CN114290329B - 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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Publication number
CN114290329B
CN114290329B CN202111514950.2A CN202111514950A CN114290329B CN 114290329 B CN114290329 B CN 114290329B CN 202111514950 A CN202111514950 A CN 202111514950A CN 114290329 B CN114290329 B CN 114290329B
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robot
signal
calibration
robots
photoelectric sensor
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CN114290329A (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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    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

Abstract

The application provides a calibration control method and system of a robot, a storage medium and a robot assembly. The robot includes calibrating device, and calibrating device includes photoelectric sensor and signal management device, and signal management device is connected with N robots, and N is positive integer, and the method includes: responding to a first calibration request of a first robot, and acquiring the working state of a photoelectric sensor, wherein N robots comprise the first robot; and generating a corresponding signal according to the working state, and sending the signal to a corresponding robot so as to calibrate the robot according to the signal. According to the application, the signal management device is used for processing the use requests of the plurality of robots on the basis of the current working state of the photoelectric sensor, so that one photoelectric sensor can serve the plurality of robots, the plurality of robots can multiplex one set of photoelectric sensor 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.

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, in the industrial production process of the robot, the robot needs to be calibrated to ensure the machining precision. At present, the robot is calibrated manually, the consumed time is long, and an automatic calibration device of the robot cannot be adapted to a plurality of robots, so that the calibration efficiency is low.
Disclosure of Invention
The present invention aims to solve at least one of the technical problems existing in the prior art or related art.
To this end, a first aspect of the present invention proposes a calibration control method of a robot.
A second aspect of the present invention proposes a calibration control system for a robot.
A third aspect of the invention proposes a readable storage medium.
A fourth aspect of the invention proposes a robotic assembly.
In view of this, a first aspect of the present invention provides a calibration control method of a robot, the 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: responding to a first calibration request of a first robot, and acquiring the working state of a photoelectric sensor, wherein N robots comprise the first robot; and generating a corresponding signal according to the working state, and sending the signal to a corresponding robot so as to calibrate the robot according to the signal.
In the technical scheme, the calibrating 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 N robots, so that data instruction interaction is carried out between the signal management device and the N robots.
When the signal management device receives a first calibration request sent by the first robot, the signal management device sends a query 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 of the working states is that the photoelectric sensor is occupied by other robots, and cannot process a calibration request of the first robot, namely 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 is in an idle state.
The signal management device judges whether a first calibration request sent by the current first robot can be processed by the photoelectric sensor according to the acquired 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 establish connection with the photoelectric sensor after receiving the permission signal, and the tool coordinate value, the base coordinate system, the tool coordinate system and the like of the first robot can be calibrated by calling the photoelectric sensor.
If the current working state of the photoelectric sensor shows that the first calibration request cannot be processed, a corresponding rejection signal is generated and sent to the first robot, the first robot delays the calibration request after receiving the rejection signal, and when the photoelectric sensor can process the first calibration request, the request is sent to the signal management device again.
According to the application, the signal management device is arranged, and the use requests of the plurality of robots for the photoelectric sensors are processed based on the current working state of the photoelectric sensors, so that one photoelectric sensor can serve a plurality of robots, the plurality of robots can multiplex one photoelectric sensor to calibrate the tool coordinate values, 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 technical scheme provided by the application can also have the following additional technical characteristics:
in the above technical solution, generating a corresponding signal according to the working state, and sending the signal to the 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 robots than the first robot in the N robots.
In the technical scheme, the working state of the photoelectric sensor specifically comprises a busy state and an idle state. The busy state indicates that the photoelectric sensor is occupied by other robots and cannot process the calibration request of the first robot, and the idle state indicates 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 acquires 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, N-1 second robots are informed of the fact 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 N-1 second robots are informed of not sending occupation requests any more, and processing performance is saved.
It can be appreciated that in some embodiments, the second robot will cease sending calibration requests for a period of time after receiving the first signal described above. In other embodiments, after the second robot receives the first signal, if calibration is required, a queuing request may be sent, that is, after the first robot finishes occupying the photoelectric sensor, the "queuing" uses the photoelectric sensor to calibrate, so as to improve the response efficiency of the system.
In any of the above solutions, the calibration control method further includes: when receiving the response signal corresponding to the first signal, generating a second signal, and sending the second signal to the first robot, wherein the second signal is a signal allowing the first robot to occupy the photoelectric sensor.
In this technical solution, after the signal management device sends the first signal to the N-1 second robots, the signal management device continuously receives the response signals returned from the N-1 second robots for the first signal.
If the signal management device receives the corresponding N-1 response signals within the preset time period, the signal management device indicates that N-1 second robots connected with the signal management device are all online and work normally, at the moment, the signal management device sends the second signals to the first robots, the first robots are allowed to occupy the photoelectric sensors to calibrate own tool coordinate values, a base coordinate system, a tool coordinate system and the like after receiving the second signals, and at the moment, the first robots can establish data instruction interaction connection between the signal management device and the photoelectric sensors, so that detection signals of the photoelectric sensors are obtained.
It can be appreciated that the first robot may also directly establish a data command interactive connection with the photoelectric sensor, thereby saving performance resources of the signal management device.
In any of the above solutions, the calibration control method further includes: and if the response signal corresponding to the first signal is not received within the preset time, generating a third signal, and sending the third signal to the first robot, wherein the third signal is a signal for rejecting the first robot to occupy the photoelectric sensor.
In this technical solution, after the signal management device sends the first signal to the N-1 second robots, the signal management device continuously receives the response signals returned from the N-1 second robots for the first signal.
If the signal management device does not receive the corresponding N-1 response signals within the preset time period, it is indicated that at least one second robot is offline or at least one second robot system is abnormal in the N-1 second robots connected with the signal management device, at this time, the signal management device judges that a problem occurs in the system, at this time, the signal management device sends a third signal to the first robot, and the calibration request of the first robot is refused through the third signal, so that system faults are prevented from expanding, and running stability of a robot processing system is guaranteed.
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, 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 embodiments, after generating the third signal, the calibration control method further includes: and generating corresponding alarm information.
In this technical solution, in the case that the signal management device does not receive the corresponding N-1 response signals in the preset time period, the signal management device determines that at least one robot offline exists or at least one robot system abnormality exists among the currently connected N robots that should be online, and cannot respond to the first signal of the signal management device, at this time, the robot component (or the robot processing system) has an abnormality, and the signal management device outputs alarm information to an administrator terminal or directly through output devices such as a speaker and a display screen that are set by itself, so as to prompt an administrator or a debugger of the robot component that the current robot component has an abnormality and needs to clear the fault.
After debugging personnel solve the trouble, accessible reset robot system's mode restarts signal management device, photoelectric sensor and N robots that are connected to prevent the trouble and enlarge, guarantee production safety.
In any of the foregoing 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 the busy state to the idle state, determining a third robot corresponding to the first target request in the request queue; and sending a second signal to the 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 aiming at the first signals, the signal management device sends the second signals to the first robots, and the first robots are allowed to occupy the photoelectric sensor to calibrate own tool coordinate values, a base coordinate system, a tool coordinate system and the like, and establish signal instruction interaction connection with the photoelectric sensor.
At this time, the current working state of the photoelectric sensor is switched to a busy state, and each of the N-1 second robots is informed that the photoelectric sensor is in the busy state. At this time, if the signal management device receives the second calibration requests again, a corresponding request queue is generated according to the sequence of the received M second calibration requests, that is, the time sequence of each second calibration request, where the M second calibration requests are ordered in the request queue.
It can be appreciated that in some embodiments, the signal management device 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 device may sort the M second calibration requests according to the time stamps of the received second calibration requests.
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 from a busy state to an idle state, at this time, after confirming that the photoelectric sensor returns to the idle state, the signal management device requests the corresponding robot to the first target in the queue according to the sequence of M second calibration requests in the request queue, namely, after the first calibration request, the third robot which sends the second calibration request first sends a second signal to inform the third robot that the occupied photoelectric sensor is allowed 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, 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 after the photoelectric sensor enters the idle state again, 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 which send the calibration requests are ordered according to a plurality of subsequently received calibration requests, and the calibration requests of the robots are responded one by one according to the order of the queues, so that the efficient 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 from the request queue.
In the technical scheme, after the first robot is calibrated, the occupied photoelectric sensor is not used, the current working state of the photoelectric sensor is switched from a busy state to an idle state, the signal management device sends a second signal to the robot corresponding to the first target request in the current request queue, and after the robot which sends the target request receives the second signal, the occupied photoelectric sensor is allowed to calibrate the tool coordinate value, the base coordinate system, the tool coordinate system and the like of the robot, and signal instruction interaction connection between the occupied photoelectric sensor and the photoelectric sensor is established.
At this time, since the calibration request of the robot that sent the target request has been responded, the robot is about to complete the calibration, and therefore, 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 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.
According to the embodiment of the invention, the request queues respond to the calibration requests of the robots one by one, so that the efficient management of the calibration device is realized.
In any of the above technical solutions, generating a corresponding signal according to the working state, and sending the signal to a corresponding robot, further including: transmitting 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 the first robot, the signal management device sends a query 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 currently occupy the photoelectric sensor, 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, the calibration request of the first robot is refused through the third signal, and the first robot is informed that the current photoelectric sensor is in the busy state.
Meanwhile, the signal management device judges whether a request queue exists currently. If there is no request queue at present, that is, there is no other robot waiting for calibration, a new request queue is generated according to the first calibration request, in the new request queue, the first calibration request and the first robot are located at the first position of the queue, and when the photoelectric sensor returns to the idle state from the busy state, the signal management device sends a second signal to the first robot immediately, so as to allow the first robot to occupy the photoelectric sensor to calibrate its own tool coordinate value, base coordinate system, tool coordinate system and the like.
If there is a request queue, that is, there are one or more other robots in the queue to be calibrated, at this time, according to the first calibration request sent by the first robot, the request queue is updated, and if there are X robots in the request queue to be calibrated in line, the first robot is placed at the tail of the request queue to form an updated request queue, and there are x+1 robots in the request queue to be calibrated in line, including the first robot.
According to the application, the signal management device is arranged, and the use requests of the plurality of robots for the photoelectric sensors are processed based on the current working state of the photoelectric sensors, so that one photoelectric sensor can serve a plurality of robots, the plurality of robots can multiplex one photoelectric sensor to calibrate the tool coordinate values, the base coordinate system, the tool coordinate system and the like of the robots, and the calibration efficiency is improved.
The second aspect of the application provides a robot calibration control system, which comprises a calibration device, an acquisition module, a transmission module and a control module; a calibration device comprising: a photoelectric sensor for calibrating 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 to receive a 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 the first robot and acquiring the working state of the photoelectric sensor, wherein N robots comprise the first robot; the transmitting module is used for generating a corresponding signal according to the working state and transmitting the signal to the corresponding robot so as to calibrate the robot according to the signal; the control module comprises a memory and a processor, wherein the memory is used for storing programs or instructions; and a processor for implementing the steps of the control method provided in any one of the above claims when executing the program or instructions.
In the technical scheme, the calibrating 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 N robots, so that data instruction interaction is carried out between the signal management device and the N robots.
When the signal management device receives a first calibration request sent by the first robot, the signal management device sends a query 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 of the working states is that the photoelectric sensor is occupied by other robots, and cannot process a calibration request of the first robot, namely 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 is in an idle state.
The signal management device judges whether a first calibration request sent by the current first robot can be processed by the photoelectric sensor according to the acquired 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 establish connection with the photoelectric sensor after receiving the permission signal, and the tool coordinate value, the base coordinate system, the tool coordinate system and the like of the first robot can be calibrated by calling the photoelectric sensor.
If the current working state of the photoelectric sensor shows that the first calibration request cannot be processed, a corresponding rejection signal is generated and sent to the first robot, the first robot delays the calibration request after receiving the rejection signal, and when the photoelectric sensor can process the first calibration request, the request is sent to the signal management device again.
According to the application, the signal management device is arranged, and the use requests of the plurality of robots for the photoelectric sensors are processed based on the current working state of the photoelectric sensors, so that one photoelectric sensor can serve a plurality of robots, the plurality of robots can multiplex one photoelectric sensor to calibrate the tool coordinate values, 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 application provides a readable storage medium having stored thereon a program or instructions which, when executed by a processor, implement the steps of the calibration control method provided in any one of the above-mentioned technical solutions, and therefore, the readable storage medium includes all the advantages of the calibration control method provided in any one of the above-mentioned technical solutions, and is not repeated here.
A fourth aspect of the invention provides a robotic assembly comprising: the calibration control system of a robot as provided in any one of the above-mentioned aspects; 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 for a robot as provided in any of the above claims; and/or the whole beneficial effects of the readable storage medium provided in any of the above technical solutions, which are not described herein in detail for avoiding repetition.
In the above technical scheme, the robot assembly further comprises N robot bodies, the robot bodies are connected with the calibration device, and N is a positive integer.
In the technical scheme, the robot body drives the tool to move, so that the tool is machined, and the photoelectric sensor is used for calibrating the tool coordinate value of the robot. The coordinate system of the robot generally comprises 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 that the machining precision of the robot is improved.
Drawings
The foregoing and/or additional aspects and advantages of the invention will become apparent and may be better understood from the following description of embodiments taken in conjunction with the accompanying drawings in which:
Fig. 1 shows one of flowcharts of a calibration control method of a robot according to an embodiment of the present application;
FIG. 2 shows a schematic structural view of a robotic assembly according to an embodiment of the application;
FIG. 3 shows a schematic structural diagram of a calibration device according to an embodiment of the present application;
FIG. 4 shows waveforms of different signals according to an embodiment of the present application;
FIG. 5 shows a second flowchart of a calibration control method of a robot according to an embodiment of the present application;
fig. 6 shows a block diagram of a calibration control system of a robot according to an embodiment of the present application.
Reference numerals:
200 robot assembly, 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-recited objects, features and advantages of the present application will be more clearly understood, a more particular description of the application will be rendered by reference to the appended drawings and appended detailed description. It should be noted that, without conflict, the embodiments of the present application and features in the embodiments may be combined with each other.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application, however, the present application may be practiced in other ways than those described herein, and therefore the scope of the present application is not limited to the specific embodiments disclosed below.
Methods and systems for controlling calibration 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 1
In some embodiments of the present invention, a calibration control method of a robot is provided, 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 the calibration control method of the robot according to an embodiment of the present invention, and as shown in fig. 1, the method includes:
step 102, responding to a first calibration request of a first robot, and acquiring the working state of a photoelectric sensor;
in step 102, N robots include a first robot;
and 104, generating a corresponding signal according to the working state, and sending the signal to a corresponding robot so as to calibrate the robot 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, a robot assembly 200 includes: robot body 202, tool 204, workpiece 206. Wherein the robot body 202 moves the tool 204 to process the workpiece 206.
Fig. 3 shows a schematic structural diagram of a calibration device according to an embodiment of the present invention, and as shown in fig. 3, the calibration device 300 includes a signal management device 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 by the first robot, the signal management device sends a query 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 of the working states is that the photoelectric sensor is occupied by other robots, and cannot process a calibration request of the first robot, namely 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 is in an idle state.
The signal management device judges whether a first calibration request sent by the current first robot can be processed by the photoelectric sensor according to the acquired 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 establish connection with the photoelectric sensor after receiving the permission signal, and the tool coordinate value, the base coordinate system, the tool coordinate system and the like of the first robot can be calibrated by calling the photoelectric sensor.
If the current working state of the photoelectric sensor shows that the first calibration request cannot be processed, a corresponding rejection signal is generated and sent to the first robot, the first robot delays the calibration request after receiving the rejection signal, and when the photoelectric sensor can process the first calibration request, the request is sent to the signal management device again.
According to the application, the signal management device is arranged, and the use requests of the plurality of robots for the photoelectric sensors are processed based on the current working state of the photoelectric sensors, so that one photoelectric sensor can serve a plurality of robots, the plurality of robots can multiplex one photoelectric sensor to calibrate the tool coordinate values, 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 a working state, and transmitting 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 robots than the first robot in the N robots.
In the embodiment of the invention, the working state of the photoelectric sensor specifically comprises a busy state and an idle state. The busy state indicates that the photoelectric sensor is occupied by other robots and cannot process the calibration request of the first robot, and the idle state indicates 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 acquires 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, N-1 second robots are informed of the fact 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 N-1 second robots are informed of not sending occupation requests any more, and processing performance is saved.
It can be appreciated that in some embodiments, the second robot will cease sending calibration requests for a period of time after receiving the first signal described above. In other embodiments, after the second robot receives the first signal, if calibration is required, a queuing request may be sent, that is, after the first robot finishes occupying the photoelectric sensor, the "queuing" uses the photoelectric sensor to calibrate, so as to improve the response efficiency of the system.
In some embodiments of the application, the control method further comprises: when receiving the response signal corresponding to the first signal, generating a second signal, and sending the 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 application, after the signal management device sends the first signal to the N-1 second robots, the signal management device continuously receives the response signals returned by the N-1 second robots for the first signal.
If the signal management device receives the corresponding N-1 response signals within the preset time period, the signal management device indicates that N-1 second robots connected with the signal management device are all online and work normally, at the moment, the signal management device sends the second signals to the first robots, the first robots are allowed to occupy the photoelectric sensors to calibrate own tool coordinate values, a base coordinate system, a tool coordinate system and the like after receiving the second signals, and at the moment, the first robots can establish data instruction interaction connection between the signal management device and the photoelectric sensors, so that detection signals of the photoelectric sensors are obtained.
It can be appreciated that the first robot may also directly establish a data command interactive connection with the photoelectric sensor, thereby saving performance resources of the signal management device.
In some embodiments of the application, the calibration control method further comprises: and if the response signal corresponding to the first signal is not received within the preset time, generating a third signal, and sending the third signal to the first robot, wherein the third signal is a signal for rejecting the first robot to occupy the photoelectric sensor.
In the embodiment of the application, after the signal management device sends the first signal to the N-1 second robots, the signal management device continuously receives the response signals returned by the N-1 second robots for the first signal.
If the signal management device does not receive the corresponding N-1 response signals within the preset time period, it is indicated that at least one second robot is offline or at least one second robot system is abnormal in the N-1 second robots connected with the signal management device, at this time, the signal management device judges that a problem occurs in the system, at this time, the signal management device sends a third signal to the first robot, and the calibration request of the first robot is refused through the third signal, so that system faults are prevented from expanding, and running stability of a robot processing system is guaranteed.
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, 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 application, after generating the third signal, the control method further comprises: and generating corresponding alarm information.
In the embodiment of the application, in the case that the signal management device does not receive the corresponding N-1 response signals in the preset time period, the signal management device judges that at least one robot is offline or at least one robot system is abnormal in the currently connected N robots which should be online, and cannot respond to the first signal of the signal management device, at this time, the robot assembly (or the robot processing system) is abnormal, and the signal management device outputs alarm information to an administrator terminal or directly through output devices such as a loudspeaker and a display screen which are arranged on the signal management device, so that an administrator or a debugger of the robot assembly is prompted, and the current robot assembly is abnormal and needs to be cleared.
After debugging personnel solve the trouble, accessible reset robot system's mode restarts signal management device, photoelectric sensor and N robots that are connected to prevent the trouble and enlarge, guarantee production safety.
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 the busy state to the idle state, determining a third robot corresponding to the first target request in the request queue; and sending a second signal to the third robot.
In the embodiment of the application, after the current working state of the photoelectric sensor is an idle state and the signal management device receives the return signals of N-1 second robots aiming at the first signals, the signal management device sends the second signals to the first robots, and the first robots are allowed to occupy the photoelectric sensor to calibrate own tool coordinate values, a base coordinate system, a tool coordinate system and the like, and establish signal instruction interaction connection with the photoelectric sensor.
At this time, the current working state of the photoelectric sensor is switched to a busy state, and each of the N-1 second robots is informed that the photoelectric sensor is in the busy state. At this time, if the signal management device receives the second calibration requests again, a corresponding request queue is generated according to the sequence of the received M second calibration requests, that is, the time sequence of each second calibration request, where the M second calibration requests are ordered in the request queue.
It can be appreciated that in some embodiments, the signal management device 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 device may sort the M second calibration requests according to the time stamps of the received second calibration requests.
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 from a busy state to an idle state, at this time, after confirming that the photoelectric sensor returns to the idle state, the signal management device requests the corresponding robot to the first target in the queue according to the sequence of M second calibration requests in the request queue, namely, after the first calibration request, the third robot which sends the second calibration request first sends a second signal to inform the third robot that the occupied photoelectric sensor is allowed 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, 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 after the photoelectric sensor enters the idle state again, until all the robots in the request queue complete calibration.
According to the embodiment of the application, when the photoelectric sensor is in a busy state, the robots which send the calibration requests are ordered according to a plurality of subsequently received calibration requests, and the calibration requests of the robots are responded one by one according to the order of the queues, so that the efficient management of the calibration device is realized, and the calibration efficiency is improved.
In some embodiments of the application, after sending the second signal to the third robot, the method further comprises: the target request is removed from the request queue.
In the embodiment of the application, after the calibration of the first robot is finished, the photoelectric sensor is not occupied, the current working state of the photoelectric sensor is switched from the busy state to the idle state, the signal management device sends a second signal to the robot corresponding to the first target request in the current request queue, and after the second signal is received, the robot which sends the target request 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 establishes signal instruction interaction connection with the photoelectric sensor.
At this time, since the calibration request of the robot that sent the target request has been responded, the robot is about to complete the calibration, and therefore, 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 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.
According to the embodiment of the application, the request queues respond to the calibration requests of the robots one by one, so that the efficient management of the calibration device is realized.
In some embodiments of the present application, generating a corresponding signal according to the working state, and transmitting the signal to the corresponding robot, further includes: when the working state is a busy state, a third signal is sent to the first robot; and updating the request queue according to the first calibration request.
In the embodiment of the application, when the signal management device receives a first calibration request sent by the first robot, the signal management device sends a query 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 currently occupy the photoelectric sensor, 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, the calibration request of the first robot is refused through the third signal, and the first robot is informed that the current photoelectric sensor is in the busy state.
Meanwhile, the signal management device judges whether a request queue exists currently. If there is no request queue at present, that is, there is no other robot waiting for calibration, a new request queue is generated according to the first calibration request, in the new request queue, the first calibration request and the first robot are located at the first position of the queue, and when the photoelectric sensor returns to the idle state from the busy state, the signal management device sends a second signal to the first robot immediately, so as to allow the first robot to occupy the photoelectric sensor to calibrate its own tool coordinate value, base coordinate system, tool coordinate system and the like.
If there is a request queue, that is, there are one or more other robots in the queue to be calibrated, at this time, according to the first calibration request sent by the first robot, the request queue is updated, and if there are X robots in the request queue to be calibrated in line, the first robot is placed at the tail of the request queue to form an updated request queue, and there are x+1 robots in the request queue to be calibrated in line, including the first robot.
According to the application, the signal management device is arranged, and the use requests of the plurality of robots for the photoelectric sensors are processed based on the current working state of the photoelectric sensors, so that one photoelectric sensor can serve a plurality of robots, the plurality of robots can multiplex one photoelectric sensor to calibrate the tool coordinate values, 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 application, the working scenario of the robot assembly is shown in fig. 2, where multiple robots share a set of photosensors and signal management devices. After all lines are connected, a debugger can mark which robot is connected through a dial switch.
When the signal management device is in an idle state, for example, the robot 1 requests to use the photoelectric sensor, the signal management device receives a high-level signal which is sent by the robot 1 and occupies the photoelectric sensor, and at the moment, the signal management device can inform other robots of being in a busy state.
When the signal management device is in a busy state, if other robots receive the request, the request is marked and arranged in a task queue.
When the signal management device completes a task, whether a queue task exists or not is detected, if not, all robots are notified to be in an idle state; if the queue exists, the first robot number of the queue is fetched once each time, and the first robot number is arranged to work until all the queue tasks are completed.
The signal management device takes a singlechip or a PLC (Programmable Logic Controller ) as a main control, and realizes functions by a relay, multiple input and output, a signal lamp and the like.
Fig. 4 shows waveforms of different signals according to an embodiment of the invention.
The master control status light of the signal management device is green to indicate idle, yellow to indicate busy, and red to flash to indicate alarm. And when a certain robot signal lamp is in yellow, the signal lamp is not lightened to indicate that the robot is idle, and the green signal lamp is arranged in a queue to wait.
The signal management device can be used for power supply and grounding of the photoelectric sensor and line transfer of signal input of two laser sensors through a relay, and wiring is shown in fig. 3.
Fig. 5 shows a second flowchart of a calibration control method of a robot according to an embodiment of the present invention, as shown in fig. 5, the method includes:
step 502, setting the number of robots connected with a 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 the queuing sequence;
step 510, the robot sets the request signal to a low level according to the refusal signal;
in step 510, the request signal is set to a low level, which can indicate that the robot is in a queuing sequence.
Step 512, the signal management device sends out 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, transmitting an enable signal to the requesting robot;
step 520, receiving a release signal requesting the robot;
step 522, determining whether the ordered sequence is empty; if yes, go to step 524, otherwise go to step 526;
step 524, sending an idle signal to all robots;
step 526, according to the queuing sequence, a permission signal is sent 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 for a robot is provided, 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: a photoelectric sensor for calibrating 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 to receive a 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 the first robot and acquiring the working state of the photoelectric sensor, wherein N robots comprise the first robot; the transmitting module is used for generating a corresponding signal according to the working state and transmitting the signal to the corresponding robot so as to calibrate the robot according to the signal; the control module comprises a memory and a processor, wherein the memory is used for storing programs or instructions; and a processor for implementing the steps of the control method provided in any one of the above claims when executing the program or instructions.
In the embodiment of the invention, the calibration device of the robot is provided with the photoelectric sensor and the signal management device, wherein the signal management device is used for connecting the photoelectric sensor and N robots so as to interact data instructions with the N robots.
The photoelectric sensor comprises two laser probes with mass, and 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 positioned on the same horizontal plane, and the first light ray and the second light ray are mutually perpendicular and intersect, so that the cross-shaped light ray distribution is formed on one horizontal plane.
The signal management device is used for connecting the photoelectric sensor and N robots, so that data instruction interaction is carried out between the signal management device and the N robots.
When the signal management device receives a first calibration request sent by the first robot, the signal management device sends a query 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 of the working states is that the photoelectric sensor is occupied by other robots, and cannot process a calibration request of the first robot, namely 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 is in an idle state.
The signal management device judges whether a first calibration request sent by the current first robot can be processed by the photoelectric sensor according to the acquired 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 establish connection with the photoelectric sensor after receiving the permission signal, and the tool coordinate value, the base coordinate system, the tool coordinate system and the like of the first robot can be calibrated by calling the photoelectric sensor.
If the current working state of the photoelectric sensor shows that the first calibration request cannot be processed, a corresponding rejection signal is generated and sent to the first robot, the first robot delays the calibration request after receiving the rejection signal, and when the photoelectric sensor can process the first calibration request, the request is sent to the signal management device again.
According to the application, the signal management device is arranged, and the use requests of the plurality of robots for the photoelectric sensors are processed based on the current working state of the photoelectric sensors, so that one photoelectric sensor can serve a plurality of robots, the plurality of robots can multiplex one photoelectric sensor to calibrate the tool coordinate values, 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 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 also used for sending the first signal to a second robot, wherein the second robot is the other robots except the first robot in the N robots.
In the embodiment of the invention, the working state of the photoelectric sensor specifically comprises a busy state and an idle state. The busy state indicates that the photoelectric sensor is occupied by other robots and cannot process the calibration request of the first robot, and the idle state indicates 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 acquires 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, N-1 second robots are informed of the fact 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 N-1 second robots are informed of not sending occupation requests any more, and processing performance is saved.
It can be appreciated that in some embodiments, the second robot will cease sending calibration requests for a period of time after receiving the first signal described above. In other embodiments, after the second robot receives the first signal, if calibration is required, a queuing request may be sent, that is, after the first robot finishes occupying the photoelectric sensor, the "queuing" uses the photoelectric sensor to calibrate, 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 also 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 application, after the signal management device sends the first signal to the N-1 second robots, the signal management device continuously receives the response signals returned by the N-1 second robots for the first signal.
If the signal management device receives the corresponding N-1 response signals within the preset time period, the signal management device indicates that N-1 second robots connected with the signal management device are all online and work normally, at the moment, the signal management device sends the second signals to the first robots, the first robots are allowed to occupy the photoelectric sensors to calibrate own tool coordinate values, a base coordinate system, a tool coordinate system and the like after receiving the second signals, and at the moment, the first robots can establish data instruction interaction connection between the signal management device and the photoelectric sensors, so that detection signals of the photoelectric sensors are obtained.
It can be appreciated that the first robot may also directly establish a data command interactive connection with the photoelectric sensor, thereby saving performance resources of the signal management device.
In some embodiments of the present application, the generating module is further configured to generate a third signal based on the fact that no response signal corresponding to the first signal is received within a preset duration; the sending module is further used for sending a third signal to the first robot, wherein the third signal is a signal for rejecting the first robot to occupy the photoelectric sensor.
In the embodiment of the application, after the signal management device sends the first signal to the N-1 second robots, the signal management device continuously receives the response signals returned by the N-1 second robots for the first signal.
If the signal management device does not receive the corresponding N-1 response signals within the preset time period, it is indicated that at least one second robot is offline or at least one second robot system is abnormal in the N-1 second robots connected with the signal management device, at this time, the signal management device judges that a problem occurs in the system, at this time, the signal management device sends a third signal to the first robot, and the calibration request of the first robot is refused through the third signal, so that system faults are prevented from expanding, and running stability of a robot processing system is guaranteed.
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, 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 application, in the case that the signal management device does not receive the corresponding N-1 response signals in the preset time period, the signal management device judges that at least one robot is offline or at least one robot system is abnormal in the currently connected N robots which should be online, and cannot respond to the first signal of the signal management device, at this time, the robot assembly (or the robot processing system) is abnormal, and the signal management device outputs alarm information to an administrator terminal or directly through output devices such as a loudspeaker and a display screen which are arranged on the signal management device, so that an administrator or a debugger of the robot assembly is prompted, and the current robot assembly is abnormal and needs to be cleared.
After debugging personnel solve the trouble, accessible reset robot system's mode restarts signal management device, photoelectric sensor and N robots that are connected to prevent the trouble and enlarge, guarantee production safety.
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 includes: the determining module is used for determining a third robot corresponding to the first target request in the request queue based on the working state switched from the busy state to the idle state; the sending module is also used for sending a second signal to the third robot.
In the embodiment of the application, after the current working state of the photoelectric sensor is an idle state and the signal management device receives the return signals of N-1 second robots aiming at the first signals, the signal management device sends the second signals to the first robots, and the first robots are allowed to occupy the photoelectric sensor to calibrate own tool coordinate values, a base coordinate system, a tool coordinate system and the like, and establish signal instruction interaction connection with the photoelectric sensor.
At this time, the current working state of the photoelectric sensor is switched to a busy state, and each of the N-1 second robots is informed that the photoelectric sensor is in the busy state. At this time, if the signal management device receives the second calibration requests again, a corresponding request queue is generated according to the sequence of the received M second calibration requests, that is, the time sequence of each second calibration request, where the M second calibration requests are ordered in the request queue.
It can be appreciated that in some embodiments, the signal management device 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 device may sort the M second calibration requests according to the time stamps of the received second calibration requests.
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 from a busy state to an idle state, at this time, after confirming that the photoelectric sensor returns to the idle state, the signal management device requests the corresponding robot to the first target in the queue according to the sequence of M second calibration requests in the request queue, namely, after the first calibration request, the third robot which sends the second calibration request first sends a second signal to inform the third robot that the occupied photoelectric sensor is allowed 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, 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 after the photoelectric sensor enters the idle state again, until all the robots in the request queue complete calibration.
According to the embodiment of the application, when the photoelectric sensor is in a busy state, the robots which send the calibration requests are ordered according to a plurality of subsequently received calibration requests, and the calibration requests of the robots are responded one by one according to the order of the queues, so that the efficient management of the calibration device is realized, and the calibration efficiency is improved.
In some embodiments of the application, the control system further comprises: and the removing module is used for removing the target request from the request queue.
In the embodiment of the application, after the calibration of the first robot is finished, the photoelectric sensor is not occupied, the current working state of the photoelectric sensor is switched from the busy state to the idle state, the signal management device sends a second signal to the robot corresponding to the first target request in the current request queue, and after the second signal is received, the robot which sends the target request 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 establishes signal instruction interaction connection with the photoelectric sensor.
At this time, since the calibration request of the robot that sent the target request has been responded, the robot is about to complete the calibration, and therefore, 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 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.
According to the embodiment of the application, the request queues respond to the calibration requests of the robots one by one, so that the efficient management of the calibration device is realized.
In some embodiments of the present application, the sending module is further configured to send a third signal to the first robot based on the working state being a busy state; the control system further includes: and the updating module is used for updating the request queue according to the first calibration request.
In the embodiment of the application, when the signal management device receives a first calibration request sent by the first robot, the signal management device sends a query 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 currently occupy the photoelectric sensor, 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, the calibration request of the first robot is refused through the third signal, and the first robot is informed that the current photoelectric sensor is in the busy state.
Meanwhile, the signal management device judges whether a request queue exists currently. If there is no request queue at present, that is, there is no other robot waiting for calibration, a new request queue is generated according to the first calibration request, in the new request queue, the first calibration request and the first robot are located at the first position of the queue, and when the photoelectric sensor returns to the idle state from the busy state, the signal management device sends a second signal to the first robot immediately, so as to allow the first robot to occupy the photoelectric sensor to calibrate its own tool coordinate value, base coordinate system, tool coordinate system and the like.
If there is a request queue, that is, there are one or more other robots in the queue to be calibrated, at this time, according to the first calibration request sent by the first robot, the request queue is updated, and if there are X robots in the request queue to be calibrated in line, the first robot is placed at the tail of the request queue to form an updated request queue, and there are x+1 robots in the request queue to be calibrated in line, including the first robot.
According to the application, the signal management device is arranged, and the use requests of the plurality of robots for the photoelectric sensors are processed based on the current working state of the photoelectric sensors, so that one photoelectric sensor can serve a plurality of robots, the plurality of robots can multiplex one photoelectric sensor to calibrate the tool coordinate values, 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 application, 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 existing manual calibration usually needs more than 10 minutes, and the automatic calibration provided by the application only needs 15 seconds to 60 seconds to complete the calibration, so that the calibration efficiency is improved.
Example IV
In some embodiments of the present invention, a readable storage medium is provided, on which a program or an instruction is stored, which when executed by a processor, implements the steps of the calibration control method provided in any of the above embodiments, and therefore, the readable storage medium includes all the advantages of the calibration control method provided in any of the above embodiments, and is not described herein again for avoiding repetition.
Example five
In some embodiments of the present invention, there is provided a robot assembly comprising: the calibration control system of a robot as provided in any one of the embodiments above; 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 for a robot as provided in any of the above embodiments; and/or the overall benefits of the readable storage medium as provided in any of the embodiments above, are not repeated here.
In some embodiments of the invention, the robot assembly further comprises N robot bodies, the robot bodies being connected to the calibration device, N being 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 comprises 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 that the machining precision of the robot is improved.
In the description of the present invention, the term "plurality" means two or more, unless explicitly defined otherwise, the orientation or positional relationship indicated by the terms "upper", "lower", etc. are orientation or positional relationship based on the drawings, merely for convenience of description of the present invention and to simplify the description, and do not indicate or imply that the apparatus or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention; the terms "coupled," "mounted," "secured," and the like are to be construed broadly, and may be fixedly coupled, detachably coupled, or integrally connected, for example; can be directly connected or indirectly connected through an intermediate medium. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
In the description of the present invention, the terms "one embodiment," "some embodiments," "particular embodiments," and the like, mean 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 above terms 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 of the preferred embodiments of the present invention and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (11)

1. A calibration control method for a robot, the robot comprising a calibration device, the calibration device comprising 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:
responding to a first calibration request of a first robot, and acquiring working states of the photoelectric sensors, wherein the N robots comprise the first robot;
generating a corresponding signal according to the working state, and sending the signal to the corresponding robot so as to calibrate the robot according to the signal;
the generating a corresponding signal according to the working state, and sending the signal to the 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 robots than the first robot in the N robots.
2. The calibration control method according to claim 1, characterized by further comprising:
and when receiving the response signal corresponding to the first signal, generating a second signal, and sending the second signal to the first robot, wherein the second signal is a signal allowing the first robot to occupy the photoelectric sensor.
3. The calibration control method according to claim 2, characterized by further comprising:
and if the response signal corresponding to the first signal is not received within the preset time, 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.
4. A calibration control method according to claim 3, characterized in that after the generation of the third signal, the method further comprises:
and generating corresponding alarm information.
5. A calibration control method according to claim 3, characterized in that 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 first target request in the request queue;
and sending the second signal to the third robot.
6. The calibration control method according to claim 5, characterized in that after transmitting the second signal to the third robot, the method further comprises:
the target request is removed from the request queue.
7. The calibration control method according to claim 5, wherein the generating a corresponding signal according to the operation state, transmitting the signal to the corresponding robot, further comprises:
transmitting 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.
8. The calibration control system of the robot is characterized by comprising a calibration device, an acquisition module, a transmission module, a generation module and a control module;
the calibration device comprises: a photoelectric sensor for calibrating tool coordinates of the robot;
The signal management device is connected with the photoelectric sensor and used for connecting N robots to receive a 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 the corresponding robot so as to calibrate the robot according to the signal;
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 configured to send the first signal to a second robot, where the second robot is another robot, except the first robot, of the N robots;
the control module comprises a memory and a processor, wherein the memory is used for storing programs or instructions; the processor being configured to implement the steps of the control method according to any one of claims 1 to 7 when executing the program or instructions.
9. A readable storage medium having stored thereon a program or instructions, which when executed by a processor, implement the steps of the control method according to any one of claims 1 to 7.
10. A robotic assembly, comprising:
the calibration control system of the robot of claim 8; and/or
The readable storage medium of claim 9.
11. The robotic assembly of claim 10, further comprising:
the N robot bodies are connected with the calibrating device, and N is a positive integer.
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