refers in candidate point bit identification, with the point consistent mark of bit identification acquired in terminal 102
Know, for example, " point of safes ", " intermediate point ", " top point ", " feeding point ".
In the specific implementation, to determine a bit identification after terminal 102 has determined a bit identification by update point location matches
Corresponding initial point position can be extracted by determining point bit identification, extract the bit identification in editing procedure
Corresponding initial point position.
For example, the update point position that terminal 102 is got is " A1=45.332, A2=-163.247, A3=
42.635, A4=0.526, A5=-12.389, A6=0.845 " determine that its corresponding point is identified as after " point of safes ", mention
Getting " point of safes " corresponding initial point position is " A1=30.683, A2=-136.845, A3=37.697, A4=-
0.001, A5=-80.854, A6=-5.100 ".
In one embodiment, it is that point updates control that the point, which obtains entrance, and the step S220 includes:
Detect that the point updates one of control and chooses trigger action；Show candidate point window；The candidate point
Position window includes multiple candidate point positions；Detect in the multiple candidate point position a point position chooses triggering
Operation；Selected point position is obtained, as the update point position.
Wherein, candidate point position can be point position preset, for operator's selection, candidate point position
Value type can be cartesian co-ordinate type, rotation (offset) coordinate type and joint angle degree type.
Wherein, candidate point window can be one include multiple candidate point positions pop-up, be also possible to include
There is the drop-down column of multiple candidate point positions.
In the specific implementation, may include having multiple virtual push buttons on robot point Debugging interface, wherein may include " point
Position updates " button, after operator clicks the button, terminal 102 detects Client-initiated trigger action, in response to the operation
Show that candidate point window, candidate's point window include multiple candidate point positions, operator's selection is one of to wait
Reconnaissance position position, then terminal 102 determines the selected point position, as behaviour in response to the trigger action for the selection
Make the update point position of personnel's submission.
For example, candidate point position includes " (1) A1=30.683, A2=-136.845, A3=37.697, A4=-
0.001, A5=-80.854, A6=-5.100；(2) A1=30.291, A2=-127.524, A3=41.887, A4=0.070,
A5=-4.283, A6=0.175；(3) TX=85.277, TY=-42.582, TZ=360.122, RZ=-153.769, RY=-
89.894, RX=-116.8 ", operator select (1), then update point position be " A1=45.332, A2=-163.247,
A3=42.635, A4=0.526, A5=-12.389, A6=0.845 ".
In one embodiment, the robot point Debugging interface includes point debugging control, in the step S240
Later, further includes:
Receive the point increase and decrease numerical value of the point debugging control；Calculate the point increase and decrease numerical value and the update point
Position and value, obtain target point position；It controls the joint of robot and is moved to the mesh from the update point position
Punctuation bit position.
Wherein, point debugging control is the virtual control shown on robot point Debugging interface, and point debugs control
Type may include joint angle degree type " An+、An-；1≤n≤6 ", cartesian co-ordinate type " TX+, TY+, TZ+, TX-, TY-, TZ- ", with
And rotation (offset) coordinate type " RX+, RY+, RZ+, RX-, RY-, RZ- ".
Wherein, after point increase and decrease numerical value refers to that operator clicks point debugging control, terminal 102 counts default unit
The obtained positive and negative numerical result of the increase and decrease of numerical value.
In the specific implementation, robot point Debugging interface includes multiple virtual point debugging controls, multiple point tune
The display type for trying control depends on that the mobile type in 104 joint of robot is arranged.In practical applications, if operator tries
Graphic operation terminal 102 control 104 joint of robot in the enterprising line displacement of joint angles, then select determine mobile type option it
Afterwards, debug control using the point that shows on interface, clicked, double-click or the trigger actions such as long-pressing after, i.e., mentioned to terminal 102
Intersection point position increases and decreases numerical value, and point increases and decreases the size of numerical value and number and the default triggering times pair of triggering point debugging control
The numerical value unit answered is related.Terminal 102 gets point increase and decrease numerical value, and calculates point increase and decrease numerical value and interface display in the ban
Update point position and after value, robot 104 can be mobile according to target point position.
For example, operator triggers point debugging control " A on interface1+ " three times, the unit of single triggering is 1, at this time
Shown " the A updated in point position in interface1=45.332 ", then target point position is " A1=48.332 ", then robot
Joint angles are moved to " 48.332 " from " 45.332 " by 104.
In one embodiment, the robot point Debugging interface includes type of sports selection control；The point tune
Examination control selects the control selection of control to switch over according to the type of sports.
Wherein, type of sports selection control refers to the virtual control being shown on robot point Debugging interface, for mentioning
Operator is supplied to select to adjust the mobile type of 104 moving direction of robot, angle.It includes joint that type of sports, which selects control,
Mobile and linear movement, mobile joint includes " A1-A6 " for indicating 104 linear joint angular values of robot, linear movement packet
Include " TX-TZ " and " RX-RZ " for indicating the mobile right angle of robot 104, offset coordinates numerical value.
In the specific implementation, showing a virtual control " type of sports selection ", the control on robot point Debugging interface
Part may include at least two options, and such as " joint is mobile " selection control and " linear movement " select control, operator's choosing
Fixed one of selection control, then its point debugs control corresponding change, for the mobile side of operator's debugging machine people 104
To, angle.
For example, operator's selection " joint is mobile " selection control, then point debugging control is shown as " A1+”、“A2
+”……“A6" etc..
The scheme provided according to embodiments of the present invention, operator can be shown on robot point Debugging interface using terminal
Multiple controls, instruction terminal execution point bit identification is determining, determining, the initial point that updates point position is determining and target point
The tasks such as position acquisition, to control the movement in each joint of robot.Boundary is debugged using robot point provided by this method
Face can be operated the display interface and be done directly robot teaching work, reduce convenient for teaching personnel without understanding editing procedure
The production cost of industrial manufacture, more realizes the raising to robot point debugging efficiency.
It should be understood that although each step in the flow chart of Fig. 2 is successively shown according to the instruction of arrow, this
A little steps are not that the inevitable sequence according to arrow instruction successively executes.Unless expressly state otherwise herein, these steps
It executes there is no the limitation of stringent sequence, these steps can execute in other order.Moreover, at least part of Fig. 2 walks
It suddenly may include that perhaps these sub-steps of multiple stages or stage have been executed in synchronization to multiple sub-steps
At, it but can execute, the execution sequence in these sub-steps or stage nor necessarily successively carry out at different times, and
It is that can be executed in turn or alternately at least part of the sub-step or stage of other steps or other steps.
In one embodiment, as shown in figure 4, providing a kind of machine point debugging apparatus, including interface display module
410, point position acquisition module 420, point position determination module 430 and point position replacement module 440, in which:
Interface display module 410, for showing robot point Debugging interface；The robot point Debugging interface includes
Point obtains entrance；
Point position acquisition module 420, for obtaining the update point position for being directed to the point and obtaining entrance；
Point position determination module 430, for determining described corresponding bit identification in update point position, and described in determination
The initial point position of point bit identification；
Point position replacement module 440, for the initial point position to be replaced with the update point position, for machine
Device person joint moves according to the update point position.
The scheme provided according to embodiments of the present invention provides a kind of robot point Debugging interface, shows the robot
Point Debugging interface, and entrance is obtained using the point that the interface includes, the update point position of joint of robot can be obtained,
And then determine and update corresponding of point position bit identification and initial point position, so that initial point position is replaced with update
Point position is moved for joint of robot according to point position is updated.Using robot point tune provided by this method
Interface is tried, is not necessarily to understand editing procedure convenient for teaching personnel, the display interface can be operated and be done directly robot teaching work,
The production cost for reducing industry manufacture, more realizes the raising to robot point debugging efficiency.
In one embodiment, it is that point modifies control, the point position acquisition module that the point, which obtains entrance,
420, comprising:
Detection sub-module is operated, for detecting that one of the point modification control is chosen trigger action；Operating position
Acquisition submodule, for obtaining the actual operational position of the joint of robot；It updates point and determines submodule, for determining
Actual operational position is stated, as the update point position.
In one embodiment, the update point position includes interface point bit identification, the point position determination module
430, comprising:
Acquisition submodule is identified, for obtaining multiple candidate point bit identifications；Matched sub-block is identified, is used for the interface
Point bit identification is matched with the multiple candidate point bit identification；It identifies and determines submodule, in the multiple candidate point
In mark, determine that mark matches consistent candidate point bit identification, as described corresponding bit identification in update point position.
In one embodiment, the point position determination module 430, comprising:
Acquisition submodule is identified, for obtaining multiple candidate point bit identifications；The multiple candidate point bit identification is respectively provided with
Corresponding candidate's point position；Identify matched sub-block, for by described bit identification and the multiple candidate point bit identification into
Row matching；It identifies and determines submodule, for determining target point bit identification in the multiple candidate point bit identification；It extracts position
Submodule, for extracting the corresponding candidate point position of the target point bit identification, as the initial point position.
In one embodiment, it is that point updates control, the point position acquisition module that the point, which obtains entrance,
420, comprising:
Detection sub-module is operated, for detecting that one of the point update control is chosen trigger action；Window is shown
Submodule, for showing candidate point window；Candidate's point window includes multiple candidate point positions；Choose operation in position
Detection sub-module chooses trigger action for detect in the multiple candidate point position a point position；Point position
Acquisition submodule is set, for obtaining selected point position, as the update point position.
In one embodiment, the robot point Debugging interface includes point debugging control, described device further include:
Tuning values receiving module, the point for receiving the point debugging control increase and decrease numerical value；Target position obtains
Module obtains target point position for calculating point increase and decrease numerical value and the update point position and value；Joint is moved
Dynamic model block is moved to target point position from the update point position for controlling the joint of robot.
In one embodiment, the robot point Debugging interface includes type of sports selection control；The point tune
Examination control selects the control selection of control to switch over according to the type of sports.
The scheme provided according to embodiments of the present invention, operator can be shown on robot point Debugging interface using terminal
Multiple controls, instruction terminal execution point bit identification is determining, determining, the initial point that updates point position is determining and target point
The tasks such as position acquisition, to control the movement in each joint of robot.Boundary is debugged using robot point provided by this method
Face can be operated the display interface and be done directly robot teaching work, reduce convenient for teaching personnel without understanding editing procedure
The production cost of industrial manufacture, more realizes the raising to robot point debugging efficiency.
In one embodiment, a kind of computer equipment is provided, which can be terminal, internal structure
Figure can be as shown in Figure 5.The computer equipment includes processor, the memory, network interface, display connected by system bus
Screen and input unit.Wherein, the processor of the computer equipment is for providing calculating and control ability.The computer equipment is deposited
Reservoir includes non-volatile memory medium, built-in storage.The non-volatile memory medium is stored with operating system and computer journey
Sequence.The built-in storage provides environment for the operation of operating system and computer program in non-volatile memory medium.The calculating
The network interface of machine equipment is used to communicate with external terminal by network connection.When the computer program is executed by processor with
Realize a kind of machine point adjustment method.The display screen of the computer equipment can be liquid crystal display or electric ink is shown
Screen, the input unit of the computer equipment can be the touch layer covered on display screen, be also possible on computer equipment shell
Key, trace ball or the Trackpad of setting can also be external keyboard, Trackpad or mouse etc..
It will be understood by those skilled in the art that structure shown in Fig. 5, only part relevant to application scheme is tied
The block diagram of structure does not constitute the restriction for the computer equipment being applied thereon to application scheme, specific computer equipment
It may include perhaps combining certain components or with different component layouts than more or fewer components as shown in the figure.
In one embodiment, a kind of computer equipment, including memory and processor are provided, is stored in memory
Computer program, the processor perform the steps of when executing computer program
Show robot point Debugging interface；The robot point Debugging interface includes that point obtains entrance；
Obtain the update point position that entrance is obtained for the point；
It determines described corresponding bit identification in update point position, and determines the initial point position of described bit identification；
The initial point position is replaced with into the update point position, for joint of robot according to the update point
It is moved position.
In one embodiment, it is also performed the steps of when processor executes computer program
Detect that one of point modification control chooses trigger action；Obtain the practical operation of the joint of robot
Position；The actual operational position is determined, as the update point position.
In one embodiment, it is also performed the steps of when processor executes computer program
Obtain multiple candidate point bit identifications；By the interface point bit identification and the progress of the multiple candidate point bit identification
Match；In the multiple candidate point bit identification, determine that mark matches consistent candidate point bit identification, as the update point position
Set corresponding bit identification.
In one embodiment, it is also performed the steps of when processor executes computer program
Obtain multiple candidate point bit identifications；The multiple candidate point bit identification is respectively provided with corresponding candidate point position；
Described bit identification is matched with the multiple candidate point bit identification；In the multiple candidate point bit identification, mesh is determined
Punctuate bit identification；The corresponding candidate point position of the target point bit identification is extracted, as the initial point position.
In one embodiment, it is also performed the steps of when processor executes computer program
Detect that the point updates one of control and chooses trigger action；Show candidate point window；The candidate point
Position window includes multiple candidate point positions；Detect in the multiple candidate point position a point position chooses triggering
Operation；Selected point position is obtained, as the update point position.
In one embodiment, it is also performed the steps of when processor executes computer program
Receive the point increase and decrease numerical value of the point debugging control；Calculate the point increase and decrease numerical value and the update point
Position and value, obtain target point position；It controls the joint of robot and is moved to the mesh from the update point position
Punctuation bit position.
In one embodiment, it is also performed the steps of when processor executes computer program
The robot point Debugging interface includes type of sports selection control；The point debugging control is according to the fortune
The control selection of dynamic type selection control switches over.
In one embodiment, a kind of computer readable storage medium is provided, computer program is stored thereon with, is calculated
Machine program performs the steps of when being executed by processor
Show robot point Debugging interface；The robot point Debugging interface includes that point obtains entrance；
Obtain the update point position that entrance is obtained for the point；
It determines described corresponding bit identification in update point position, and determines the initial point position of described bit identification；
The initial point position is replaced with into the update point position, for joint of robot according to the update point
It is moved position.
In one embodiment, it is also performed the steps of when computer program is executed by processor
Detect that one of point modification control chooses trigger action；Obtain the practical operation of the joint of robot
Position；The actual operational position is determined, as the update point position.
In one embodiment, it is also performed the steps of when computer program is executed by processor
Obtain multiple candidate point bit identifications；By the interface point bit identification and the progress of the multiple candidate point bit identification
Match；In the multiple candidate point bit identification, determine that mark matches consistent candidate point bit identification, as the update point position
Set corresponding bit identification.
In one embodiment, it is also performed the steps of when computer program is executed by processor
Obtain multiple candidate point bit identifications；The multiple candidate point bit identification is respectively provided with corresponding candidate point position；
Described bit identification is matched with the multiple candidate point bit identification；In the multiple candidate point bit identification, mesh is determined
Punctuate bit identification；The corresponding candidate point position of the target point bit identification is extracted, as the initial point position.
In one embodiment, it is also performed the steps of when computer program is executed by processor
Detect that the point updates one of control and chooses trigger action；Show candidate point window；The candidate point
Position window includes multiple candidate point positions；Detect in the multiple candidate point position a point position chooses triggering
Operation；Selected point position is obtained, as the update point position.
In one embodiment, it is also performed the steps of when computer program is executed by processor
Receive the point increase and decrease numerical value of the point debugging control；Calculate the point increase and decrease numerical value and the update point
Position and value, obtain target point position；It controls the joint of robot and is moved to the mesh from the update point position
Punctuation bit position.
In one embodiment, it is also performed the steps of when computer program is executed by processor
The robot point Debugging interface includes type of sports selection control；The point debugging control is according to the fortune
The control selection of dynamic type selection control switches over.
Those of ordinary skill in the art will appreciate that realizing all or part of the process in above-described embodiment method, being can be with
Relevant hardware is instructed to complete by computer program, the computer program can be stored in a non-volatile computer
In read/write memory medium, the computer program is when being executed, it may include such as the process of the embodiment of above-mentioned each method.Wherein,
To any reference of memory, storage, database or other media used in each embodiment provided herein,
Including non-volatile and/or volatile memory.Nonvolatile memory may include read-only memory (ROM), programming ROM
(PROM), electrically programmable ROM (EPROM), electrically erasable ROM (EEPROM) or flash memory.Volatile memory may include
Random access memory (RAM) or external cache.By way of illustration and not limitation, RAM is available in many forms,
Such as static state RAM (SRAM), dynamic ram (DRAM), synchronous dram (SDRAM), double data rate sdram (DDRSDRAM), enhancing
Type SDRAM (ESDRAM), synchronization link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM
(RDRAM), direct memory bus dynamic ram (DRDRAM) and memory bus dynamic ram (RDRAM) etc..
Each technical characteristic of above embodiments can be combined arbitrarily, for simplicity of description, not to above-described embodiment
In each technical characteristic it is all possible combination be all described, as long as however, the combination of these technical characteristics be not present lance
Shield all should be considered as described in this specification.
The several embodiments of the application above described embodiment only expresses, the description thereof is more specific and detailed, but simultaneously
It cannot therefore be construed as limiting the scope of the patent.It should be pointed out that coming for those of ordinary skill in the art
It says, without departing from the concept of this application, various modifications and improvements can be made, these belong to the protection of the application
Range.Therefore, the scope of protection shall be subject to the appended claims for the application patent.
Claims (10)
1. a kind of machine point adjustment method, which comprises the steps of:
Show robot point Debugging interface；The robot point Debugging interface includes that point obtains entrance；
Obtain the update point position that entrance is obtained for the point；
It determines described corresponding bit identification in update point position, and determines the initial point position of described bit identification；
The initial point position is replaced with into the update point position, for joint of robot according to the update point position
It is moved.
2. the method according to claim 1, wherein the point obtain entrance be point modify control, it is described
Obtain the update point position that entrance is obtained for the point, comprising:
Detect that one of point modification control chooses trigger action；
Obtain the actual operational position of the joint of robot；
The actual operational position is determined, as the update point position.
3. the method according to claim 1, wherein the update point position includes interface point bit identification, institute
It states and determines that described corresponding bit identification in update point position includes:
Obtain multiple candidate point bit identifications；
The interface point bit identification is matched with the multiple candidate point bit identification；
In the multiple candidate point bit identification, determine that mark matches consistent candidate point bit identification, as the update point
Corresponding of position bit identification.
4. the method according to claim 1, wherein the initial point position of described bit identification of the determination,
Include:
Obtain multiple candidate point bit identifications；The multiple candidate point bit identification is respectively provided with corresponding candidate point position；
Described bit identification is matched with the multiple candidate point bit identification；
In the multiple candidate point bit identification, target point bit identification is determined；
The corresponding candidate point position of the target point bit identification is extracted, as the initial point position.
5. the method according to claim 1, wherein the point obtain entrance be point update control, it is described
Obtain the update point position for being directed to the point input entrance, comprising:
Detect that the point updates one of control and chooses trigger action；
Show candidate point window；Candidate's point window includes multiple candidate point positions；
Detect in the multiple candidate point position a point position chooses trigger action；
Selected point position is obtained, as the update point position.
6. the method according to claim 1, wherein the robot point Debugging interface includes point debugging control
Part, it is described the initial point position replaces with to the update point position after, further includes:
Receive the point increase and decrease numerical value of the point debugging control；
Point increase and decrease numerical value and the update point position and value are calculated, target point position is obtained；
It controls the joint of robot and is moved to target point position from the update point position.
7. according to the method described in claim 6, it is characterized in that, the robot point Debugging interface includes type of sports choosing
Select control；The point debugging control selects the control selection of control to switch over according to the type of sports.
8. a kind of machine point debugging apparatus, which is characterized in that described device includes:
Interface display module, for showing robot point Debugging interface；The robot point Debugging interface includes that point obtains
Taking mouth；
Point position acquisition module, for obtaining the update point position for being directed to the point and obtaining entrance；
Point position determination module for determining described corresponding bit identification in update point position, and determines the point mark
The initial point position known；
Point position replacement module is closed for the initial point position to be replaced with the update point position for robot
Root section is moved according to the update point position.
9. a kind of computer equipment, including memory and processor, the memory are stored with computer program, feature exists
In the step of processor realizes any one of claims 1 to 7 the method when executing the computer program.
10. a kind of computer readable storage medium, is stored thereon with computer program, which is characterized in that the computer program
The step of method described in any one of claims 1 to 7 is realized when being executed by processor.
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| CN201910049164.6A CN109877828B (en) | 2019-01-18 | 2019-01-18 | Machine point location debugging method and device, computer equipment and storage medium |
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| CN201910049164.6A CN109877828B (en) | 2019-01-18 | 2019-01-18 | Machine point location debugging method and device, computer equipment and storage medium |
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| CN111844021A (en) * | 2020-06-17 | 2020-10-30 | 慧灵科技（深圳）有限公司 | Mechanical arm cooperative control method, device, equipment and storage medium |
| CN114131599A (en) * | 2021-11-30 | 2022-03-04 | 珠海格力电器股份有限公司 | Robot programming control method and device, storage medium and demonstrator |
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| CN109877828B (en) | 2020-11-27 |
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