CN114036747A - Model assembly building method and device, electronic device and storage medium - Google Patents
Model assembly building method and device, electronic device and storage medium Download PDFInfo
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Abstract
The invention discloses a model assembly building method and device, electronic equipment and a storage medium. The building method comprises the following steps: receiving a model component selected from a model library, wherein the model component comprises at least one mounting point; determining coordinates of a preset butt joint point on a preset robot; calculating a distance value between the docking point and the mounting point based on the coordinates of the docking point and the coordinates of the mounting point; and if the distance value is smaller than or equal to the preset distance threshold value, controlling the model assembly to move to the butt joint point on the preset robot, and controlling the mounting point to be adsorbed to the butt joint point on the preset robot to obtain the built model product. The invention solves the technical problems that the stability is poor and a great deal of time and energy of workers are consumed by manually butting the model components in the off-line simulation environment in the related technology.
Description
Technical Field
The invention relates to the field of data processing, in particular to a model assembly building method and device, electronic equipment and a storage medium.
Background
In the related art, in the aspect of an offline simulation environment, a large number of virtual model components are constructed for various parts, tools and machines, for example, in the offline simulation environment of a robot, robots of various models and brands can be constructed, flange tools and parts and accessories which can simulate the cooperative work with the robot can be constructed, a model library can be constructed, and when a worker operates, the robot, the model components and the like can be directly dragged to perform simulation operation.
However, in the current off-line simulation environment, when a model component is operated, there is a great disadvantage that a worker needs to manually dock the model components after pulling the virtual model component to the working environment, and particularly, the association between the model components is often small, so that the worker is not only required to perform operations such as amplification, stretching, moving, docking and adjusting, but also is often required to confirm whether the model components can be stably docked once and once.
In view of the above problems, no effective solution has been proposed.
Disclosure of Invention
The embodiment of the invention provides a model component building method and device, electronic equipment and a storage medium, and aims to at least solve the technical problems that in the related art, model components in an offline simulation environment are manually docked manually, the stability is poor, and a large amount of time and energy of workers are consumed.
According to one aspect of the embodiment of the invention, the invention provides a building method of a model assembly, which is applied to a robot model building environment and comprises the following steps: receiving a model component selected from a model library, wherein the model component comprises at least one mounting point; determining coordinates of a preset butt joint point on a preset robot; calculating a distance value between the docking point and the mounting point based on the coordinates of the docking point and the coordinates of the mounting point; and if the distance value is smaller than or equal to a preset distance threshold value, controlling the model assembly to move to the butt joint point on the preset robot, and controlling the mounting point to be adsorbed to the butt joint point on the preset robot to obtain the built model product.
Optionally, the presetting of the preset docking point on the robot includes: the butt joint point of the tail end of the mechanical arm flange and the central point of the robot base.
Optionally, the step of receiving a model component selected from a model library comprises: when the preset butt joint point on the preset robot is the butt joint point at the tail end of the mechanical arm flange, receiving a flange clamping tool selected from the model library, and taking the flange clamping tool as the model assembly; when the preset butt joint point on the robot is the robot base center point, the guide rail assembly or the conveying assembly capable of installing the preset robot is received and used as the model assembly.
Optionally, after receiving a model component selected from a model library, the building method further includes: receiving a first component modification instruction, wherein the first component modification instruction is used for customizing and modifying tool size and/or tool appearance parameters of a flange clamping tool; modifying the size or appearance of the flange clamping tool selected from the model library based on the first component modification instruction; and displaying the modified flange clamping tool.
Optionally, after receiving a model component selected from a model library, the building method further includes: receiving a second component modification instruction, wherein the second component modification instruction is used for modifying the docking position of the autonomous navigation vehicle selected from the model library and the preset robot; adjusting the current position of the center point of the robot base of the preset robot based on the second component modification instruction so as to match the preset robot with the position of the autonomous navigation vehicle; and displaying the butt joint state of the adjusted autonomous navigation vehicle and the preset robot.
Optionally, after receiving a model component selected from a model library, the building method further includes: receiving a third component modification instruction, wherein the third component modification instruction is used for modifying the name and/or type of the model component selected from the model library; and adjusting the name and/or type of the model component selected from the model library based on the third component modification instruction.
According to another aspect of the embodiment of the present invention, there is also provided a method for building a model assembly, applied to a robot model building environment, including: receiving a plurality of model components selected from a model library, wherein each model component comprises at least one mounting point; calculating a distance value between the mounting points on each two model components; and if the distance value is smaller than or equal to a preset distance threshold value, controlling the two model assemblies to perform mutual adsorption action, and obtaining the built model product.
According to another aspect of the embodiment of the present invention, there is also provided a building apparatus of a model assembly, applied in a robot model building environment, including: the receiving unit is used for receiving a model assembly selected from a model library, wherein the model assembly comprises at least one mounting point; the determining unit is used for determining coordinates of a preset butt joint point on a preset robot; a calculation unit configured to calculate a distance value between the docking point and the mounting point based on the coordinates of the docking point and the coordinates of the mounting point; and the control unit is used for controlling the model assembly to move towards the butt joint on the preset robot when the distance value is smaller than or equal to a preset distance threshold value, and controlling the mounting point to be adsorbed to the butt joint on the preset robot to obtain the built model product.
Optionally, the presetting of the preset docking point on the robot includes: the butt joint point of the tail end of the mechanical arm flange and the central point of the robot base.
Optionally, the receiving unit includes: the first receiving module is used for receiving a flange clamping tool selected from the model library when a preset butt joint on the preset robot is a butt joint at the tail end of the mechanical arm flange, and taking the flange clamping tool as the model component; and the second receiving module is used for receiving a guide rail assembly or a conveying assembly which can be installed when the preset butt joint on the robot is the robot base central point, and taking the guide rail assembly or the conveying assembly as the model assembly.
Optionally, the building device of the model assembly further comprises: the third receiving module is used for receiving a first component modification instruction after receiving the model component selected from the model library, wherein the first component modification instruction is used for customizing and modifying the tool size and/or the tool appearance parameter of the flange clamping tool; the first modification module is used for modifying the size or appearance of the flange clamping tool selected from the model library based on the first component modification instruction; and the first display module is used for displaying the modified flange clamping tool.
Optionally, the building device of the model assembly further comprises: the fourth receiving module is used for receiving a second component modification instruction after receiving the model component selected from the model library, wherein the second component modification instruction is used for modifying the docking position of the autonomous navigation vehicle selected from the model library and the preset robot; a first adjusting module, configured to adjust a current position of a center point of a robot base of the preset robot based on the second component modification instruction, so that the preset robot matches the position of the autonomous navigation vehicle; and the second display instruction is used for displaying the butt joint state of the adjusted autonomous navigation vehicle and the preset robot.
Optionally, the building device of the model assembly further comprises: a fifth receiving module, configured to receive a third component modification instruction after receiving a model component selected from a model library, where the third component modification instruction is used to modify a name and/or a type of the model component selected from the model library; and the second adjusting module is used for adjusting the name and/or type of the model component selected from the model library based on the third component modifying instruction.
According to another aspect of the embodiments of the present invention, there is also provided an electronic device, including: a processor; and a memory for storing executable instructions of the processor; wherein the processor is configured to perform the method of building a model assembly of any one of the above via execution of the executable instructions.
According to another aspect of the embodiment of the present invention, a computer-readable storage medium is further provided, where the computer-readable storage medium includes a stored computer program, and when the computer program runs, the apparatus where the computer-readable storage medium is located is controlled to execute any one of the above-mentioned model component building methods.
In the embodiment of the invention, a model assembly selected from a model library is received, wherein the model assembly comprises at least one mounting point, coordinates of a preset docking point on a preset robot are determined, a distance value between the docking point and the mounting point is calculated based on the coordinates of the docking point and the coordinates of the mounting point, if the distance value is smaller than or equal to a preset distance threshold value, the model assembly is controlled to move to the docking point on the preset robot, the mounting point is controlled to be adsorbed to the docking point on the preset robot, and a built model product is obtained. In this embodiment, can be after receiving the model subassembly of selecting, the automatic butt joint work of accomplishing model subassembly and robot need not artifical manual adjustment and butt joint, not only can guarantee the stability that the model was built, reduces staff's butt joint time moreover, improves work efficiency to solve among the correlation technique through the model subassembly in the artifical manual butt joint off-line simulation environment, stability is relatively poor, and consumes staff's a large amount of time and the technical problem of energy.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without limiting the invention. In the drawings:
FIG. 1 is a flow chart of an alternative method of construction of a model assembly according to an embodiment of the invention;
figure 2 is a schematic view of an alternative model assembly building set according to an embodiment of the invention.
Detailed Description
In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Example one
The embodiment can be applied to various model component docking systems, for example, in a robot offline programming simulation environment, which can simulate a simulation robot to perform welding, transportation, spraying, polishing and other works, and the types of the robot include but are not limited to: four-axis industrial robot, six-axis industrial robot, educational robot, etc. Including but not limited to on the robot: the robot comprises a mechanical arm, a flange, a mechanical shaft, a base, an elbow, a servo motor and a transmission belt, and can work with a guide rail, an autonomous navigation vehicle and the like in a coordinated mode. The present invention will be described with reference to specific embodiments.
According to an embodiment of the present invention, there is provided an embodiment of a method for building a model assembly, it should be noted that the steps shown in the flowchart of the drawings may be executed in a computer system such as a set of computer executable instructions, and that although a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in an order different from that here.
The optional model assembly building method provided by the embodiment can be applied to a robot model building environment.
Fig. 1 is a flow chart of an alternative model assembly building method according to an embodiment of the present invention, and as shown in fig. 1, the method includes the following steps:
step S102, receiving a model assembly selected from a model library, wherein the model assembly comprises at least one installation point;
step S104, determining coordinates of a preset butt joint point on the preset robot;
step S106, calculating a distance value between the docking point and the mounting point based on the coordinates of the docking point and the coordinates of the mounting point;
and S108, if the distance value is smaller than or equal to the preset distance threshold value, controlling the model assembly to move to the butt joint point on the preset robot, and controlling the mounting point to be adsorbed to the butt joint point on the preset robot to obtain the built model product.
Through the steps, the model assembly selected from the model library can be received firstly, wherein the model assembly comprises at least one mounting point, the coordinates of the preset docking point on the preset robot are determined, the distance value between the docking point and the mounting point is calculated based on the coordinates of the docking point and the coordinates of the mounting point, if the distance value is smaller than or equal to the preset distance threshold value, the model assembly is controlled to move to the docking point on the preset robot, the mounting point is controlled to be adsorbed to the docking point on the preset robot, and the built model product is obtained. In this embodiment, can be after receiving the model subassembly of selecting, the automatic butt joint work of accomplishing model subassembly and robot need not artifical manual adjustment and butt joint, not only can guarantee the stability that the model was built, reduces staff's butt joint time moreover, improves work efficiency to solve among the correlation technique through the model subassembly in the artifical manual butt joint off-line simulation environment, stability is relatively poor, and consumes staff's a large amount of time and the technical problem of energy.
According to the building block building method, building block building modes can be simulated, and automatic building between the robot and each model assembly or between the model assemblies is achieved. In this embodiment, two construction methods are considered, the first is: the robot actively grabs the components, at the moment, a flange tool (a model component) can be placed in a preset sensing range away from the tail end of the robot flange, automatic butt joint of the flange tool and the tail end of the mechanical arm is realized, and automatic adsorption operation of the flange tool and the tail end of the mechanical arm is realized; second, the robot is mounted to a work platform (e.g., to a rail, autonomous navigation vehicle, welding table, spray base), at which time, it is necessary for both the robot base and the work platform to be attracted to each other.
In this embodiment, the model component and the model component can be connected in a butt joint manner, for example, two conveyor belts are connected automatically to simulate a simulation transmission action, and both ends have adsorption capacity.
The present invention will be described in detail below with reference to the above-described embodiments.
Step S102, receiving a model component selected from a model library, wherein the model component comprises at least one installation point.
The model library is constructed in advance, can satisfy the work of off-line simulation, and the type is diversified, can include but not limited to in the model library: robots, rails, components, autonomous navigation vehicles, and the like, for example, for a robot, may include: four-axis robot, six axis robot etc. the guide rail can be the transmission part of collocation robot work, and spare part includes but not limited to: welding gun, grinding wheel, spraying gun, object lifting claw, stacking hook and the like.
Optionally, the step of receiving a model component selected from the model library includes: when a preset butt joint point on the robot is a butt joint point at the tail end of a flange of a mechanical arm, receiving a flange clamping tool selected from a model library, and taking the flange clamping tool as a model component; when the preset butt joint point on the preset robot is the center point of the robot base, the guide rail assembly or the conveying assembly capable of installing the preset robot is received, and the guide rail assembly or the conveying assembly is used as a model assembly.
In this embodiment, it may be configured to implement the following display on the main interface of the robot offline simulation environment: the main working interface (which is located in the center of the displayable interface, has a wide interface range, and is convenient for the operation, viewing and adjustment of workers), the model library (including but not limited to a part library, a robot library, a guide rail library, a small garage, etc.), the setting area (for setting the component parameters of each model component), the return area, the storage area, etc.
In an optional implementation manner of this embodiment, each model component may be preset with a mounting point/mounting accessory, so as to facilitate automatic fastening and matching with a flange tool/robot base. The mounting point may be located at a central location of the assembly, a center of gravity location, e.g., a center point of a gear, a center vertex of a spray gun.
And step S104, determining coordinates of a preset butt joint point on the preset robot.
In this embodiment, predetermine the last preset butt joint of robot and include: the butt joint point of the tail end of the mechanical arm flange and the central point of the robot base.
Optionally, no matter be the terminal butt joint of the arm flange that sets up, still robot base central point, all be for the convenience of adsorbing the convenient needs of butt joint, can be quick, convenient butt joint when guaranteeing the butt joint, it can be the object of extension, crooked object, as long as can guarantee with the mounting point butt joint on the model subassembly can.
In step S106, a distance value between the docking point and the mounting point is calculated based on the coordinates of the docking point and the coordinates of the mounting point.
In this embodiment, in order to ensure that the will of the user can be better reflected, only the model component and the robot within the preset distance threshold range are subjected to adsorption docking, and if the distance between the model component and the robot is far away, it may be characterized that the worker does not want to perform adsorption docking. In the actual working process, the staff can respectively pull the virtual preset robot and the virtual model assembly to the main working interface, the number of the pulled model assemblies and the number of the pulled robots are not unique, the staff can directly drag the robot to a corresponding position when pulling, and then the distance detection and the automatic construction are realized through the construction method of the model assembly provided by the embodiment.
During detection, except for ensuring that the robot and the model assembly cannot overlap (in order to reflect the authenticity of simulation, in a real environment, the robot and the model assembly cannot overlap), the installation points and the butt joint points of the robot and the model assembly are required to be in a certain range, and therefore the system and the software can detect the butt joint requirement or the building requirement of a user.
And S108, if the distance value is smaller than or equal to the preset distance threshold value, controlling the model assembly to move to the butt joint point on the preset robot, and controlling the mounting point to be adsorbed to the butt joint point on the preset robot to obtain the built model product.
In the embodiment, when the control model assembly and the robot are in automatic butt joint, the control model assembly and the robot can be arranged into objects similar to the magnet, and the control model assembly and the robot can be mutually adsorbed and butted; or, the model component can be only arranged to be automatically close to the robot, automatically move to the installation point, and then the model component and the robot are in butt joint.
Optionally, the main body for realizing the butt joint in the embodiment may be a flange clamping tool and the tail end of a mechanical arm, or a robot base and a working platform; in this embodiment, the docking of the mechanical axes of the robot with other model components does not occur.
In this embodiment, in order to ensure the rationality of construction, after the worker selects the model component and the preset robot, the worker may also actively adjust \ modify the tool size and the tool appearance, or change the name and the type of the component. The docking between the robot and the component is made rational.
Optionally, after receiving the model component selected from the model library, the building method further includes: receiving a first component modification instruction, wherein the first component modification instruction is used for customizing and modifying tool size and/or tool appearance parameters of the flange clamping tool; modifying the size or appearance of the flange clamping tool selected from the model library based on the first component modification instruction; and displaying the modified flange clamping tool.
In this embodiment, size modification and appearance modification of model components such as a flange clamping tool, a part, and a guide rail may be implemented, where the size modification may refer to modification of a length, a height, and a width, and the appearance modification may refer to modification of an appearance color and an appearance type (for example, a plane, a curved surface, or a roller).
Alternatively, after receiving the model component selected from the model library, the building method further includes: receiving a second component modification instruction, wherein the second component modification instruction is used for modifying the docking position of the autonomous navigation vehicle selected from the model library and the preset robot; based on the second component modification instruction, adjusting the current position of the central point of the robot base of the preset robot so as to match the position of the preset robot with the position of the autonomous navigation vehicle; and displaying the adjusted docking state of the autonomous navigation vehicle and the preset robot.
In an optional implementation manner of this embodiment, after receiving the model component selected from the model library, the building method further includes: receiving a third component modification instruction, wherein the third component modification instruction is used for modifying the name and/or type of the model component selected from the model library; and adjusting the name and/or type of the model component selected from the model library based on the third component modification instruction.
The present embodiment is described below in conjunction with another alternative embodiment.
According to another aspect of the embodiment of the present invention, there is also provided a method for building a model assembly, applied to a robot model building environment, including:
receiving a plurality of model components selected from a model library, wherein each model component comprises at least one mounting point;
calculating a distance value between mounting points on each two model components;
and if the distance value is smaller than or equal to the preset distance threshold value, controlling the two model assemblies to perform mutual adsorption action, and obtaining the built model product.
Through the steps, a plurality of model assemblies selected from a model library can be received, wherein each model assembly comprises at least one mounting point, the distance value between the mounting points on each two model assemblies is calculated, if the distance value is smaller than or equal to a preset distance threshold value, the two model assemblies are controlled to execute mutual adsorption action, and a built model product is obtained. In this embodiment, can be after receiving a plurality of model subassemblies of selecting, the automatic butt joint work of accomplishing between the model subassembly need not artifical manual adjustment and butt joint, not only can guarantee the stability that the model was built, reduces staff's butt joint time moreover, improves work efficiency to solve among the correlation technique through the model subassembly in the artifical manual butt joint off-line simulation environment, stability is relatively poor, and consumes staff's a large amount of time and the technical problem of energy.
The invention is described below in connection with an alternative embodiment.
Example two
The embodiment provides a building device of a model assembly, which comprises a plurality of implementation units, wherein each implementation unit corresponds to each implementation step in the first embodiment.
The embodiment of the invention provides a building device of a model assembly, which is applied to a robot model building environment.
Fig. 2 is a schematic diagram of an alternative model assembly building device according to an embodiment of the present invention, which is applied to a robot model building environment, and as shown in fig. 2, the building device may include: a receiving unit 21, a determining unit 23, a calculating unit 25, a control unit 27, wherein,
a receiving unit 21, configured to receive a model component selected from a model library, where the model component includes at least one installation point;
the determining unit 23 is configured to determine coordinates of a preset docking point on the preset robot;
a calculation unit 25 for calculating a distance value between the docking point and the mounting point based on the coordinates of the docking point and the coordinates of the mounting point;
and the control unit 27 is used for controlling the model component to move to the butt joint point on the preset robot when the distance value is smaller than or equal to the preset distance threshold value, and controlling the mounting point to be adsorbed to the butt joint point on the preset robot to obtain the built model product.
The device for building the model assembly can receive the model assembly selected from the model library through the receiving unit 21, wherein the model assembly comprises at least one mounting point, the coordinates of the preset docking point on the preset robot are determined through the determining unit 23, the distance value between the docking point and the mounting point is calculated through the calculating unit 25 based on the coordinates of the docking point and the coordinates of the mounting point, the model assembly is controlled to move towards the docking point on the preset robot when the distance value is smaller than or equal to the preset distance threshold value through the control unit 27, the mounting point is controlled to be adsorbed to the docking point on the preset robot, and a built model product is obtained. In this embodiment, can be after receiving the model subassembly of selecting, the automatic butt joint work of accomplishing model subassembly and robot need not artifical manual adjustment and butt joint, not only can guarantee the stability that the model was built, reduces staff's butt joint time moreover, improves work efficiency to solve among the correlation technique through the model subassembly in the artifical manual butt joint off-line simulation environment, stability is relatively poor, and consumes staff's a large amount of time and the technical problem of energy.
Optionally, the preset docking points on the robot include: the butt joint point of the tail end of the mechanical arm flange and the central point of the robot base.
Optionally, the receiving unit includes: the first receiving module is used for receiving a flange clamping tool selected from a model library when a preset butt joint point on the robot is a butt joint point at the tail end of a flange of a mechanical arm, and taking the flange clamping tool as a model component; and the second receiving module is used for receiving a guide rail assembly or a conveying assembly which can be used for installing the preset robot when the preset butt joint on the preset robot is the center point of the robot base, and taking the guide rail assembly or the conveying assembly as a model assembly.
Optionally, the building apparatus for model assembly further includes: the third receiving module is used for receiving a first component modification instruction after receiving the model component selected from the model library, wherein the first component modification instruction is used for customizing and modifying the tool size and/or the tool appearance parameter of the flange clamping tool; the first modification module is used for modifying the size or appearance of the flange clamping tool selected from the model library based on the first component modification instruction; and the first display module is used for displaying the modified flange clamping tool.
Optionally, the building apparatus for model assembly further includes: the fourth receiving module is used for receiving a second component modification instruction after receiving the model component selected from the model library, wherein the second component modification instruction is used for modifying the docking position of the autonomous navigation vehicle selected from the model library and the preset robot; the first adjusting module is used for adjusting the current position of the central point of the robot base of the preset robot based on the second component modification instruction so as to enable the preset robot to be matched with the position of the autonomous navigation vehicle; and the second display instruction is used for displaying the adjusted butt joint state of the autonomous navigation vehicle and the preset robot.
Optionally, the building apparatus for model assembly further includes: the fifth receiving module is used for receiving a third component modification instruction after receiving the model component selected from the model library, wherein the third component modification instruction is used for modifying the name and/or the type of the model component selected from the model library; and the second adjusting module is used for adjusting the name and/or type of the model component selected from the model library based on the third component modifying instruction.
The above-mentioned model assembly building device may further include a processor and a memory, the above-mentioned receiving unit 21, the determining unit 23, the calculating unit 25, the control unit 27, and the like are all stored in the memory as program units, and the processor executes the above-mentioned program units stored in the memory to implement corresponding functions.
The processor comprises a kernel, and the kernel calls a corresponding program unit from the memory. The kernel can be set to be one or more than one, the model assembly is controlled to move to the butt joint point on the preset robot by adjusting the kernel parameters, the mounting point is controlled to be adsorbed to the butt joint point on the preset robot, and the built model product is obtained.
The memory may include volatile memory in a computer readable medium, Random Access Memory (RAM) and/or nonvolatile memory such as Read Only Memory (ROM) or flash memory (flash RAM), and the memory includes at least one memory chip.
According to another aspect of the embodiments of the present invention, there is also provided an electronic device, including: a processor; and a memory for storing executable instructions for the processor; wherein the processor is configured to perform the method of building a model assembly of any one of the above via execution of the executable instructions.
According to another aspect of the embodiment of the present invention, a computer-readable storage medium is further provided, where the computer-readable storage medium includes a stored computer program, and when the computer program runs, the apparatus where the computer-readable storage medium is located is controlled to execute any one of the above methods for building a model assembly.
The present application further provides a computer program product adapted to perform a program for initializing the following method steps when executed on a data processing device: receiving a model component selected from a model library, wherein the model component comprises at least one mounting point; determining coordinates of a preset butt joint point on a preset robot; calculating a distance value between the docking point and the mounting point based on the coordinates of the docking point and the coordinates of the mounting point; and if the distance value is smaller than or equal to the preset distance threshold value, controlling the model assembly to move to the butt joint point on the preset robot, and controlling the mounting point to be adsorbed to the butt joint point on the preset robot to obtain the built model product.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
In the above embodiments of the present invention, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.
In the embodiments provided in the present application, it should be understood that the disclosed technology can be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units may be a logical division, and in actual implementation, there may be another division, for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, units or modules, and may be in an electrical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic or optical disk, and other various media capable of storing program codes.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.
Claims (10)
1. A building method of a model assembly is applied to a robot model building environment and comprises the following steps:
receiving a model component selected from a model library, wherein the model component comprises at least one mounting point;
determining coordinates of a preset butt joint point on a preset robot;
calculating a distance value between the docking point and the mounting point based on the coordinates of the docking point and the coordinates of the mounting point;
and if the distance value is smaller than or equal to a preset distance threshold value, controlling the model assembly to move to the butt joint point on the preset robot, and controlling the mounting point to be adsorbed to the butt joint point on the preset robot to obtain the built model product.
2. The building method according to claim 1, wherein the presetting of the docking points preset on the robot comprises: the butt joint point of the tail end of the mechanical arm flange and the central point of the robot base.
3. A construction method according to claim 2, wherein the step of receiving a model component selected from a model library comprises:
when the preset butt joint point on the preset robot is the butt joint point at the tail end of the mechanical arm flange, receiving a flange clamping tool selected from the model library, and taking the flange clamping tool as the model assembly;
when the preset butt joint point on the robot is the robot base center point, the guide rail assembly or the conveying assembly capable of installing the preset robot is received and used as the model assembly.
4. A construction method according to claim 2, wherein after receiving a model component selected from a model library, the construction method further comprises:
receiving a first component modification instruction, wherein the first component modification instruction is used for customizing and modifying tool size and/or tool appearance parameters of a flange clamping tool;
modifying the size or appearance of the flange clamping tool selected from the model library based on the first component modification instruction;
and displaying the modified flange clamping tool.
5. A construction method according to claim 2, wherein after receiving a model component selected from a model library, the construction method further comprises:
receiving a second component modification instruction, wherein the second component modification instruction is used for modifying the docking position of the autonomous navigation vehicle selected from the model library and the preset robot;
adjusting the current position of the center point of the robot base of the preset robot based on the second component modification instruction so as to match the preset robot with the position of the autonomous navigation vehicle;
and displaying the butt joint state of the adjusted autonomous navigation vehicle and the preset robot.
6. A construction method according to claim 2, wherein after receiving a model component selected from a model library, the construction method further comprises:
receiving a third component modification instruction, wherein the third component modification instruction is used for modifying the name and/or type of the model component selected from the model library;
and adjusting the name and/or type of the model component selected from the model library based on the third component modification instruction.
7. A building method of a model assembly is applied to a robot model building environment and comprises the following steps:
receiving a plurality of model components selected from a model library, wherein each model component comprises at least one mounting point;
calculating a distance value between the mounting points on each two model components;
and if the distance value is smaller than or equal to a preset distance threshold value, controlling the two model assemblies to perform mutual adsorption action, and obtaining the built model product.
8. A model assembly building device is applied to a robot model building environment and comprises:
the receiving unit is used for receiving a model assembly selected from a model library, wherein the model assembly comprises at least one mounting point;
the determining unit is used for determining coordinates of a preset butt joint point on a preset robot;
a calculation unit configured to calculate a distance value between the docking point and the mounting point based on the coordinates of the docking point and the coordinates of the mounting point;
and the control unit is used for controlling the model assembly to move towards the butt joint on the preset robot when the distance value is smaller than or equal to a preset distance threshold value, and controlling the mounting point to be adsorbed to the butt joint on the preset robot to obtain the built model product.
9. An electronic device, comprising:
a processor; and
a memory for storing executable instructions of the processor;
wherein the processor is configured to perform the method of building a model assembly of any one of claims 1 to 7 via execution of the executable instructions.
10. A computer-readable storage medium, comprising a stored computer program, wherein when the computer program runs, the computer-readable storage medium controls a device to execute the model component building method according to any one of claims 1 to 7.
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