CN113459112A - Method and device for cooperation of robot and external shaft - Google Patents
Method and device for cooperation of robot and external shaft Download PDFInfo
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- CN113459112A CN113459112A CN202111033118.0A CN202111033118A CN113459112A CN 113459112 A CN113459112 A CN 113459112A CN 202111033118 A CN202111033118 A CN 202111033118A CN 113459112 A CN113459112 A CN 113459112A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
Abstract
The invention discloses a method and a device for cooperation of a robot and an external shaft, wherein the method comprises the following steps: setting an external shaft type; determining a coordinated coordinate system number, and setting the external axis and the combination mode thereof used in the coordinated coordinate system number; calibrating the outer shaft; and the calibration effect is verified, the cooperation of the robot and the external shaft can be realized, and the method has a wide application range.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a method and a device for cooperation between a robot and an external shaft.
Background
At present, each robot manufacturer has a cooperative function, but the functions are not free and flexible enough, and the external shaft cannot be combined randomly to realize the cooperation with the robot. The software algorithm can be readjusted to increase functions only for specific external structures (a single-axis positioner, a double-axis positioner, a base linear axis XYZ and the like) without structures. The combination of the axes cannot be set through a software interface to achieve rapid adjustment according to the field conditions.
Therefore, a method for cooperating a robot with an external shaft, which has a wider and more flexible application range, is needed.
Disclosure of Invention
One aspect of an embodiment of the present specification provides a method of robot coordination with an outer shaft, comprising: setting an external shaft type; determining a coordinated coordinate system number, and setting the external axis and the combination mode thereof used in the coordinated coordinate system number; calibrating the outer shaft; and verifying the calibration effect.
In some embodiments, the outer shaft type comprises at least one of a rotating shaft, a base shaft, an outer linear shaft.
In some embodiments, the calibrating the external axis comprises calibrating the rotation axis:
s102, aligning a tool tip at the tail end of the robot with a tip fixed on a positioner and recording the aligned tip as a point P1; the position of the positioner is relatively fixed with the position of the robot;
s104, rotating the positioner by a preset angle in one direction;
s106, moving the robot to enable a sharp point of a tool at the tail end of the robot to be aligned with the sharp point of the positioner and recording as a point P2, wherein the robot is kept in the same posture as the point P1;
s108, continuously rotating the positioner by a preset angle in one direction on the basis of the rotation of the positioner in the S104; moving the robot to enable a sharp point of a tool at the tail end of the robot to be aligned with the sharp point of the positioner and recording as a point P3, wherein the robot is kept in the same posture as the point P2;
and S110, completing calibration calculation based on the P1, P2 and P3 points through a preset algorithm.
In some embodiments, the calibrating the outer shaft comprises calibrating the seating shaft:
through the robot with the basic seat axle is cooperative, guarantee the removal axis direction of basic seat axle is parallel with the three axis direction of the basic coordinate system of robot.
In some embodiments, the calibrating the outer axis comprises calibrating the outer linear axis:
s202, enabling the robot to cooperate with the external linear shaft, aligning a tool sharp point at the tail end of the robot with a fixed point on the external linear shaft, and recording as an M1 point;
s204, moving the robot after moving the external linear shaft for a preset distance, keeping the posture of a tool sharp point at the tail end of the robot unchanged and aligning with a fixed point on the external linear shaft, and recording as an M2 point;
and S206, finishing calibration calculation based on M1 and M2 points through a preset algorithm.
In some embodiments, the outer shaft includes at least a forward shaft R1 and/or a rearward shaft R2;
the preset algorithm comprises a calibration algorithm of a rotating external cooperative axis:
s302, arranging a support with a sharp point on the disk surface of the front shaft R1, moving the tail end of the robot to the sharp point of the support and recording the current tail end and joint position of the robot as F1;
s304, rotating the external shaft, moving the tail end of the robot to a sharp point of the strut, and recording the current tail end and joint position of the robot to be F2;
s306, rotating the external shaft again, moving the tail end of the robot to a sharp point of the strut, and recording the current tail end and joint position of the robot as F3;
s308, obtaining a circle center F4 by using three points F1, F2 and F3;
s310, let v1 = F1-F4, v2 = F3-F4 obtain two vectors v1, v 2; v1 cross-multiplies v2 to obtain a plane normal vector Z;
s312, performing Z cross multiplication on v1 to obtain a vector Y;
s314, multiplying Z by Y to obtain X;
s316, taking the unit vector of X, Y, Z as the main axis of the collaborative coordinate system of R1, and obtaining a collaborative coordinate system C10 of R1 at F1;
s318, repeating the operation on the rear axis R2 to obtain a coordinated coordinate system C20 of R2;
s320, solving the relationship between two adjacent shafts in the external shaft:
a. rotating the coordinate system C10 reversely by the rotating angle in the step S304 to obtain a coordinate system C11 when the outer shaft is at zero position of C10;
b. the same method obtains a coordinate system C21 when the coordinate system C20 is at zero position of the outer shaft;
c. inverting C11 and left-multiplying C21 to obtain a transformation relation transform of C11 to C21 as the relation of the two adjacent axes.
In some embodiments, the preset algorithm comprises an outer axis co-displacement algorithm:
s402, rotating the C10 by the current angle of R1 around the Z axis to obtain a coordinated coordinate system C1 at the current angle;
s404, a coordinate system C20' is obtained by multiplying the coordinate system of the current angle of the R1 by the relation transform of the two external axes;
s406, rotating the C20' by the current angle of the R2 around the Z axis to obtain a coordinated coordinate system C2 integrated by the R1 and R2 coordinated coordinate systems;
s408, the C2 is inverted and then multiplied by the position under the base coordinate system to obtain the pose of the robot under the coordinate system.
In some embodiments, the predetermined algorithm comprises a linear co-axial calibration algorithm:
s502, erecting an upright post with a sharp point on the external linear shaft, moving the tail end of the robot to align with the sharp point of the upright post, and recording the tail end position Q1 of the robot;
s504, moving the external linear shaft to a preset position in a forward direction, moving the tail end of the robot to align with the sharp point, and recording the tail end position Q2 of the robot;
s506, the direction vector v = P2-P1 is set to obtain the moving direction of the external linear axis.
In some embodiments, the predetermined algorithm comprises a linear co-axial movement algorithm:
s602, moving the external linear axis by a distance D, and obtaining three components of D based on the direction vector v: Δ x, Δ y, Δ z.
And S604, respectively adding the three components obtained in the previous step to X, Y and Z under the robot base coordinate of the robot to obtain the terminal pose of the robot.
One aspect of embodiments of the present specification provides an apparatus for a robot to cooperate with an external axis, the apparatus comprising at least one storage medium and at least one processor, the at least one storage medium for storing computer instructions; the at least one processor is configured to execute the computer instructions to implement operations corresponding to the method for the robot in cooperation with the external axis.
An aspect of the embodiments of the present specification provides a computer-readable storage medium storing computer instructions, and when the computer instructions in the storage medium are read by a computer, the method for coordinating the robot with an external axis is implemented.
Drawings
The present description will be further described by way of exemplary embodiments, which will be described in detail by way of the accompanying drawings. These embodiments are not intended to be limiting, and in these embodiments like numerals are used to indicate like structures, wherein:
FIG. 1 is a schematic diagram of an application scenario of a robot and external axis coordination method according to some embodiments of the present application;
FIG. 2 is a schematic diagram of exemplary hardware and/or software components of an exemplary computing device on which a processing engine may be implemented, according to some embodiments of the present application;
FIG. 3 is a schematic diagram of exemplary hardware and/or software components of an exemplary mobile device on which one or more terminals may be implemented in accordance with some embodiments of the present application;
FIG. 4 is a flow diagram of a method of robot coordination with an external axis, shown in accordance with some embodiments of the present description;
FIG. 5 is a flow chart of a method of calibrating the outer shaft according to some embodiments of the present description. Detailed Description
In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the drawings used in the description of the embodiments will be briefly described below. It is obvious that the drawings in the following description are only examples or embodiments of the present description, and that for a person skilled in the art, the present description can also be applied to other similar scenarios on the basis of these drawings without inventive effort. Unless otherwise apparent from the context, or otherwise indicated, like reference numbers in the figures refer to the same structure or operation.
It should be understood that "system", "device", "unit" and/or "module" as used in this specification is a method for distinguishing different components, elements, parts or assemblies at different levels. However, other words may be substituted by other expressions if they accomplish the same purpose.
As used in this specification and the appended claims, the terms "a," "an," "the," and/or "the" are not intended to be inclusive in the singular, but rather are intended to be inclusive in the plural, unless the context clearly dictates otherwise. In general, the terms "comprises" and "comprising" merely indicate that steps and elements are included which are explicitly identified, that the steps and elements do not form an exclusive list, and that a method or apparatus may include other steps or elements.
Flow charts are used in this description to illustrate operations performed by a system according to embodiments of the present description. It should be understood that the preceding or following operations are not necessarily performed in the exact order in which they are performed. Rather, the various steps may be processed in reverse order or simultaneously. Meanwhile, other operations may be added to the processes, or a certain step or several steps of operations may be removed from the processes.
A robot is an intelligent machine that can work semi-autonomously or fully autonomously. The robot has basic characteristics of perception, decision, execution and the like, can assist or even replace human beings to finish dangerous, heavy and complex work, improves the work efficiency and quality, serves human life, and expands or extends the activity and capability range of the human beings. Robots can be classified into industrial robots in a manufacturing environment and service and humanoid robots in a non-manufacturing environment according to application environments. Industrial robots are multi-joint manipulators or multi-degree-of-freedom machine devices widely used in the industrial field, have a certain degree of automation, and can realize various industrial processing and manufacturing functions depending on the power energy and control capability of the industrial robots. Industrial robots are widely used in various industrial fields such as electronics, logistics, and chemical industry.
The embodiment of the application can be applied to various industrial robots. It should be understood that the application scenarios of the system and method of the present application are merely examples or embodiments of the present application, and those skilled in the art can also apply the present application to other similar scenarios without inventive effort based on these drawings. Although the present application has been described primarily in terms of industrial robots, it should be noted that the principles of the present application are applicable to other types of robots as well.
Fig. 1 is a schematic diagram of an application scenario of an exemplary robot and external axis coordination method according to some embodiments of the present application. In some embodiments, the application scenario 100 may be configured in a scenario in which automation operations are implemented with robots in a factory. For example, the robot can be applied to robot operation scenes such as loading and unloading, welding, carrying, loading and unloading, coating and the like of a machine tool. The application scenario 100 may include a server 110, a network 120, a user terminal 130, a storage device 140, and a robot 150. The server 110 may include a processing engine 112. In some embodiments, the server 110, the user terminal 130, the storage device 140, and the robot 150 may be connected to and/or communicate with each other via a wireless connection (e.g., the network 120), a wired connection, or a combination thereof.
The server 110 may be used to execute the flow of the method of robot co-operation with the external axis. The server 110 refers to a system having computing capabilities, and in some embodiments, the server 110 may be a single server or a group of servers. The set of servers can be centralized or distributed (e.g., the servers 110 can be a distributed system). In some embodiments, the server 110 may be local or remote. For example, server 110 may access information and/or data stored in user terminal 130 and/or storage device 140 via network 120. As another example, server 110 may be directly connected to user terminal 130 and/or storage device 140 to access stored information and/or data. In some embodiments, the server 110 may be implemented on a cloud platform. By way of example only, the cloud platform may include a private cloud, a public cloud, a hybrid cloud, a community cloud, a distributed cloud, an internal cloud, a multi-tiered cloud, and the like, or any combination thereof. In some embodiments, server 110 may be implemented on a computing device 200 having one or more of the components illustrated in FIG. 2 in the present application.
In some embodiments, the server 110 may include a processing engine 112. The processing engine 112 may perform the relevant steps of the robot-external axis coordinated method and process the relevant data. For example, the processing engine 112 may accept data returned by the robot 150 and perform corresponding processing and determinations. In some embodiments, processing engine 112 may include one or more processing engines (e.g., a single core processing engine or a multi-core processor). By way of example only, the processing engine 112 may include one or more hardware processors, such as a Central Processing Unit (CPU), an Application Specific Integrated Circuit (ASIC), an application specific instruction set processor (ASIP), a Graphics Processing Unit (GPU), a Physical Processing Unit (PPU), a Digital Signal Processor (DSP), a Field Programmable Gate Array (FPGA), a Programmable Logic Device (PLD), a controller, a microcontroller unit, a Reduced Instruction Set Computer (RISC), a microprocessor, or the like, or any combination thereof.
In some embodiments, the user terminal 130 may include a mobile device 130-1, a tablet computer 130-2, a laptop computer 130-3, a desktop computer 130-4, and the like, or any combination thereof. In some embodiments, mobile device 140-1 may include a smart home device, a wearable device, a mobile device, a virtual reality device, an augmented reality device, and the like, or any combination thereof. In some embodiments, the smart home devices may include smart lighting devices, smart appliance control devices, smart monitoring devices, smart televisions, smart appliances, smart televisions, smart appliances, smart televisions, smart appliances, smart televisions, smart appliances, smart televisions, smart appliances, smart televisions, smart appliances, smart televisions, smart appliances, smart televisions, smart appliances, smart televisions, smart appliances, smart televisions, smart appliances, smart televisions, smart appliances, and smart appliances, smart televisions, smart appliances, and smart appliances, smart televisions, smart appliances, and smart appliances, smart televisions, smart appliances, smart televisions, smart appliances, and smart appliances, smart televisions, and smart appliances, smart televisions, and smart appliances, and/or smart appliances, smart televisions, smart appliances, smart televisionsCameras, interphones, and the like, or any combination thereof. In some embodiments, the wearable device may include a bracelet, footwear, glasses, helmet, watch, clothing, backpack, smart accessory, and the like, or any combination thereof. In some embodiments, the mobile device may include a mobile phone, a Personal Digital Assistant (PDA), a gaming device, a navigation device, a point of sale (POS) device, a laptop computer, a desktop computer, etc., or any combination thereof. In some embodiments, the virtual reality device and/or the enhanced virtual reality device may include a virtual reality helmet, virtual reality glasses, virtual reality eyecups, augmented reality helmets, augmented reality glasses, augmented reality eyecups, and the like, or any combination thereof. For example, the virtual reality device and/or the augmented reality device may include a google glass TM 、RiftCon TM 、Fragments TM 、GearVR TMAnd the like. In some embodiments, the user terminal 130 may also be used to send operational instructions to the server 110. In some embodiments, an operator (e.g., an operator, etc.) may use user terminal 130 to access the associated records stored in storage device 140.
In some embodiments, the user terminal 130 may send and/or receive information related to the robot's coordination with the external axis to the processing engine 112 or a processor installed in the user terminal 130 via a user interface. For example, the user terminal 130 may send corresponding program instructions to the processing engine 112 or processor via the user interface. The user interface may be in the form of an application implemented on the user terminal 130 that performs a method for the robot to coordinate with the external axis. A user interface implemented on the user terminal 130 may facilitate communication between the user and the processing engine 112. For example, a user may input via a user interface an axis or robot that requires coordination. The processing engine 112 may receive input data via a user interface. For another example, the user may perform a request for the robot to coordinate with the external axis via a user interface input implemented on the user terminal 130. In some embodiments, the user interface may facilitate presenting or displaying information and/or data (e.g., signals) received from the processing engine 112 related to the robot in coordination with the external axis. For example, the information and/or data may include results indicating the robot's content in cooperation with the outer shaft, or indicate an abnormal alarm, etc. In some embodiments, the information and/or data may be further configured to cause the user terminal 130 to display the results to the user.
In some embodiments, a storage device 140 may be connected to the network 120 to communicate with one or more components (e.g., server 110, user terminal 130) in the application scenario 100. One or more components in the application scenario 100 may access data or instructions stored in the storage device 140 via the network 120. In some embodiments, the storage device 140 may be directly connected to or in communication with one or more components in the application scenario 100 (e.g., server 110, user terminal 130). In some embodiments, the storage device 140 may be part of the server 110.
The robot 150 may execute corresponding instructions to achieve coordination with the outer axis. In some embodiments, the robot 150 may be configured with/coupled to a network module that enables the robot 150 to connect with the processing engine 112, the user terminal 130, and/or the storage device 140 via the network 120.
It should be noted that the above description is intended to be illustrative, and not to limit the scope of the application. Many alternatives, modifications, and variations will be apparent to those skilled in the art. The features, structures, methods, and other characteristics of the exemplary embodiments described herein may be combined in various ways to obtain additional and/or alternative exemplary embodiments. For example, the robot 150 may be configured with a memory module, a processing module, a communication module, and the like. However, such changes and modifications do not depart from the scope of the present application.
FIG. 2 is a schematic diagram of exemplary hardware and/or software components of an exemplary computing device on which a processing engine may be implemented in accordance with some embodiments of the present application. As shown in FIG. 2, computing device 200 may include a processor 210, memory 220, input/output (I/O) 230, and communication ports 240.
The processor 210 (e.g., logic circuitry) may execute computer instructions (e.g., program code) and perform the functions of the processing engine 112 in accordance with the techniques described herein. In some embodiments, the processor 210 may be configured to process data and/or information related to one or more components of the application scenario 100. For example, the processor 210 may validate the corresponding operation in the data returned by the robot 150. In some embodiments, the processor 210 may send a notification to the associated user terminal 130.
In some embodiments, processor 210 may include interface circuitry 210-a and processing circuitry 210-b therein. The interface circuit may be configured to receive electrical signals from a bus (not shown in fig. 2), where the electrical signals encode structured data and/or instructions for processing by the processing circuit. The processing circuitry may perform logical computations and then encode the conclusions, results and/or instructions into electrical signals. The interface circuit may then send the electrical signals from the processing circuit via the bus.
The computer instructions may include, for example, routines, programs, objects, components, data structures, procedures, modules, and functions that perform particular functions described herein. For example, the processor 210 may process information related to a robot obtained from the user terminal 130, the storage device 140, and/or any other component of the application scenario 100. In some embodiments, processor 210 may include one or more hardware processors, such as microcontrollers, microprocessors, Reduced Instruction Set Computers (RISC), Application Specific Integrated Circuits (ASIC), application specific instruction set processors (ASIP), Central Processing Units (CPU), Graphics Processors (GPU), Physical Processors (PPU), microcontrollers, Digital Signal Processors (DSP), Field Programmable Gate Arrays (FPGA), Advanced RISC Machines (ARM), Programmable Logic Devices (PLD), any circuit or processor capable of executing one or more functions, or the like, or any combination thereof.
For illustration only, only one processor is depicted in computing device 200. However, it should be noted that the computing device 200 in the present application may also include multiple processors, and thus, operations and/or method steps performed by one processor as described herein may also be performed jointly or separately by multiple processors. For example, if in the present application, the processors of computing device 200 perform steps a and B simultaneously, it should be understood that steps a and B may also be performed jointly or separately by two or more different processors in computing device 200 (e.g., a first processor performing step a, a second processor performing step B, or a first processor and a second processor performing steps a and B together).
The memory 220 may store data/information obtained from the user terminal 130, the storage device 140, and/or any other component of the application scenario 100. In some embodiments, memory 220 may include mass memory devices, removable memory devices, volatile read-write memory, read-only memory (ROM), the like, or any combination thereof. For example, mass storage may include magnetic disks, optical disks, solid state drives, and so forth. The removable storage device may include flash memory, floppy disks, optical disks, memory cards, zip disks, tapes, and the like. The volatile read and write memory may include Random Access Memory (RAM). RAM may include Dynamic RAM (DRAM), double-data-rate synchronous dynamic RAM (DDRSDRAM), Static RAM (SRAM), thyristor RAM (T-RAM), zero-capacitor RAM (Z-RAM), and the like. The ROM may include Masked ROM (MROM), Programmable ROM (PROM), Erasable Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), compact disk ROM (CD-ROM), digital versatile disk ROM, and the like. In some embodiments, memory 220 may store one or more programs and/or instructions to perform the example methods described herein. For example, the memory 220 may store programs for the processing engine 112 to determine the corresponding.
I/O230 may input and/or output signals, data, information, and the like. In some embodiments, I/O230 may enable a user to interact with processing engine 112. In some embodiments, I/O230 may include input devices and output devices. Examples of input devices may include a keyboard, mouse, touch screen, microphone, etc., or a combination thereof. Examples of output devices may include a display device, speakers, printer, projector, etc., or a combination thereof. Examples of a display device may include a Liquid Crystal Display (LCD), a Light Emitting Diode (LED) based display, a flat panel display, a curved screen, a television device, a Cathode Ray Tube (CRT), a touch screen, etc., or any combination thereof.
The communication port 240 may be connected to a network (e.g., network 120) to facilitate data communication. The communication port 240 may establish a connection between the processing engine 112 and the user terminal 130, the robot 150, or the storage device 140. The connection may be a wired connection, a wireless connection, any other communication connection that may enable transmission and/or reception of data, and/or any combination of such connections. The wired connection may include, for example, an electrical cable, an optical cable, a telephone line, etc., or any combination thereof. The wireless connection may include, for example, a Bluetooth link, a Wi-FiTM link, a WiMax link, a WLAN link, a ZigBee link, a mobile network link (e.g., 3G, 4G, 5G), etc., or any combination thereof. In some embodiments, the communication port 240 may be and/or include a standardized communication port, such as RS232, RS485, and the like.
Fig. 3 is a schematic diagram of exemplary hardware and/or software components of an exemplary mobile device on which a user terminal may be implemented, according to some embodiments of the present application. In some embodiments, the mobile device 300 shown in fig. 3 may be used by an operator or manager. The user may be a robot developer, a robot user, etc. For example, a robot developer may view relevant data in a collaboration via the mobile device 300. In some embodiments, the robot user may view information such as collaboration results via the mobile device 300.
As shown in FIG. 3, mobile device 300 may include a communication platform 310, a display 320, a Graphics Processing Unit (GPU)330, a Central Processing Unit (CPU)340, an I/O interface 350, memory 360, and storage 390. In some embodiments, any other suitable component, including but not limited to a system bus or a controller (not shown), may also be included in mobile device 300. In some embodiments, the operating system 370 (e.g., iOS) may be moved TM 、Android TM 、WindowsPhone TM) And one or more application programs 380 are loaded from storage 390 into memory 360 for execution by CPU 340. The application 380 may include a browser or any other suitable mobile application for receiving and rendering information related to image processing or other information from the processing engine 112. User interaction with the information flow may be enabled through the I/O interface 350 and provided to the processing engine 112 and/or other components of the application scenario 100 via the network 120.
To implement the various modules, units, and their functions described herein, a computer hardware platform may be used as the hardware platform for one or more of the components described herein. A computer with user interface elements may be used to implement a Personal Computer (PC) or any other type of workstation or terminal device. The computer may also function as a server if appropriately programmed.
One of ordinary skill in the art will appreciate that when an element of the application scenario 100 executes, the element may execute via an electrical and/or electromagnetic signal. For example, when processing engine 112 processes a task, such as making a determination or identifying information, processing engine 112 may operate logic circuits in its processor to process the task. When the processing engine 112 transmits data (e.g., authentication data) to the user terminal 130, the processor of the processing engine 112 may generate an electrical signal encoding the data. The processor of the processing engine 112 may then send the electrical signal to an output port. If the user terminal 130 communicates with the processing engine 112 over a wired network, the output port may be physically connected to a cable that may further transmit the electrical signals to the input port of the server 110. If the user terminal 130 communicates with the processing engine 112 over a wireless network, the output port of the processing engine 112 may be one or more antennas that may convert electrical signals to electromagnetic signals. In an electronic device, such as user terminal 130 and/or server 110, when its processor processes instructions, issues instructions, and/or performs actions, the instructions and/or actions are performed by electrical signals. For example, when a processor retrieves or stores data from a storage medium (e.g., storage device 140), it may send electrical signals to a read/write device of the storage medium, which may read or write structured data in the storage medium. The configuration data may be transmitted to the processor in the form of electrical signals via a bus of the electronic device. Herein, an electrical signal may refer to an electrical signal, a series of electrical signals, and/or one or more discrete electrical signals.
Fig. 4 is a flow chart of a method of robot coordination with an external axis, shown in accordance with some embodiments of the present application.
In some embodiments, the process 400 shown in FIG. 4 may be implemented in the application scenario 100 shown in FIG. 1. For example, process 400 may be stored as instructions in a storage medium (e.g., memory 220 of storage device 140 or computing device 200) and invoked and/or executed by one or more modules in a processor (e.g., storage device 140), processing engine 112 of server 110, a processor of computing device 200, or processing engine 112. The operation of the illustrated process 400 presented below is intended to be illustrative. In some embodiments, process 400 may be accomplished with one or more additional operations not described, and/or without one or more of the operations discussed. Additionally, the order in which the operations of process 400 are illustrated in fig. 4 and described below is not intended to be limiting.
As shown in fig. 4, the process 400 may include the following steps:
at step 410, an outer shaft type is set.
In some embodiments, the type of external shaft may include, but is not limited to, a rotating shaft, a pedestal shaft, an external linear shaft, and the like.
In some embodiments, it is specifically required to select a coordinate system number, configure which axes are under the coordinate system number, and configure the combination relationship between the axes, where possible combination relationships include, but are not limited to, a single-axis positioner, a double-axis positioner, a 3-axis positioner, a base XYZ axis, an external linear axis, and the like, so that the combination relationship between the axes can be freely and flexibly set for different situations, and in some embodiments, tens of coordinate system numbers can be provided for selection.
In some embodiments, after the coordinate system number lower axis configuration and the combination relationship are determined, according to the set axis type and the combination relationship between the axes, the structural algorithm may be processed by the internal algorithm module to calibrate all the axes under the coordinate system number, and in some embodiments, the calibration description may be clicked on the user interface to view the calibration method. The specific calibration description refers to the content of fig. 5, which is not repeated herein.
In some embodiments, after the calibration is completed, the robot and the external axis may be coordinated by the internal algorithm module of the robot controller according to the previous setting and the calibration processing coordination algorithm function.
In some embodiments, after the cooperative calibration is completed, the cooperative switch is turned on, then the tool tip at the end of the robot is aligned with the fixed tip on the external shaft, and then the external shaft is moved to observe the alignment condition of the tip, thereby judging the calibration effect.
FIG. 5 is a flow chart of a method of calibrating an outer shaft according to some embodiments of the present application.
In some embodiments, the process 500 shown in FIG. 5 may be implemented in the application scenario 100 shown in FIG. 1. For example, process 500 may be stored as instructions in a storage medium (e.g., memory 220 of storage device 140 or computing device 200) and invoked and/or executed by one or more modules in a processor (e.g., storage device 140), processing engine 112 of server 110, a processor of computing device 200, or processing engine 112. The operations of the illustrated process 500 presented below are intended to be illustrative. In some embodiments, process 400 may be accomplished with one or more additional operations not described, and/or without one or more of the operations discussed. Additionally, the order in which the operations of process 500 are illustrated in fig. 4 and described below is not intended to be limiting.
As shown in FIG. 5, calibrating the outer shaft 500 includes shaft calibration 510, which includes a rotation axis calibration 511, a seating axis calibration 512, and an outer linear axis calibration 513, and an internal algorithm process 520.
Specifically, the calibration of the rotating shaft specifically includes the following operations:
s102, aligning a tool tip at the tail end of the robot with a tip fixed on a positioner and recording the aligned tip as a point P1; the position of the positioner is relatively fixed with the position of the robot;
s104, rotating the positioner by a preset angle in one direction;
s106, moving the robot to enable a sharp point of a tool at the tail end of the robot to be aligned with the sharp point of the positioner and recording as a point P2, wherein the robot is kept in the same posture as the point P1;
s108, continuously rotating the positioner by a preset angle in one direction on the basis of the rotation of the positioner in the S104; moving the robot to enable a sharp point of a tool at the tail end of the robot to be aligned with the sharp point of the positioner and recording as a point P3, wherein the robot is kept in the same posture as the point P2; and S110, completing calibration calculation based on the P1, P2 and P3 points through a preset algorithm.
In some embodiments, calibrating the seating axis specifically comprises the following operations:
through the robot with the basic seat axle is cooperative, guarantee the removal axis direction of basic seat axle is parallel with the three axis direction of the basic coordinate system of robot.
In some embodiments, calibrating the external linear axis specifically includes the following operations:
s202, enabling the robot to cooperate with the external linear shaft, aligning a tool sharp point at the tail end of the robot with a fixed point on the external linear shaft, and recording as an M1 point;
s204, moving the robot after moving the external linear shaft for a preset distance, keeping the posture of a tool sharp point at the tail end of the robot unchanged and aligning with a fixed point on the external linear shaft, and recording as an M2 point;
and S206, finishing calibration calculation based on M1 and M2 points through a preset algorithm.
And the preset algorithm calculation process is the internal algorithm processing process. Specifically, the external shafts at least include a front shaft R1 and a rear shaft R2, and for simplicity of description, the following description will be specifically made in the case of only including two external rotation axes, and it should be noted that the algorithms are the same in the case of multiple axes, and those skilled in the art can apply the same according to the principles disclosed in this embodiment.
Specifically, the preset algorithm comprises a calibration algorithm of a rotating external cooperating shaft:
s302, arranging a support with a sharp point on the disk surface of the front shaft R1, moving the tail end of the robot to the sharp point of the support and recording the current tail end and joint position of the robot as F1;
s304, rotating the external shaft, moving the tail end of the robot to a sharp point of the strut, and recording the current tail end and joint position of the robot to be F2;
s306, rotating the external shaft again, moving the tail end of the robot to a sharp point of the strut, and recording the current tail end and joint position of the robot as F3;
s308, obtaining a circle center F4 by using three points F1, F2 and F3;
s310, let v1 = F1-F4, v2 = F3-F4 obtain two vectors v1, v 2; v1 cross-multiplies v2 to obtain a plane normal vector Z;
s312, performing Z cross multiplication on v1 to obtain a vector Y;
s314, multiplying Z by Y to obtain X;
s316, taking the unit vector of X, Y, Z as the main axis of the collaborative coordinate system of R1, and obtaining a collaborative coordinate system C10 of R1 at F1;
s318, repeating the operation on the rear axis R2 to obtain a coordinated coordinate system C20 of R2;
s320, solving the relationship between two adjacent shafts in the external shaft:
a. rotating the coordinate system C10 reversely by the rotating angle in the step S304 to obtain a coordinate system C11 when the outer shaft is at zero position of C10;
b. the same method obtains a coordinate system C21 when the coordinate system C20 is at zero position of the outer shaft;
c. inverting C11 and left-multiplying C21 to obtain a transformation relation transform of C11 to C21 as the relation of the two adjacent axes.
In some embodiments, on this basis, the preset algorithm comprises an outer axis co-movement algorithm:
s402, rotating the C10 by the current angle of R1 around the Z axis to obtain a coordinated coordinate system C1 at the current angle;
s404, a coordinate system C20' is obtained by multiplying the coordinate system of the current angle of the R1 by the relation transform of the two external axes;
s406, rotating the C20' by the current angle of the R2 around the Z axis to obtain a coordinated coordinate system C2 integrated by the R1 and R2 coordinated coordinate systems;
s408, the C2 is inverted and then multiplied by the position under the base coordinate system to obtain the pose of the robot under the coordinate system.
In some embodiments, the predetermined algorithm comprises a linear co-axial calibration algorithm:
s502, erecting an upright post with a sharp point on the external linear shaft, moving the tail end of the robot to align with the sharp point of the upright post, and recording the tail end position Q1 of the robot;
s504, moving the external linear shaft to a preset position in a forward direction, moving the tail end of the robot to align with the sharp point, and recording the tail end position Q2 of the robot;
s506, the direction vector v = P2-P1 is set to obtain the moving direction of the external linear axis.
In some embodiments, the predetermined algorithm comprises a linear co-axial movement algorithm:
s602, moving the external linear axis by a distance D, and obtaining three components of D based on the direction vector v: Δ x, Δ y, Δ z.
And S604, respectively adding the three components obtained in the previous step to X, Y and Z under the robot base coordinate of the robot to obtain the terminal pose of the robot.
The method of the embodiment of the present specification in which the robot cooperates with the external axis has advantageous effects including, but not limited to, the following points: 1. the problem of random combination of external shafts (random combination structure from 1 rotating shaft to 6 rotating shafts, combination of the rotating shafts and linear spools and the like) can be solved, and the internal algorithm can be automatically adapted by configuring the cooperative related data. 2. The external axis can be flexibly and freely combined, and the method can be applied to various scenes. 3. The robot can be cooperated with multiple groups of external shafts.
Embodiments of the present description also provide a device for a robot to cooperate with an external axis, comprising at least one storage medium for storing computer instructions and at least one processor; the at least one processor is configured to perform the aforementioned method of robot-to-external-axis coordination, the method comprising: setting an external shaft type; determining a coordinated coordinate system number, and setting the external axis and the combination mode thereof used in the coordinated coordinate system number; calibrating the outer shaft; and verifying the calibration effect.
The embodiment of the specification also provides a computer readable storage medium. The storage medium stores computer instructions, and after the computer reads the computer instructions in the storage medium, the computer implements the method, which includes: setting an external shaft type; determining a coordinated coordinate system number, and setting the external axis and the combination mode thereof used in the coordinated coordinate system number; calibrating the outer shaft; and verifying the calibration effect.
Having thus described the basic concept, it will be apparent to those skilled in the art that the foregoing detailed disclosure is to be regarded as illustrative only and not as limiting the present specification. Various modifications, improvements and adaptations to the present description may occur to those skilled in the art, although not explicitly described herein. Such modifications, improvements and adaptations are proposed in the present specification and thus fall within the spirit and scope of the exemplary embodiments of the present specification.
Also, the description uses specific words to describe embodiments of the description. Reference throughout this specification to "one embodiment," "an embodiment," and/or "some embodiments" means that a particular feature, structure, or characteristic described in connection with at least one embodiment of the specification is included. Therefore, it is emphasized and should be appreciated that two or more references to "an embodiment" or "one embodiment" or "an alternative embodiment" in various places throughout this specification are not necessarily all referring to the same embodiment. Furthermore, some features, structures, or characteristics of one or more embodiments of the specification may be combined as appropriate.
Moreover, those skilled in the art will appreciate that aspects of the present description may be illustrated and described in terms of several patentable species or situations, including any new and useful combination of processes, machines, manufacture, or materials, or any new and useful improvement thereof. Accordingly, aspects of this description may be performed entirely by hardware, entirely by software (including firmware, resident software, micro-code, etc.), or by a combination of hardware and software. The above hardware or software may be referred to as "data block," module, "" engine, "" unit, "" component, "or" system. Furthermore, aspects of the present description may be represented as a computer product, including computer readable program code, embodied in one or more computer readable media.
The computer storage medium may comprise a propagated data signal with the computer program code embodied therewith, for example, on baseband or as part of a carrier wave. The propagated signal may take any of a variety of forms, including electromagnetic, optical, etc., or any suitable combination. A computer storage medium may be any computer-readable medium that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code located on a computer storage medium may be propagated over any suitable medium, including radio, cable, fiber optic cable, RF, or the like, or any combination of the preceding.
Computer program code required for the operation of various portions of this specification may be written in any one or more programming languages, including an object oriented programming language such as Java, Scala, Smalltalk, Eiffel, JADE, Emerald, C + +, C #, VB.NET, Python, and the like, a conventional programming language such as C, Visual Basic, Fortran2003, Perl, COBOL2002, PHP, ABAP, a dynamic programming language such as Python, Ruby, and Groovy, or other programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or processing device. In the latter scenario, the remote computer may be connected to the user's computer through any network format, such as a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet), or in a cloud computing environment, or as a service, such as a software as a service (SaaS).
Additionally, the order in which the elements and sequences of the process are recited in the specification, the use of alphanumeric characters, or other designations, is not intended to limit the order in which the processes and methods of the specification occur, unless otherwise specified in the claims. While various presently contemplated embodiments of the invention have been discussed in the foregoing disclosure by way of example, it is to be understood that such detail is solely for that purpose and that the appended claims are not limited to the disclosed embodiments, but, on the contrary, are intended to cover all modifications and equivalent arrangements that are within the spirit and scope of the embodiments herein. For example, although the system components described above may be implemented by hardware devices, they may also be implemented by software-only solutions, such as installing the described system on an existing processing device or mobile device.
Similarly, it should be noted that in the preceding description of embodiments of the present specification, various features are sometimes grouped together in a single embodiment, figure, or description thereof for the purpose of streamlining the disclosure aiding in the understanding of one or more of the embodiments. This method of disclosure, however, is not intended to imply that more features than are expressly recited in a claim. Indeed, the embodiments may be characterized as having less than all of the features of a single embodiment disclosed above.
Numerals describing the number of components, attributes, etc. are used in some embodiments, it being understood that such numerals used in the description of the embodiments are modified in some instances by the use of the modifier "about", "approximately" or "substantially". Unless otherwise indicated, "about", "approximately" or "substantially" indicates that the number allows a variation of ± 20%. Accordingly, in some embodiments, the numerical parameters used in the specification and claims are approximations that may vary depending upon the desired properties of the individual embodiments. In some embodiments, the numerical parameter should take into account the specified significant digits and employ a general digit preserving approach. Notwithstanding that the numerical ranges and parameters setting forth the broad scope of the range are approximations, in the specific examples, such numerical values are set forth as precisely as possible within the scope of the application.
For each patent, patent application publication, and other material, such as articles, books, specifications, publications, documents, etc., cited in this specification, the entire contents of each are hereby incorporated by reference into this specification. Except where the application history document does not conform to or conflict with the contents of the present specification, it is to be understood that the application history document, as used herein in the present specification or appended claims, is intended to define the broadest scope of the present specification (whether presently or later in the specification) rather than the broadest scope of the present specification. It is to be understood that the descriptions, definitions and/or uses of terms in the accompanying materials of this specification shall control if they are inconsistent or contrary to the descriptions and/or uses of terms in this specification.
Finally, it should be understood that the embodiments described herein are merely illustrative of the principles of the embodiments of the present disclosure. Other variations are also possible within the scope of the present description. Thus, by way of example, and not limitation, alternative configurations of the embodiments of the specification can be considered consistent with the teachings of the specification. Accordingly, the embodiments of the present description are not limited to only those embodiments explicitly described and depicted herein.
Claims (10)
1. A method of robot co-operation with an external axis, comprising:
setting an external shaft type;
determining a coordinated coordinate system number, and setting the external axis and the combination mode thereof used in the coordinated coordinate system number;
calibrating the outer shaft;
and verifying the calibration effect.
2. A robot and external shaft coordination method as recited in claim 1, wherein said external shaft type comprises at least one of a rotating shaft, a pedestal shaft, and an external linear shaft.
3. A method of robot co-operating with an external axis according to claim 2, wherein said calibrating the external axis comprises calibrating the rotation axis: the specific steps of calibrating the rotating shaft are as follows:
s102, aligning a tool tip at the tail end of the robot with a tip fixed on a positioner and recording the aligned tip as a point P1; the position of the positioner is relatively fixed with the position of the robot;
s104, rotating the positioner by a preset angle in one direction;
s106, moving the robot to enable a sharp point of a tool at the tail end of the robot to be aligned with the sharp point of the positioner and recording as a point P2, wherein the robot is kept in the same posture as the point P1;
s108, continuously rotating the positioner by a preset angle in one direction on the basis of the rotation of the positioner in the S104; moving the robot to enable a sharp point of a tool at the tail end of the robot to be aligned with the sharp point of the positioner and recording as a point P3, wherein the robot is kept in the same posture as the point P2;
and S110, completing calibration calculation based on the P1, P2 and P3 points through a preset algorithm.
4. A method of robot co-operating with an external axis according to claim 2, wherein said calibrating the external axis comprises calibrating the base axis:
through the robot with the basic seat axle is cooperative, guarantee the removal axis direction of basic seat axle is parallel with the three axis direction of the basic coordinate system of robot.
5. A method of robot co-operating with an external axis according to claim 2, wherein said calibrating the external axis comprises calibrating the external linear axis: the specific steps for calibrating the external linear shaft are as follows:
s202, enabling the robot to cooperate with the external linear shaft, aligning a tool sharp point at the tail end of the robot with a fixed point on the external linear shaft, and recording as an M1 point;
s204, moving the robot after moving the external linear shaft for a preset distance, keeping the posture of a tool sharp point at the tail end of the robot unchanged and aligning with a fixed point on the external linear shaft, and recording as an M2 point;
and S206, finishing calibration calculation based on M1 and M2 points through a preset algorithm.
6. A robot and external axis coordination method according to claim 3 or 5, characterized in that said external axis comprises at least a front axis R1 and/or a rear axis R2;
the preset algorithm comprises a rotating external cooperative axis calibration algorithm, and the specific implementation steps of the rotating external cooperative axis calibration algorithm are as follows:
s302, arranging a support with a sharp point on the disk surface of the front shaft R1, moving the tail end of the robot to the sharp point of the support and recording the current tail end and joint position of the robot as F1;
s304, rotating the external shaft, moving the tail end of the robot to a sharp point of the strut, and recording the current tail end and joint position of the robot to be F2;
s306, rotating the external shaft again, moving the tail end of the robot to a sharp point of the strut, and recording the current tail end and joint position of the robot as F3;
s308, obtaining a circle center F4 by using three points F1, F2 and F3;
s310, let v1 = F1-F4, v2 = F3-F4 obtain two vectors v1, v 2; v1 cross-multiplies v2 to obtain a plane normal vector Z;
s312, performing Z cross multiplication on v1 to obtain a vector Y;
s314, multiplying Z by Y to obtain X;
s316, taking the unit vector of X, Y, Z as the main axis of the coordinated coordinate system of the front axis R1, and obtaining a coordinated coordinate system C10 of the front axis R1 at the point F1;
s318, repeating the operation on the rear axle R2 to obtain a coordinated coordinate system C20 of the rear axle R2;
s320, solving the relationship between two adjacent shafts in the external shaft:
a. reversely rotating the coordinate system C10 by the rotating angle in the step S304 to obtain a coordinate system C11 when the coordinate system C10 is at the zero position of the external axis;
b. the same method obtains a coordinate system C21 when the coordinate system C20 is at zero position of the outer shaft;
c. the coordinate system C11 is inverted and then the coordinate system C21 is multiplied to the left to obtain the transformation relationship transform from the coordinate system C11 to the coordinate system C21 as the relationship between the two adjacent axes.
7. A robot and external axis coordination method according to claim 6, characterized in that said preset algorithm comprises an external axis coordination movement algorithm, and said external axis coordination movement algorithm is implemented by the following steps:
s402, rotating the coordinate system C10 by the current angle of the front axis R1 around the Z axis to obtain a coordinate system C1 at the current angle;
s404, a coordinated coordinate system C20' is obtained by multiplying the coordinated coordinate system of the current angle of the front axis R1 by the relationship transform of the two external axes;
s406, rotating the coordinated coordinate system C20' by the current angle of the rear shaft R2 around the Z axis to obtain a coordinated coordinate system C2 integrated by the coordinated coordinate systems of the front shaft R1 and the rear shaft R2;
s408, the coordinate system C2 is inverted and then multiplied by the position under the base coordinate system to obtain the pose of the robot under the coordinate system.
8. A method of robot co-operation with an external axis according to claim 3 or 5,
the preset algorithm comprises a linear coordinate axis calibration algorithm, and the linear coordinate axis calibration algorithm is realized by the following steps:
s502, erecting an upright post with a sharp point on the external linear shaft, moving the tail end of the robot to align with the sharp point of the upright post, and recording the tail end position Q1 of the robot;
s504, moving the external linear shaft to a preset position in a forward direction, moving the tail end of the robot to align with the sharp point, and recording the tail end position Q2 of the robot;
s506, the direction vector v = P2-P1 is set to obtain the moving direction of the external linear axis.
9. A method of robot co-operation with an external axis according to claim 8,
the preset algorithm comprises a linear co-axial moving algorithm, and the linear co-axial moving algorithm is realized by the following steps:
s602, moving the external linear axis by a distance D, and obtaining three components of D based on the direction vector v: Δ x, Δ y, Δ z;
and S604, respectively adding the three components obtained in the previous step to X, Y and Z under the robot base coordinate of the robot to obtain the terminal pose of the robot.
10. An apparatus for a robot to cooperate with an external axis, the apparatus comprising a processor and a memory; the memory is configured to store instructions that, when executed by the processor, cause the apparatus to perform operations corresponding to the method of the robot in cooperation with an external axis according to any one of claims 1 to 9.
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