CN114290329A - Calibration control method and system for robot, storage medium and robot assembly - Google Patents

Calibration control method and system for robot, storage medium and robot assembly Download PDF

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CN114290329A
CN114290329A CN202111514950.2A CN202111514950A CN114290329A CN 114290329 A CN114290329 A CN 114290329A CN 202111514950 A CN202111514950 A CN 202111514950A CN 114290329 A CN114290329 A CN 114290329A
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robot
signal
calibration
photoelectric sensor
robots
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CN114290329B (en
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徐舟
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KUKA Robot Manufacturing Shanghai Co Ltd
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KUKA Robot Manufacturing Shanghai Co Ltd
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Abstract

The invention provides a calibration control method and system for a robot, a storage medium and a robot assembly. The robot comprises a calibration device, the calibration device comprises a photoelectric sensor and a signal management device, the signal management device is connected with N robots, N is a positive integer, and the method comprises the following steps: responding to a first calibration request of a first robot, and acquiring the working state of the photoelectric sensor, wherein the N robots comprise the first robot; and generating a corresponding signal according to the working state, and sending the signal to the corresponding robot so that the robot can be calibrated according to the signal. This application passes through signal management device, based on photoelectric sensor current operating condition, handles a plurality of robots to photoelectric sensor's operation request to make a photoelectric sensor can serve many robots, make many robots can multiplex one set of photoelectric sensor and calibrate self instrument coordinate value, base coordinate system, instrument coordinate system etc. has improved calibration efficiency.

Description

Calibration control method and system for robot, storage medium and robot assembly
Technical Field
The invention relates to the technical field of robot control, in particular to a calibration control method and system of a robot, a storage medium and a robot assembly.
Background
In the related art, the robot needs to be calibrated during the industrial production process to ensure the machining precision. At present, the robot is calibrated manually, the consumed time is long, an automatic calibration device of the robot cannot adapt to a plurality of robots, and the calibration efficiency is low.
Disclosure of Invention
The present invention is directed to solving at least one of the problems of the prior art or the related art.
To this end, a first aspect of the present invention proposes a calibration control method for a robot.
A second aspect of the present invention provides a calibration control system for a robot.
A third aspect of the invention is directed to a readable storage medium.
A fourth aspect of the invention provides a robot assembly.
In view of the above, a first aspect of the present invention provides a calibration control method for a robot, where a calibration device includes a photoelectric sensor and a signal management device, the signal management device is connected to N robots, N is a positive integer, and the method includes: responding to a first calibration request of a first robot, and acquiring the working state of the photoelectric sensor, wherein the N robots comprise the first robot; and generating a corresponding signal according to the working state, and sending the signal to the corresponding robot so that the robot can be calibrated according to the signal.
In the technical scheme, the calibration device of the robot is provided with a photoelectric sensor and a signal management device, wherein the signal management device is used for being connected with the photoelectric sensor and N robots so as to interact data instructions with the N robots.
When the signal management device receives a first calibration request sent by the first robot, the signal management device sends an inquiry instruction to the photoelectric sensor according to the first calibration request, so that the current working state of the photoelectric sensor is determined.
The photoelectric sensor comprises two working states, wherein one working state is that the photoelectric sensor cannot process the calibration request of the first robot when being occupied by other robots, namely, the photoelectric sensor is in a busy state, and the other working state is that the photoelectric sensor is not occupied by other robots, and can process the calibration request of the first robot, namely, the photoelectric sensor is in an idle state.
The signal management device judges whether a first calibration request sent by the first robot can be processed by the photoelectric sensor or not according to the obtained working state, if the current working state of the photoelectric sensor shows that the first request can be processed, a corresponding permission signal is generated and sent to the first robot, the first robot can be connected with the photoelectric sensor after receiving the permission signal, and the tool coordinate value, the basic coordinate system, the tool coordinate system and the like of the first robot can be calibrated by calling the photoelectric sensor.
And if the current working state of the photoelectric sensor shows that the first calibration request cannot be processed, generating a corresponding rejection signal, sending the rejection signal to the first robot, delaying the calibration request after the first robot receives the rejection signal, and initiating a request to the signal management device again when the photoelectric sensor can process the first calibration request.
According to the method and the device, the signal management device is arranged, the use requests of the multiple robots to the photoelectric sensors are processed based on the current working state of the photoelectric sensors, so that one photoelectric sensor can serve multiple robots, the multiple robots can multiplex one set of photoelectric sensors to calibrate the tool coordinate value, the base coordinate system, the tool coordinate system and the like of the robots, and the calibration efficiency is improved.
In addition, the calibration control method in the above technical solution provided by the present invention may further have the following additional technical features:
in the above technical solution, generating a corresponding signal according to the working state, and sending the signal to a corresponding robot, includes: when the working state is an idle state, generating a first signal, wherein the first signal is used for indicating that the working state is switched to a busy state; and sending the first signal to a second robot, wherein the second robot is the other robot except the first robot in the N robots.
In the technical scheme, the working states of the photoelectric sensor specifically comprise a busy state and an idle state. The busy state represents that the photoelectric sensor cannot process the calibration request of the first robot when being occupied by other robots, and the idle state represents that the photoelectric sensor is not occupied by other robots and can process the calibration request of the first robot.
If the signal management device obtains that the current working state of the photoelectric sensor is an idle state, a first signal corresponding to the idle state is generated, specifically, the signal management device sends the first signal to N robots connected with the signal management device, except the first robot corresponding to the first calibration request, the N-1 second robots inform the N-1 second robots that the photoelectric sensor is about to be occupied by the first robot, the real-time working state of the photoelectric sensor is about to be switched to a busy state, and therefore the N-1 second robots are informed of not sending an occupation request again, and processing performance is saved.
It will be appreciated that in some embodiments, the second robot will stop sending calibration requests for a period of time after receiving the first signal. In other embodiments, after the second robot receives the first signal, if calibration is needed, a queuing request may be sent, that is, after the first robot finishes occupying the photoelectric sensor, the photoelectric sensor is "queued" for calibration, so as to improve the response efficiency of the system.
In any of the above technical solutions, the calibration control method further includes: and when a response signal corresponding to the first signal is received, generating a second signal, and sending the second signal to the first robot, wherein the second signal is a signal for allowing the first robot to occupy the photoelectric sensor.
In the technical scheme, after the signal management device sends the first signal to the N-1 second robots, the signal management device continuously receives response signals returned by the N-1 second robots aiming at the first signal.
If the signal management device receives the corresponding N-1 response signals within the preset time period, the N-1 second robots connected with the signal management device are all online and work normally, at the moment, the signal management device sends second signals to the first robot, and after the second signals are received, the first robot is allowed to occupy the photoelectric sensor to calibrate the tool coordinate value, the basic coordinate system, the tool coordinate system and the like of the first robot, at the moment, the first robot can establish data instruction interactive connection with the photoelectric sensor through the signal management device, and therefore detection signals of the photoelectric sensor are acquired.
It can be understood that the first robot can also directly establish data instruction interactive connection with the photoelectric sensor, so that the performance resource of the signal management device is saved.
In any of the above technical solutions, the calibration control method further includes: and within the preset duration, if the response signal corresponding to the first signal is not received, generating a third signal, and sending the third signal to the first robot, wherein the third signal is a signal for refusing the first robot to occupy the photoelectric sensor.
In the technical scheme, after the signal management device sends the first signal to the N-1 second robots, the signal management device continuously receives response signals returned by the N-1 second robots aiming at the first signal.
If the signal management device does not receive the corresponding N-1 response signals within the preset time period, the fact that at least one second robot is off-line or at least one second robot system is abnormal in the N-1 second robots connected with the signal management device is indicated, at the moment, the signal management device judges that the system is in a problem, at the moment, the signal management device sends a third signal to the first robot, and the third signal rejects the calibration request of the first robot, so that the system fault is prevented from being expanded, and the stable operation of a robot processing system is ensured.
It can be understood that, when the first robot receives the third signal, the first robot knows that the current system has a fault, and the first robot is not calibrated, and at this time, the first robot can suspend the current processing work and enter a standby state, so that the processing safety is ensured.
In any of the above technical solutions, after generating the third signal, the calibration control method further includes: and generating corresponding alarm information.
In the technical scheme, in the preset time period, under the condition that the signal management device does not receive corresponding N-1 response signals, the signal management device judges that at least one robot is off-line or at least one robot system is abnormal in N currently connected robots which are supposed to be on-line and cannot respond to a first signal of the signal management device, at this time, the robot component (or the robot processing system) is abnormal, the signal management device outputs alarm information to a manager terminal or directly through output equipment such as a loudspeaker and a display screen arranged by the signal management device, and the manager or a debugger of the robot component is prompted, and the current robot component is abnormal and needs to clear faults.
After debugging personnel solve the fault, the signal management equipment, the photoelectric sensor and the N connected robots can be restarted in a mode of resetting the robot system, so that the fault is prevented from being enlarged, and the production safety is ensured.
In any of the above solutions, after sending the second signal to the first robot, the method further includes: generating a request queue according to the time sequence of the received M second calibration requests, wherein M is a positive integer; when the working state is switched from a busy state to an idle state, determining a third robot corresponding to a target request positioned at the head in the request queue; a second signal is sent to a third robot.
In the technical scheme, after the current working state of the photoelectric sensor is an idle state and the signal management device receives return signals of N-1 second robots for the first signals, the signal management device sends the second signals to the first robot, and the first robot is allowed to occupy the photoelectric sensor to calibrate the tool coordinate value, the base coordinate system, the tool coordinate system and the like of the first robot and establish signal instruction interactive connection with the photoelectric sensor.
At this time, the current working state of the photoelectric sensor is switched to a busy state, and the N-1 second robots are all informed that the photoelectric sensor is in the busy state. At this time, if the signal management apparatus receives the second calibration request again, a corresponding request queue is generated according to the sequence of the M received second calibration requests, that is, the time sequence of each second calibration request, where the M second calibration requests are sorted in the request queue.
It can be appreciated that, in some embodiments, the signal management apparatus may determine the order of the M second calibration requests according to the time information of the received second calibration requests. In other embodiments, the signal management apparatus may order the M second calibration requests according to a timestamp of the received second calibration request.
When the first robot finishes calibration and does not occupy the photoelectric sensor any more, the current working state of the photoelectric sensor is switched to an idle state from a busy state, at the moment, after the signal management device confirms that the photoelectric sensor returns to the idle state, according to the sequence of M second calibration requests in a request queue, the signal management device sends a second signal to a robot corresponding to a target request positioned at the head in the queue, namely a third robot which sends the second calibration request at first after the first calibration request, informs that the third robot is allowed to occupy the photoelectric sensor to calibrate the tool coordinate value, the base coordinate system, the tool coordinate system and the like of the third robot, and establishes signal instruction interactive connection with the photoelectric sensor.
It can be understood that, after the second signal is sent to the third robot, the photoelectric sensor enters the busy state again, and when the third robot completes calibration and the photoelectric sensor enters the idle state again, the signal management device continues to send the second signal to the robots corresponding to the remaining M-1 second calibration requests in the request queue in sequence until all the robots in the request queue complete calibration.
According to the embodiment of the invention, when the photoelectric sensor is in a busy state, the robots sending the calibration requests are sequenced according to a plurality of subsequently received calibration requests, and the calibration requests of the robots are responded one by one according to the queue sequence, so that the high-efficiency management of the calibration device is realized, and the calibration efficiency is improved.
In any of the above solutions, after sending the second signal to the third robot, the method further includes: the target request is removed in the request queue.
In the technical scheme, after the first robot is calibrated, the photoelectric sensor is not occupied any more, and the current working state of the photoelectric sensor is switched back to the idle state from the busy state, the signal management device sends a second signal to the robot corresponding to the head target request in the current request queue, and after the robot sending the target request receives the second signal, the robot is allowed to occupy the photoelectric sensor to calibrate the tool coordinate value, the base coordinate system, the tool coordinate system and the like of the robot, and establish signal instruction interactive connection with the photoelectric sensor.
At this time, since the calibration request of the robot that has sent the target request is responded, the robot is about to complete the calibration, so the target request sent by the robot is removed from the target queue, after the target request is removed, M-1 second calibration requests remain in the request queue, and the signal management device continues to send the second signals to the robots corresponding to the remaining M-1 second calibration requests in the request queue in sequence until all the robots in the request queue complete the calibration.
The embodiment of the invention responds to the calibration requests of a plurality of robots one by one through the request queue, thereby realizing the high-efficiency management of the calibration device.
In any one of the above technical solutions, generating a corresponding signal according to the working state, and sending the signal to a corresponding robot, further includes: sending a third signal to the first robot based on the working state being a busy state; and updating the request queue according to the first calibration request.
In the technical scheme, when the signal management device receives a first calibration request sent by a first robot, the signal management device sends an inquiry command to the photoelectric sensor according to the first calibration request, so that the current working state of the photoelectric sensor is determined.
If the signal management device obtains that the current working state of the photoelectric sensor is a busy state, namely other robots are occupied by the photoelectric sensor at present, and the photoelectric sensor cannot respond to the first calibration request sent by the first robot, the signal management device sends a third signal to the first robot, rejects the calibration request of the first robot through the third signal, informs the first robot that the current photoelectric sensor is in the busy state.
Meanwhile, the signal management device judges whether a request queue exists currently. If no request queue exists currently, namely no other robot waiting for calibration exists, a new request queue is generated according to the first calibration request, the first calibration request and the first robot are located at the head of the queue in the new request queue, and when the photoelectric sensor returns to an idle state from a busy state, the signal management device immediately sends a second signal to the first robot, so that the first robot is allowed to occupy the photoelectric sensor to calibrate the tool coordinate value, the base coordinate system, the tool coordinate system and the like of the first robot.
If there is a request queue, that is, one or more other robots are waiting for calibration in addition to the first robot, at this time, the request queue is updated according to a first calibration request sent by the first robot, and for a distance, if there are X robots waiting for calibration in line in the current request queue, the first robot is placed at the tail of the request queue to form an updated request queue, there are X +1 robots waiting for calibration in line in the updated request queue, and the X +1 robots include the first robot.
According to the method and the device, the signal management device is arranged, the use requests of the multiple robots to the photoelectric sensors are processed based on the current working state of the photoelectric sensors, so that one photoelectric sensor can serve multiple robots, the multiple robots can multiplex one set of photoelectric sensors to calibrate the tool coordinate value, the base coordinate system, the tool coordinate system and the like of the robots, and the calibration efficiency is improved.
The invention provides a robot calibration control system in a second aspect, which comprises a calibration device, an acquisition module, a sending module and a control module; a calibration device, comprising: the photoelectric sensor is used for calibrating the tool coordinates of the robot; the signal management device is connected with the photoelectric sensor and the processor and is used for connecting N robots and receiving the calibration request sent by the robots, wherein N is a positive integer; the acquisition module is used for responding to a first calibration request of a first robot and acquiring the working state of the photoelectric sensor, wherein the N robots comprise the first robot; the sending module is used for generating a corresponding signal according to the working state and sending the signal to a corresponding robot so that the robot can be calibrated according to the signal; the control module comprises a memory and a processor, wherein the memory is used for storing programs or instructions; a processor for implementing the steps of the control method provided in any of the above technical solutions when executing a program or instructions.
In the technical scheme, the calibration device of the robot is provided with a photoelectric sensor and a signal management device, wherein the signal management device is used for being connected with the photoelectric sensor and N robots so as to interact data instructions with the N robots.
When the signal management device receives a first calibration request sent by the first robot, the signal management device sends an inquiry instruction to the photoelectric sensor according to the first calibration request, so that the current working state of the photoelectric sensor is determined.
The photoelectric sensor comprises two working states, wherein one working state is that the photoelectric sensor cannot process the calibration request of the first robot when being occupied by other robots, namely, the photoelectric sensor is in a busy state, and the other working state is that the photoelectric sensor is not occupied by other robots, and can process the calibration request of the first robot, namely, the photoelectric sensor is in an idle state.
The signal management device judges whether a first calibration request sent by the first robot can be processed by the photoelectric sensor or not according to the obtained working state, if the current working state of the photoelectric sensor shows that the first request can be processed, a corresponding permission signal is generated and sent to the first robot, the first robot can be connected with the photoelectric sensor after receiving the permission signal, and the tool coordinate value, the basic coordinate system, the tool coordinate system and the like of the first robot can be calibrated by calling the photoelectric sensor.
And if the current working state of the photoelectric sensor shows that the first calibration request cannot be processed, generating a corresponding rejection signal, sending the rejection signal to the first robot, delaying the calibration request after the first robot receives the rejection signal, and initiating a request to the signal management device again when the photoelectric sensor can process the first calibration request.
According to the method and the device, the signal management device is arranged, the use requests of the multiple robots to the photoelectric sensors are processed based on the current working state of the photoelectric sensors, so that one photoelectric sensor can serve multiple robots, the multiple robots can multiplex one set of photoelectric sensors to calibrate the tool coordinate value, the base coordinate system, the tool coordinate system and the like of the robots, and the calibration efficiency is improved.
A third aspect of the present invention provides a readable storage medium, on which a program or an instruction is stored, where the program or the instruction, when executed by a processor, implements the steps of the calibration control method provided in any of the above technical solutions, and therefore, the readable storage medium simultaneously includes all the beneficial effects of the calibration control method provided in any of the above technical solutions, and is not described herein again to avoid repetition.
A fourth aspect of the present invention provides a robot assembly comprising: the calibration control system of the robot provided in any one of the above technical solutions; and/or a readable storage medium as provided in any of the above claims, whereby the robot assembly comprises at least a calibration control system of the robot as provided in any of the above claims; and/or all the advantages of the readable storage medium provided in any of the above technical solutions, which are not described herein again to avoid repetition.
In the above technical solution, the robot assembly further includes N robot bodies, the robot bodies are connected to the calibration device, and N is a positive integer.
In this technical scheme, the robot body drives the instrument motion to process the instrument, photoelectric sensor is used for carrying out the calibration to the instrument coordinate value of robot. The coordinate system of the robot generally includes a tool coordinate system (tool) and a base coordinate system (base), wherein the base coordinate system of the robot needs to be calibrated before the robot starts working, so as to improve the machining precision of the robot.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1 shows one of the flowcharts of a calibration control method of a robot according to an embodiment of the present invention;
FIG. 2 shows a schematic structural diagram of a robot assembly according to an embodiment of the invention;
FIG. 3 shows a schematic structural diagram of a calibration apparatus according to an embodiment of the invention;
FIG. 4 shows waveforms of different signals according to an embodiment of the invention;
fig. 5 shows a second flowchart of a calibration control method of a robot according to an embodiment of the invention;
fig. 6 is a block diagram showing a configuration of a calibration control system of a robot according to an embodiment of the present invention.
Reference numerals:
200 robot components, 202 robot body, 204 tool, 206 workpiece, 300 calibration device, 302 signal management device, 304 photoelectric sensor, 306 robot control cabinet.
Detailed Description
In order that the above objects, features and advantages of the present invention can be more clearly understood, a more particular description of the invention will be rendered by reference to the appended drawings. It should be noted that the embodiments and features of the embodiments of the present application may be combined with each other without conflict.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced in other ways than those specifically described herein, and therefore the scope of the present invention is not limited by the specific embodiments disclosed below.
A calibration control method and system of a robot, a storage medium, and a robot assembly according to some embodiments of the present invention are described below with reference to fig. 1 to 6.
Example one
In some embodiments of the present invention, a calibration control method for a robot is provided, where the calibration device includes a photoelectric sensor and a signal management device, the signal management device is connected to N robots, N is a positive integer, fig. 1 shows one of flowcharts of a calibration control method for a robot according to an embodiment of the present invention, and as shown in fig. 1, the method includes:
102, responding to a first calibration request of a first robot, and acquiring the working state of a photoelectric sensor;
in step 102, the N robots comprise a first robot;
and 104, generating a corresponding signal according to the working state, and sending the signal to a corresponding robot so that the robot can be calibrated according to the signal.
In an embodiment of the present invention, fig. 2 shows a schematic structural diagram of a robot assembly according to an embodiment of the present invention, and as shown in fig. 2, the robot assembly 200 includes: a robot body 202, a tool 204, and a workpiece 206. Wherein the robot body 202 moves the tool 204 to process the workpiece 206.
Fig. 3 is a schematic structural diagram of a calibration apparatus according to an embodiment of the present invention, and as shown in fig. 3, the calibration apparatus 300 includes a signal management apparatus 302, and a photoelectric sensor 304 is used for calibrating tool coordinate values of a robot. The signal management device 302 is connected with a robot control cabinet 306, and the robot control cabinet 306 is used for controlling the robot body to work.
Specifically, when the signal management device receives a first calibration request sent from the first robot, the signal management device sends an inquiry instruction to the photoelectric sensor according to the first calibration request, so as to determine the current working state of the photoelectric sensor.
The photoelectric sensor comprises two working states, wherein one working state is that the photoelectric sensor cannot process the calibration request of the first robot when being occupied by other robots, namely, the photoelectric sensor is in a busy state, and the other working state is that the photoelectric sensor is not occupied by other robots, and can process the calibration request of the first robot, namely, the photoelectric sensor is in an idle state.
The signal management device judges whether a first calibration request sent by the first robot can be processed by the photoelectric sensor or not according to the obtained working state, if the current working state of the photoelectric sensor shows that the first request can be processed, a corresponding permission signal is generated and sent to the first robot, the first robot can be connected with the photoelectric sensor after receiving the permission signal, and the tool coordinate value, the basic coordinate system, the tool coordinate system and the like of the first robot can be calibrated by calling the photoelectric sensor.
And if the current working state of the photoelectric sensor shows that the first calibration request cannot be processed, generating a corresponding rejection signal, sending the rejection signal to the first robot, delaying the calibration request after the first robot receives the rejection signal, and initiating a request to the signal management device again when the photoelectric sensor can process the first calibration request.
According to the method and the device, the signal management device is arranged, the use requests of the multiple robots to the photoelectric sensors are processed based on the current working state of the photoelectric sensors, so that one photoelectric sensor can serve multiple robots, the multiple robots can multiplex one set of photoelectric sensors to calibrate the tool coordinate value, the base coordinate system, the tool coordinate system and the like of the robots, and the calibration efficiency is improved.
In some embodiments of the present application, generating a corresponding signal according to the working state, and sending the signal to a corresponding robot includes: generating a first signal based on the working state being an idle state, wherein the first signal is used for indicating that the working state is switched to a busy state; and sending the first signal to a second robot, wherein the second robot is the other robot except the first robot in the N robots.
In the embodiment of the present invention, the working states of the photoelectric sensor specifically include a busy state and an idle state. The busy state represents that the photoelectric sensor cannot process the calibration request of the first robot when being occupied by other robots, and the idle state represents that the photoelectric sensor is not occupied by other robots and can process the calibration request of the first robot.
If the signal management device obtains that the current working state of the photoelectric sensor is an idle state, a first signal corresponding to the idle state is generated, specifically, the signal management device sends the first signal to N robots connected with the signal management device, except the first robot corresponding to the first calibration request, the N-1 second robots inform the N-1 second robots that the photoelectric sensor is about to be occupied by the first robot, the real-time working state of the photoelectric sensor is about to be switched to a busy state, and therefore the N-1 second robots are informed of not sending an occupation request again, and processing performance is saved.
It will be appreciated that in some embodiments, the second robot will stop sending calibration requests for a period of time after receiving the first signal. In other embodiments, after the second robot receives the first signal, if calibration is needed, a queuing request may be sent, that is, after the first robot finishes occupying the photoelectric sensor, the photoelectric sensor is "queued" for calibration, so as to improve the response efficiency of the system.
In some embodiments of the present application, the control method further comprises: and when a response signal corresponding to the first signal is received, generating a second signal, and sending the second signal to the first robot, wherein the second signal is a signal for allowing the first robot to occupy the photoelectric sensor.
In the embodiment of the invention, after the signal management device sends the first signal to the N-1 second robots, the signal management device continuously receives response signals returned by the N-1 second robots in response to the first signal.
If the signal management device receives the corresponding N-1 response signals within the preset time period, the N-1 second robots connected with the signal management device are all online and work normally, at the moment, the signal management device sends second signals to the first robot, and after the second signals are received, the first robot is allowed to occupy the photoelectric sensor to calibrate the tool coordinate value, the basic coordinate system, the tool coordinate system and the like of the first robot, at the moment, the first robot can establish data instruction interactive connection with the photoelectric sensor through the signal management device, and therefore detection signals of the photoelectric sensor are acquired.
It can be understood that the first robot can also directly establish data instruction interactive connection with the photoelectric sensor, so that the performance resource of the signal management device is saved.
In some embodiments of the present application, the calibration control method further comprises: and within the preset duration, if the response signal corresponding to the first signal is not received, generating a third signal, and sending the third signal to the first robot, wherein the third signal is a signal for refusing the first robot to occupy the photoelectric sensor.
In the embodiment of the invention, after the signal management device sends the first signal to the N-1 second robots, the signal management device continuously receives response signals returned by the N-1 second robots in response to the first signal.
If the signal management device does not receive the corresponding N-1 response signals within the preset time period, the fact that at least one second robot is off-line or at least one second robot system is abnormal in the N-1 second robots connected with the signal management device is indicated, at the moment, the signal management device judges that the system is in a problem, at the moment, the signal management device sends a third signal to the first robot, and the third signal rejects the calibration request of the first robot, so that the system fault is prevented from being expanded, and the stable operation of a robot processing system is ensured.
It can be understood that, when the first robot receives the third signal, the first robot knows that the current system has a fault, and the first robot is not calibrated, and at this time, the first robot can suspend the current processing work and enter a standby state, so that the processing safety is ensured.
In some embodiments of the present application, after generating the third signal, the control method further comprises: and generating corresponding alarm information.
In the embodiment of the invention, in the preset time period, under the condition that the signal management device does not receive the corresponding N-1 response signals, the signal management device judges that at least one robot is off-line or at least one robot system is abnormal in the currently connected N robots which are supposed to be on-line and cannot respond to the first signal of the signal management device, at this time, the robot component (or the robot processing system) is abnormal, the signal management device outputs alarm information to an administrator terminal or directly through output devices such as a loudspeaker and a display screen arranged by the signal management device, and prompts an administrator or a debugger of the robot component, and the current robot component is abnormal and needs to clear faults.
After debugging personnel solve the fault, the signal management equipment, the photoelectric sensor and the N connected robots can be restarted in a mode of resetting the robot system, so that the fault is prevented from being enlarged, and the production safety is ensured.
In some embodiments of the application, after sending the second signal to the first robot, the method further comprises: generating a request queue according to the time sequence of the received M second calibration requests, wherein M is a positive integer; when the working state is switched from a busy state to an idle state, determining a third robot corresponding to a target request positioned at the head in the request queue; a second signal is sent to a third robot.
In the embodiment of the invention, after the current working state of the photoelectric sensor is an idle state and the signal management device receives the return signals of the N-1 second robots for the first signals, the signal management device sends the second signals to the first robot, and the first robot is allowed to occupy the photoelectric sensor to calibrate the tool coordinate value, the base coordinate system, the tool coordinate system and the like of the first robot and establish signal instruction interactive connection with the photoelectric sensor.
At this time, the current working state of the photoelectric sensor is switched to a busy state, and the N-1 second robots are all informed that the photoelectric sensor is in the busy state. At this time, if the signal management apparatus receives the second calibration request again, a corresponding request queue is generated according to the sequence of the M received second calibration requests, that is, the time sequence of each second calibration request, where the M second calibration requests are sorted in the request queue.
It can be appreciated that, in some embodiments, the signal management apparatus may determine the order of the M second calibration requests according to the time information of the received second calibration requests. In other embodiments, the signal management apparatus may order the M second calibration requests according to a timestamp of the received second calibration request.
When the first robot finishes calibration and does not occupy the photoelectric sensor any more, the current working state of the photoelectric sensor is switched to an idle state from a busy state, at the moment, after the signal management device confirms that the photoelectric sensor returns to the idle state, according to the sequence of M second calibration requests in a request queue, the signal management device sends a second signal to a robot corresponding to a target request positioned at the head in the queue, namely a third robot which sends the second calibration request at first after the first calibration request, informs that the third robot is allowed to occupy the photoelectric sensor to calibrate the tool coordinate value, the base coordinate system, the tool coordinate system and the like of the third robot, and establishes signal instruction interactive connection with the photoelectric sensor.
It can be understood that, after the second signal is sent to the third robot, the photoelectric sensor enters the busy state again, and when the third robot completes calibration and the photoelectric sensor enters the idle state again, the signal management device continues to send the second signal to the robots corresponding to the remaining M-1 second calibration requests in the request queue in sequence until all the robots in the request queue complete calibration.
According to the embodiment of the invention, when the photoelectric sensor is in a busy state, the robots sending the calibration requests are sequenced according to a plurality of subsequently received calibration requests, and the calibration requests of the robots are responded one by one according to the queue sequence, so that the high-efficiency management of the calibration device is realized, and the calibration efficiency is improved.
In some embodiments of the present application, after sending the second signal to the third robot, the method further comprises: the target request is removed in the request queue.
In the embodiment of the invention, after the first robot is calibrated, the photoelectric sensor is not occupied any more, and the current working state of the photoelectric sensor is switched back to the idle state from the busy state, the signal management device sends a second signal to the robot corresponding to the head target request in the current request queue, and after the robot sending the target request receives the second signal, the robot is allowed to occupy the photoelectric sensor to calibrate the tool coordinate value, the base coordinate system, the tool coordinate system and the like of the robot, and the signal instruction interactive connection between the robot and the photoelectric sensor is established.
At this time, since the calibration request of the robot that has sent the target request is responded, the robot is about to complete the calibration, so the target request sent by the robot is removed from the target queue, after the target request is removed, M-1 second calibration requests remain in the request queue, and the signal management device continues to send the second signals to the robots corresponding to the remaining M-1 second calibration requests in the request queue in sequence until all the robots in the request queue complete the calibration.
The embodiment of the invention responds to the calibration requests of a plurality of robots one by one through the request queue, thereby realizing the high-efficiency management of the calibration device.
In some embodiments of the present application, generating a corresponding signal according to the working state, and sending the signal to a corresponding robot, further includes: when the working state is a busy state, sending a third signal to the first robot; and updating the request queue according to the first calibration request.
In the embodiment of the invention, when the signal management device receives a first calibration request sent from the first robot, the signal management device sends an inquiry instruction to the photoelectric sensor according to the first calibration request, so that the current working state of the photoelectric sensor is determined.
If the signal management device obtains that the current working state of the photoelectric sensor is a busy state, namely other robots are occupied by the photoelectric sensor at present, and the photoelectric sensor cannot respond to the first calibration request sent by the first robot, the signal management device sends a third signal to the first robot, rejects the calibration request of the first robot through the third signal, informs the first robot that the current photoelectric sensor is in the busy state.
Meanwhile, the signal management device judges whether a request queue exists currently. If no request queue exists currently, namely no other robot waiting for calibration exists, a new request queue is generated according to the first calibration request, the first calibration request and the first robot are located at the head of the queue in the new request queue, and when the photoelectric sensor returns to an idle state from a busy state, the signal management device immediately sends a second signal to the first robot, so that the first robot is allowed to occupy the photoelectric sensor to calibrate the tool coordinate value, the base coordinate system, the tool coordinate system and the like of the first robot.
If there is a request queue, that is, one or more other robots are waiting for calibration in addition to the first robot, at this time, the request queue is updated according to a first calibration request sent by the first robot, and for a distance, if there are X robots waiting for calibration in line in the current request queue, the first robot is placed at the tail of the request queue to form an updated request queue, there are X +1 robots waiting for calibration in line in the updated request queue, and the X +1 robots include the first robot.
According to the method and the device, the signal management device is arranged, the use requests of the multiple robots to the photoelectric sensors are processed based on the current working state of the photoelectric sensors, so that one photoelectric sensor can serve multiple robots, the multiple robots can multiplex one set of photoelectric sensors to calibrate the tool coordinate value, the base coordinate system, the tool coordinate system and the like of the robots, and the calibration efficiency is improved.
Example two
In some embodiments of the present invention, the working scenario of the robot assembly is as shown in fig. 2, and a set of photoelectric sensors and signal management devices are shared by a plurality of robots. After all lines are connected, a debugger can mark which number of robots are connected through the dial switch.
When the signal management device is in an idle state, for example, when the robot number 1 requests to use the photoelectric sensor, the signal management device receives a high-level signal which is sent by the robot number 1 and occupies the photoelectric sensor, and at the moment, the signal management device informs other robots of being in a busy state.
When the SMM is busy, if other robots initiate requests, it will mark and arrange it in the task queue.
When the signal management device finishes a task, whether a queue task exists or not is detected, if not, all robots are informed to be in an idle state; if the queue exists, the robot number at the head of the queue is taken once, and the robot number is arranged to work until all queue tasks are completed.
The signal management device is controlled by a single chip or a Programmable Logic Controller (PLC), and functions of the signal management device are realized by a relay, a multi-channel input/output, a signal lamp, and the like.
Fig. 4 shows waveforms of different signals according to an embodiment of the invention.
The main control status lamp of the signal management device is green to indicate idle, yellow to indicate busy, and red to flash to indicate alarm. And a signal lamp of a certain robot indicates that the robot is in work in yellow, does not light to indicate that the robot is idle, and indicates that the robot is arranged in a queue to wait in green.
The signal management device can be responsible for power supply and grounding of the photoelectric sensor and line transfer of signal input of the two laser sensors through a relay, and wiring is shown in figure 3.
Fig. 5 shows a second flowchart of a calibration control method of a robot according to an embodiment of the present invention, and as shown in fig. 5, the method includes:
step 502, setting the number of robots connected with the signal management device;
step 504, receiving a request signal of the robot;
step 506, judging whether the photoelectric sensor is idle; if yes, go to step 512, otherwise go to step 508;
step 508, sending a rejection signal to the robot, and updating a queuing sequence;
step 510, the robot sets the request signal to be low level according to the rejection signal;
in step 510, the request signal is set to a low level, which can indicate that the robot is in a queue sequence.
Step 512, the signal management device sends busy signals to other robots;
step 514, judging whether reply signals of other robots are received; if yes, go to step 518, otherwise go to step 516;
step 516, sending a rejection signal to the requesting robot, and generating alarm information;
step 518, sending an allowance signal to the requesting robot;
step 520, receiving a release signal requesting the robot;
step 522, judging whether the sequencing sequence is empty; if yes, go to step 524, otherwise go to step 526;
step 524, sending idle signals to all robots;
step 526, according to the queue sequence, sends a permission signal to the next robot in the sequence until the sequence is empty.
EXAMPLE III
In some embodiments of the present invention, a calibration control system of a robot is provided, and fig. 6 shows a block diagram of a calibration control system according to an embodiment of the present invention, and as shown in fig. 6, a calibration control system 600 includes: a calibration device 602, an acquisition module 604, a transmission module 606, and a control module 608;
a calibration device, comprising: the photoelectric sensor is used for calibrating the tool coordinates of the robot; the signal management device is connected with the photoelectric sensor and the processor and is used for connecting N robots and receiving the calibration request sent by the robots, wherein N is a positive integer; the acquisition module is used for responding to a first calibration request of a first robot and acquiring the working state of the photoelectric sensor, wherein the N robots comprise the first robot; the sending module is used for generating a corresponding signal according to the working state and sending the signal to a corresponding robot so that the robot can be calibrated according to the signal; the control module comprises a memory and a processor, wherein the memory is used for storing programs or instructions; a processor for implementing the steps of the control method provided in any of the above technical solutions when executing a program or instructions.
In the embodiment of the invention, the calibration device of the robot is provided with a photoelectric sensor and a signal management device, wherein the signal management device is used for connecting the photoelectric sensor and connecting the N robots so as to perform data instruction interaction with the N robots.
The photoelectric sensor comprises two laser probes, wherein the two laser probes respectively emit laser rays, specifically a first ray and a second ray. The first light ray and the second light ray are on the same horizontal plane, and the first light ray and the second light ray are perpendicular to each other and intersect with each other, so that a cross-shaped light ray distribution is formed on the same horizontal plane.
The signal management device is used for being connected with the photoelectric sensor and being connected with the N robots so as to interact data instructions with the N robots.
When the signal management device receives a first calibration request sent by the first robot, the signal management device sends an inquiry instruction to the photoelectric sensor according to the first calibration request, so that the current working state of the photoelectric sensor is determined.
The photoelectric sensor comprises two working states, wherein one working state is that the photoelectric sensor cannot process the calibration request of the first robot when being occupied by other robots, namely, the photoelectric sensor is in a busy state, and the other working state is that the photoelectric sensor is not occupied by other robots, and can process the calibration request of the first robot, namely, the photoelectric sensor is in an idle state.
The signal management device judges whether a first calibration request sent by the first robot can be processed by the photoelectric sensor or not according to the obtained working state, if the current working state of the photoelectric sensor shows that the first request can be processed, a corresponding permission signal is generated and sent to the first robot, the first robot can be connected with the photoelectric sensor after receiving the permission signal, and the tool coordinate value, the basic coordinate system, the tool coordinate system and the like of the first robot can be calibrated by calling the photoelectric sensor.
And if the current working state of the photoelectric sensor shows that the first calibration request cannot be processed, generating a corresponding rejection signal, sending the rejection signal to the first robot, delaying the calibration request after the first robot receives the rejection signal, and initiating a request to the signal management device again when the photoelectric sensor can process the first calibration request.
According to the method and the device, the signal management device is arranged, the use requests of the multiple robots to the photoelectric sensors are processed based on the current working state of the photoelectric sensors, so that one photoelectric sensor can serve multiple robots, the multiple robots can multiplex one set of photoelectric sensors to calibrate the tool coordinate value, the base coordinate system, the tool coordinate system and the like of the robots, and the calibration efficiency is improved.
In some embodiments of the present application, the control system further comprises: the generating module is used for generating a first signal based on the working state being an idle state, wherein the first signal is used for indicating that the working state is switched to a busy state; the sending module is further used for sending the first signal to a second robot, wherein the second robot is the other robot except the first robot in the N robots.
In the embodiment of the present invention, the working states of the photoelectric sensor specifically include a busy state and an idle state. The busy state represents that the photoelectric sensor cannot process the calibration request of the first robot when being occupied by other robots, and the idle state represents that the photoelectric sensor is not occupied by other robots and can process the calibration request of the first robot.
If the signal management device obtains that the current working state of the photoelectric sensor is an idle state, a first signal corresponding to the idle state is generated, specifically, the signal management device sends the first signal to N robots connected with the signal management device, except the first robot corresponding to the first calibration request, the N-1 second robots inform the N-1 second robots that the photoelectric sensor is about to be occupied by the first robot, the real-time working state of the photoelectric sensor is about to be switched to a busy state, and therefore the N-1 second robots are informed of not sending an occupation request again, and processing performance is saved.
It will be appreciated that in some embodiments, the second robot will stop sending calibration requests for a period of time after receiving the first signal. In other embodiments, after the second robot receives the first signal, if calibration is needed, a queuing request may be sent, that is, after the first robot finishes occupying the photoelectric sensor, the photoelectric sensor is "queued" for calibration, so as to improve the response efficiency of the system.
In some embodiments of the present application, the generating module is further configured to generate a second signal based on receiving a response signal corresponding to the first signal; the sending module is further used for sending a second signal to the first robot, wherein the second signal is a signal allowing the first robot to occupy the photoelectric sensor.
In the embodiment of the invention, after the signal management device sends the first signal to the N-1 second robots, the signal management device continuously receives response signals returned by the N-1 second robots in response to the first signal.
If the signal management device receives the corresponding N-1 response signals within the preset time period, the N-1 second robots connected with the signal management device are all online and work normally, at the moment, the signal management device sends second signals to the first robot, and after the second signals are received, the first robot is allowed to occupy the photoelectric sensor to calibrate the tool coordinate value, the basic coordinate system, the tool coordinate system and the like of the first robot, at the moment, the first robot can establish data instruction interactive connection with the photoelectric sensor through the signal management device, and therefore detection signals of the photoelectric sensor are acquired.
It can be understood that the first robot can also directly establish data instruction interactive connection with the photoelectric sensor, so that the performance resource of the signal management device is saved.
In some embodiments of the present application, the generating module is further configured to generate a third signal based on not receiving a response signal corresponding to the first signal within a preset time period; the sending module is further configured to send a third signal to the first robot, where the third signal is a signal that rejects the first robot from occupying the photosensor.
In the embodiment of the invention, after the signal management device sends the first signal to the N-1 second robots, the signal management device continuously receives response signals returned by the N-1 second robots in response to the first signal.
If the signal management device does not receive the corresponding N-1 response signals within the preset time period, the fact that at least one second robot is off-line or at least one second robot system is abnormal in the N-1 second robots connected with the signal management device is indicated, at the moment, the signal management device judges that the system is in a problem, at the moment, the signal management device sends a third signal to the first robot, and the third signal rejects the calibration request of the first robot, so that the system fault is prevented from being expanded, and the stable operation of a robot processing system is ensured.
It can be understood that, when the first robot receives the third signal, the first robot knows that the current system has a fault, and the first robot is not calibrated, and at this time, the first robot can suspend the current processing work and enter a standby state, so that the processing safety is ensured.
In some embodiments of the present application, the generating module is further configured to generate corresponding alarm information.
In the embodiment of the invention, in the preset time period, under the condition that the signal management device does not receive the corresponding N-1 response signals, the signal management device judges that at least one robot is off-line or at least one robot system is abnormal in the currently connected N robots which are supposed to be on-line and cannot respond to the first signal of the signal management device, at this time, the robot component (or the robot processing system) is abnormal, the signal management device outputs alarm information to an administrator terminal or directly through output devices such as a loudspeaker and a display screen arranged by the signal management device, and prompts an administrator or a debugger of the robot component, and the current robot component is abnormal and needs to clear faults.
After debugging personnel solve the fault, the signal management equipment, the photoelectric sensor and the N connected robots can be restarted in a mode of resetting the robot system, so that the fault is prevented from being enlarged, and the production safety is ensured.
In some embodiments of the present application, the generating module is further configured to generate a request queue according to a time sequence of the received M second calibration requests, where M is a positive integer; the control system further comprises: the determining module is used for switching a busy state into an idle state based on the working state and determining a third robot corresponding to a target request positioned at the head in the request queue; the sending module is further used for sending a second signal to the third robot.
In the embodiment of the invention, after the current working state of the photoelectric sensor is an idle state and the signal management device receives the return signals of the N-1 second robots for the first signals, the signal management device sends the second signals to the first robot, and the first robot is allowed to occupy the photoelectric sensor to calibrate the tool coordinate value, the base coordinate system, the tool coordinate system and the like of the first robot and establish signal instruction interactive connection with the photoelectric sensor.
At this time, the current working state of the photoelectric sensor is switched to a busy state, and the N-1 second robots are all informed that the photoelectric sensor is in the busy state. At this time, if the signal management apparatus receives the second calibration request again, a corresponding request queue is generated according to the sequence of the M received second calibration requests, that is, the time sequence of each second calibration request, where the M second calibration requests are sorted in the request queue.
It can be appreciated that, in some embodiments, the signal management apparatus may determine the order of the M second calibration requests according to the time information of the received second calibration requests. In other embodiments, the signal management apparatus may order the M second calibration requests according to a timestamp of the received second calibration request.
When the first robot finishes calibration and does not occupy the photoelectric sensor any more, the current working state of the photoelectric sensor is switched to an idle state from a busy state, at the moment, after the signal management device confirms that the photoelectric sensor returns to the idle state, according to the sequence of M second calibration requests in a request queue, the signal management device sends a second signal to a robot corresponding to a target request positioned at the head in the queue, namely a third robot which sends the second calibration request at first after the first calibration request, informs that the third robot is allowed to occupy the photoelectric sensor to calibrate the tool coordinate value, the base coordinate system, the tool coordinate system and the like of the third robot, and establishes signal instruction interactive connection with the photoelectric sensor.
It can be understood that, after the second signal is sent to the third robot, the photoelectric sensor enters the busy state again, and when the third robot completes calibration and the photoelectric sensor enters the idle state again, the signal management device continues to send the second signal to the robots corresponding to the remaining M-1 second calibration requests in the request queue in sequence until all the robots in the request queue complete calibration.
According to the embodiment of the invention, when the photoelectric sensor is in a busy state, the robots sending the calibration requests are sequenced according to a plurality of subsequently received calibration requests, and the calibration requests of the robots are responded one by one according to the queue sequence, so that the high-efficiency management of the calibration device is realized, and the calibration efficiency is improved.
In some embodiments of the present application, the control system further comprises: a removal module to remove a target request in a request queue.
In the embodiment of the invention, after the first robot is calibrated, the photoelectric sensor is not occupied any more, and the current working state of the photoelectric sensor is switched back to the idle state from the busy state, the signal management device sends a second signal to the robot corresponding to the head target request in the current request queue, and after the robot sending the target request receives the second signal, the robot is allowed to occupy the photoelectric sensor to calibrate the tool coordinate value, the base coordinate system, the tool coordinate system and the like of the robot, and the signal instruction interactive connection between the robot and the photoelectric sensor is established.
At this time, since the calibration request of the robot that has sent the target request is responded, the robot is about to complete the calibration, so the target request sent by the robot is removed from the target queue, after the target request is removed, M-1 second calibration requests remain in the request queue, and the signal management device continues to send the second signals to the robots corresponding to the remaining M-1 second calibration requests in the request queue in sequence until all the robots in the request queue complete the calibration.
The embodiment of the invention responds to the calibration requests of a plurality of robots one by one through the request queue, thereby realizing the high-efficiency management of the calibration device.
In some embodiments of the application, the sending module is further configured to send a third signal to the first robot based on the working status being a busy status; the control system further comprises: and the updating module is used for updating the request queue according to the first calibration request.
In the embodiment of the invention, when the signal management device receives a first calibration request sent from the first robot, the signal management device sends an inquiry instruction to the photoelectric sensor according to the first calibration request, so that the current working state of the photoelectric sensor is determined.
If the signal management device obtains that the current working state of the photoelectric sensor is a busy state, namely other robots are occupied by the photoelectric sensor at present, and the photoelectric sensor cannot respond to the first calibration request sent by the first robot, the signal management device sends a third signal to the first robot, rejects the calibration request of the first robot through the third signal, informs the first robot that the current photoelectric sensor is in the busy state.
Meanwhile, the signal management device judges whether a request queue exists currently. If no request queue exists currently, namely no other robot waiting for calibration exists, a new request queue is generated according to the first calibration request, the first calibration request and the first robot are located at the head of the queue in the new request queue, and when the photoelectric sensor returns to an idle state from a busy state, the signal management device immediately sends a second signal to the first robot, so that the first robot is allowed to occupy the photoelectric sensor to calibrate the tool coordinate value, the base coordinate system, the tool coordinate system and the like of the first robot.
If there is a request queue, that is, one or more other robots are waiting for calibration in addition to the first robot, at this time, the request queue is updated according to a first calibration request sent by the first robot, and for a distance, if there are X robots waiting for calibration in line in the current request queue, the first robot is placed at the tail of the request queue to form an updated request queue, there are X +1 robots waiting for calibration in line in the updated request queue, and the X +1 robots include the first robot.
According to the method and the device, the signal management device is arranged, the use requests of the multiple robots to the photoelectric sensors are processed based on the current working state of the photoelectric sensors, so that one photoelectric sensor can serve multiple robots, the multiple robots can multiplex one set of photoelectric sensors to calibrate the tool coordinate value, the base coordinate system, the tool coordinate system and the like of the robots, and the calibration efficiency is improved.
According to the embodiment of the invention, the tool coordinate system of the robot is automatically calibrated through the photoelectric sensor, so that high-precision and high-efficiency automatic calibration can be realized, the conventional manual calibration usually needs more than 10 minutes of calibration time, and the automatic calibration provided by the invention can be completed only in 15 to 60 seconds, so that the calibration efficiency is improved.
Example four
In some embodiments of the present invention, a readable storage medium is provided, on which a program or an instruction is stored, and the program or the instruction, when executed by a processor, implements the steps of the calibration control method provided in any of the above embodiments, so that the readable storage medium simultaneously includes all the beneficial effects of the calibration control method provided in any of the above embodiments, and in order to avoid repetition, details are not described herein again.
EXAMPLE five
In some embodiments of the invention, there is provided a robotic assembly comprising: a calibration control system for a robot as provided in any one of the above embodiments; and/or a readable storage medium as provided in any of the above embodiments, whereby the robot assembly comprises at least a calibration control system of the robot as provided in any of the above embodiments; and/or the readable storage medium provided in any of the above embodiments, are not described herein in order to avoid repetition. .
In some embodiments of the present invention, the robot assembly further includes N robot bodies, the robot bodies are connected to the calibration device, and N is a positive integer.
In the embodiment of the invention, the robot body drives the tool to move so as to process the tool, and the photoelectric sensor is used for calibrating the tool coordinate value of the robot. The coordinate system of the robot generally includes a tool coordinate system (tool) and a base coordinate system (base), wherein the base coordinate system of the robot needs to be calibrated before the robot starts working, so as to improve the machining precision of the robot.
In the description of the present invention, the terms "plurality" or "a plurality" refer to two or more, and unless otherwise specifically defined, the terms "upper", "lower", and the like indicate orientations or positional relationships based on the orientations or positional relationships illustrated in the drawings, and are only for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention; the terms "connected," "mounted," "secured," and the like are to be construed broadly and include, for example, fixed connections, removable connections, or integral connections; may be directly connected or indirectly connected through an intermediate. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the description of the present invention, the description of the terms "one embodiment," "some embodiments," "specific embodiments," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In the present invention, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (12)

1. A calibration control method for a robot, the robot comprising a calibration device including a photoelectric sensor and a signal management device, the signal management device being connected to N robots, N being a positive integer, the method comprising:
acquiring the working state of the photoelectric sensor in response to a first calibration request of a first robot, wherein the N robots comprise the first robot;
and generating a corresponding signal according to the working state, and sending the signal to the corresponding robot so that the robot can be calibrated according to the signal.
2. The calibration control method according to claim 1, wherein the generating a corresponding signal according to the working state and sending the signal to the corresponding robot comprises:
when the working state is an idle state, generating a first signal, wherein the first signal is used for indicating that the working state is switched to a busy state;
and sending the first signal to a second robot, wherein the second robot is the other robot except the first robot in the N robots.
3. The calibration control method according to claim 2, further comprising:
and when a response signal corresponding to the first signal is received, generating a second signal, and sending the second signal to the first robot, wherein the second signal is a signal for allowing the first robot to occupy the photoelectric sensor.
4. The calibration control method according to claim 3, further comprising:
and within a preset time length, if a response signal corresponding to the first signal is not received, generating a third signal, and sending the third signal to the first robot, wherein the third signal is a signal for refusing the first robot to occupy the photoelectric sensor.
5. The calibration control method of claim 4, wherein after said generating the third signal, the method further comprises:
and generating corresponding alarm information.
6. The calibration control method of claim 4, wherein after sending the second signal to the first robot, the method further comprises:
generating a request queue according to the time sequence of the received M second calibration requests, wherein M is a positive integer;
when the working state is switched from the busy state to the idle state, determining a third robot corresponding to a target request positioned at the head in the request queue;
transmitting the second signal to the third robot.
7. The calibration control method of claim 6, wherein after sending the second signal to the third robot, the method further comprises:
removing the target request in the request queue.
8. The calibration control method according to claim 6, wherein the generating a corresponding signal according to the working state and sending the signal to the corresponding robot further comprises:
sending the third signal to the first robot based on the working state being the busy state; and
updating the request queue according to the first calibration request.
9. The calibration control system of the robot is characterized by comprising a calibration device, an acquisition module, a sending module and a control module;
the calibration device comprises: the photoelectric sensor is used for calibrating the tool coordinates of the robot;
the signal management device is connected with the photoelectric sensor and used for connecting N robots to receive calibration requests sent by the robots, wherein N is a positive integer;
the acquisition module is used for responding to a first calibration request of a first robot and acquiring the working state of the photoelectric sensor, wherein the N robots comprise the first robot;
the sending module is used for generating a corresponding signal according to the working state and sending the signal to the corresponding robot so that the robot can be calibrated according to the signal;
the control module includes a memory and a processor, wherein the memory is for storing programs or instructions; the processor, when executing the program or instructions, implementing the steps of the control method according to any one of claims 1 to 8.
10. A readable storage medium on which a program or instructions are stored, characterized in that the program or instructions, when executed by a processor, implement the steps of the control method according to any one of claims 1 to 8.
11. A robotic assembly, comprising:
a calibration control system of the robot of claim 9; and/or
The readable storage medium of claim 10.
12. The robotic assembly of claim 11, further comprising:
the N robot bodies are connected with the calibration device, and N is a positive integer.
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