CN115890690B - Robot zero point adjustment method, device, equipment and readable storage medium - Google Patents
Robot zero point adjustment method, device, equipment and readable storage medium Download PDFInfo
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Abstract
The application discloses a zero point adjustment method, device and equipment for a robot and a readable storage medium, and relates to the technical field of robots, wherein the method comprises the following steps: screening at least one joint to be adjusted from all joints of the target robot according to the received first image of the target robot, wherein corresponding zero marks exist on all the joints; acquiring current environmental parameters of the target robot, and controlling preset laser equipment to emit corresponding zero rays to all joints to be adjusted according to the environmental parameters; and positioning the light spot position of each zero ray on the corresponding joint to be adjusted, and controlling the target robot to perform zero adjustment on each joint to be adjusted based on each light spot position and each zero mark. The technical problem that the accuracy of current robot zero point adjustment is lower has been solved to this application.
Description
Technical Field
The application relates to the technical field of robots, in particular to a robot zero point adjustment method, a device, equipment and a readable storage medium.
Background
With the rapid development of artificial intelligence, more and more intelligent robots are also applied to daily life and manufacturing industries, and in particular, industrial robots have become a standard device and are widely used worldwide.
In practical application of an industrial robot, the position and the zero position of the robot are easily deviated due to uncertain factors of the field environment, so that in order to ensure the working effect of the robot, all joints of the robot are required to be restored to the corresponding zero positions, at present, the zero adjustment of the robot is usually completed by manually adjusting all joints of the robot by a relative technician in a production laboratory, however, the mode is often dependent on subjective consciousness judgment of a person, errors are easily caused in the zero adjustment result, and therefore, the zero adjustment accuracy of the robot is low.
Disclosure of Invention
The main purpose of the application is to provide a method, a device, equipment and a readable storage medium for adjusting the zero point of a robot, which aim to solve the technical problem of lower accuracy of the zero point adjustment of the robot at present.
In order to achieve the above object, the present application provides a robot zero point adjustment method, including:
Screening at least one joint to be adjusted from all joints of the target robot according to the received first image of the target robot, wherein corresponding zero marks exist on all the joints;
acquiring current environmental parameters of the target robot, and controlling preset laser equipment to emit corresponding zero rays to all joints to be adjusted according to the environmental parameters;
and positioning the light spot position of each zero ray on the corresponding joint to be adjusted, and controlling the target robot to perform zero adjustment on each joint to be adjusted based on each light spot position and each zero mark.
Optionally, the step of controlling the preset laser device to emit the corresponding zero-point light to each joint to be adjusted according to the environmental parameter includes:
detecting whether the environmental parameter exceeds a preset environmental threshold;
if yes, inquiring the light emission power corresponding to the environmental parameter according to a preset emission power mapping table;
and controlling the preset laser equipment to emit zero rays corresponding to the light emission power to each joint to be adjusted.
Optionally, the step of controlling the target robot to perform zero adjustment on each joint to be adjusted based on each spot position and each zero mark includes:
Detecting whether each light spot position coincides with a corresponding zero mark or not based on the received second image of the target robot;
if yes, keeping the corresponding joint to be adjusted still;
if not, controlling the target robot to perform zero adjustment on each joint to be adjusted based on each light spot position and the corresponding zero mark.
Optionally, the step of controlling the target robot to perform zero adjustment on each joint to be adjusted based on each spot position and the corresponding zero mark includes:
calculating zero point adjustment parameters between the positions of the light spots and the corresponding zero point identifiers;
and controlling the target robot to perform zero adjustment on each joint to be adjusted according to each zero adjustment parameter.
Optionally, the step of controlling the target robot to perform zero adjustment on each joint to be adjusted according to each zero adjustment parameter includes:
sending corresponding zero point adjustment instructions to the target robot according to the zero point adjustment parameters so that the target robot can adjust the current position of the zero point mark according to the zero point adjustment instructions;
and if the current position of the zero mark is detected to be adjusted to be coincident with the corresponding light spot position, ending the adjustment.
Optionally, each joint corresponds to an indicator light, and the step of screening at least one joint to be adjusted from the joints of the target robot includes:
determining lamplight information corresponding to each indicator lamp according to the first image;
and selecting a target indicator lamp from the indicator lamps according to the lamplight information, and taking a joint corresponding to the target indicator lamp as the joint to be adjusted.
Optionally, before the step of receiving the first image of the target robot, the method further includes:
acquiring initial positions corresponding to all joints of the target robot, and controlling the preset laser equipment to emit the zero rays to all the initial positions to obtain all zero spots;
and taking the position corresponding to each zero point light spot as an initial zero point position, and setting a corresponding zero point mark at each initial zero point position.
In addition, in order to achieve the above object, the present application further provides a robot zero point adjustment device including:
the screening module is used for screening at least one joint to be adjusted from all joints of the target robot according to the received first image of the target robot, wherein corresponding zero point identifiers exist on all the joints;
The light emission module is used for acquiring the current environmental parameters of the target robot and controlling a preset laser device to emit corresponding zero rays to each joint to be adjusted according to the environmental parameters;
the zero point adjustment module is used for positioning the light spot positions of the zero point rays on the corresponding joints to be adjusted and controlling the target robot to perform zero point adjustment on the joints to be adjusted based on the light spot positions and the zero point identifiers.
Optionally, the light emitting module is further configured to:
detecting whether the environmental parameter exceeds a preset environmental threshold;
if yes, inquiring the light emission power corresponding to the environmental parameter according to a preset emission power mapping table;
and controlling the preset laser equipment to emit zero rays corresponding to the light emission power to each joint to be adjusted.
Optionally, the zero adjustment module is further configured to:
detecting whether each light spot position coincides with a corresponding zero mark or not based on the received second image of the target robot;
if yes, keeping the corresponding joint to be adjusted still;
if not, controlling the target robot to perform zero adjustment on each joint to be adjusted based on each light spot position and the corresponding zero mark.
Optionally, the zero adjustment module is further configured to:
calculating zero point adjustment parameters between the positions of the light spots and the corresponding zero point identifiers;
and controlling the target robot to perform zero adjustment on each joint to be adjusted according to each zero adjustment parameter.
Optionally, the zero adjustment module is further configured to:
sending corresponding zero point adjustment instructions to the target robot according to the zero point adjustment parameters so that the target robot can adjust the current position of the zero point mark according to the zero point adjustment instructions;
and if the current position of the zero mark is detected to be adjusted to be coincident with the corresponding light spot position, ending the adjustment.
Optionally, the screening module is further configured to:
determining lamplight information corresponding to each indicator lamp according to the first image;
and selecting a target indicator lamp from the indicator lamps according to the lamplight information, and taking the robot joint corresponding to the target indicator lamp as the joint to be adjusted.
Optionally, the robot zero point adjustment device is further configured to:
acquiring initial positions corresponding to all joints of the target robot, and controlling the preset laser equipment to emit the zero rays to all the initial positions to obtain all zero spots;
And taking the position corresponding to each zero point light spot as an initial zero point position, and setting a corresponding zero point mark at each initial zero point position.
The application also provides a zero point adjustment device of robot, the zero point adjustment device of robot includes: the robot zero point adjustment device comprises a memory, a processor and a robot zero point adjustment program which is stored in the memory and can run on the processor, wherein the robot zero point adjustment program realizes the steps of the robot zero point adjustment method when being executed by the processor.
The present application also provides a readable storage medium having a robot zero adjustment program stored thereon, which when executed by a processor, implements the steps of the robot zero adjustment method as described above.
The present application also provides a computer program product comprising a computer program which, when executed by a processor, implements the steps of a robot zero adjustment method as described above.
Compared with the current mode of manually adjusting the robot zero point by usually adopting a mode that related technicians go to a production laboratory, the method and the device for adjusting the robot zero point provided by the application, at least one joint to be adjusted is screened out from all joints of the target robot according to a received first image of the target robot, wherein corresponding zero point marks exist on all the joints, and joint screening is carried out by acquiring the first image of the target robot, so that joint zero point adjustment is carried out, and the aim of manually adjusting the robot without the need of going to the production laboratory by related technicians is fulfilled; acquiring current environmental parameters of the target robot, controlling preset laser equipment to emit corresponding zero rays to all joints to be adjusted according to the environmental parameters, and improving the adaptation degree of the zero rays and the surrounding environment by a technical means of emitting the zero rays with different powers based on the current environmental parameters, so that the technical defect of lower definition of imaging facula of the zero rays caused by interference of strong/weak natural light, strong/weak lamplight or other influencing factors in the surrounding environment on the zero rays is overcome, the definition of the imaging facula of the zero rays is improved, the accuracy of the subsequent positioning facula position is improved, and the accuracy of zero adjustment of the robot is further improved, which is one of the invention points of the application; finally, the spot positions of the zero rays on the corresponding joints to be adjusted are positioned, and based on the spot positions and the zero marks, the target robot is controlled to perform zero adjustment on the joints to be adjusted.
Drawings
Fig. 1 is a schematic flow chart of a first embodiment of a zero adjustment method of a robot in the present application;
fig. 2 is a schematic diagram of a zero adjustment scenario involved in the zero adjustment method of the robot of the present application;
fig. 3 is a schematic diagram of a preset laser device involved in the zero adjustment method of the robot of the present application;
fig. 4 is a schematic diagram of a device involved in the zero adjustment method of the robot of the present application;
fig. 5 is a schematic device structure diagram of a hardware operating environment involved in the zero adjustment method of the robot in the present application.
The realization, functional characteristics and advantages of the present application will be further described with reference to the embodiments, referring to the attached drawings.
Detailed Description
In order to make the above objects, features and advantages of the present application more comprehensible, the following description will make the technical solutions of the embodiments of the present application clear and complete with reference to the accompanying drawings of the embodiments of the present application. It will be apparent that the described embodiments are only some, but not all, of the embodiments of the present application. All other embodiments, based on the embodiments herein, which are within the scope of the protection of the present application, will be within the purview of one of ordinary skill in the art without the exercise of inventive faculty.
At present, the mode that the relevant technical personnel go to each joint of the robot in the production laboratory to carry out manual adjustment is generally adopted to accomplish the zero adjustment of the robot, however, this mode often relies on the subjective consciousness judgement of people, the result that leads to the zero adjustment easily has the error, thereby the accuracy of robot zero adjustment is lower, therefore this application considers the technical means that adopts preset laser equipment to launch zero ray and carry out zero adjustment, compare in manual adjustment's mode, this application can effectually improve the accuracy of robot zero adjustment, further consider that environmental factor can produce the interference to zero ray, natural light such as in the surrounding environment is too strong or light is too strong, all lead to the zero ray to throw the facula on waiting to adjust the joint easily, it is not clear enough, thereby lead to the comparison of follow-up zero sign and adjustment to have the error, and then lead to the accuracy of robot zero adjustment lower, consequently, this application has added the step of obtaining environmental parameter, send the zero ray of corresponding power intensity according to environmental parameter, make the light can adapt to current environment, thereby improve the zero ray and throw to waiting to adjust the degree of the joint, the facula on, and then the accuracy of robot zero adjustment has improved the accuracy of zero point adjustment.
An embodiment of the present application provides a robot zero adjustment method, in a first embodiment of the present application, referring to fig. 1, the robot zero adjustment method includes:
step S10, at least one joint to be adjusted is selected from all joints of the target robot according to a received first image of the target robot, wherein corresponding zero point identifiers exist on all the joints;
step S20, acquiring current environmental parameters of the target robot, and controlling preset laser equipment to emit corresponding zero rays to all joints to be adjusted according to the environmental parameters;
step S30, locating the spot positions of the zero-point rays on the corresponding joints to be adjusted, and controlling the target robot to perform zero adjustment on the joints to be adjusted based on the spot positions and the zero-point identifiers.
In this embodiment, it should be noted that, the target robot is a joint robot, as shown in fig. 2, the first joint, the second joint, the third joint, the fourth joint and the base in fig. 2 form the target robot together, and each joint carries a corresponding indicator light and a zero mark; the first image refers to a complete image of the target robot body, the image can be acquired by a preset image acquisition device such as a binocular camera, and in a preferred embodiment, the image can be replaced by a video; the joint to be adjusted refers to a robot joint needing zero point adjustment; the zero mark refers to a mark set at the initial zero position of each joint, and can be a sticker mark, a color mark or an anti-corrosion stainless steel metal sheet nailed at the zero mark, and the specific form of the zero mark is not limited in the embodiment; the environmental parameters are used for representing the relevant information of the surrounding environment light, and can comprise light intensity, light flux, light brightness, light illuminance and the like; the placement position of the preset laser device is required to be a position capable of irradiating all joints of the target robot, for example, the position of the right opposite side of the target robot, AS shown in fig. 2, the number of preset laser devices can be set according to practical application conditions, the preset laser device includes a laser emitting end and an environment sensor, referring to fig. 3, the laser emitting end is used for emitting zero rays to each joint to be adjusted, the environment sensor is used for obtaining current environment parameters, that is, detecting the light intensity, the light flux, the light brightness, the light illuminance and the like of the current environment light, where the environment sensor can be an environment light sensor, for example, a light treasure LTR-556ALS-01 environment light sensor or an AS73211-AQFM sensor; the zero-point light is a standard light which is stored in a preset laser device and corresponds to each joint before the target robot works, namely each joint is in a zero-point state, and each joint corresponds to one zero-point light.
As an example, steps S10 to S30 include: the control terminal equipment receives a first image of a target robot acquired by image acquisition equipment connected with the control terminal equipment, and screens out at least one joint to be adjusted which needs to be subjected to zero adjustment based on light information of an indicator lamp on each joint in the first image, wherein the light information is used for representing whether the corresponding joint needs to be subjected to zero adjustment or whether the corresponding joint needs to be subjected to zero detection, and can comprise light color, light brightness or light flickering conditions, such as red light indicates that the corresponding joint needs to be subjected to zero adjustment, yellow light indicates that the corresponding joint needs to be subjected to zero detection, namely, whether zero offset occurs in the corresponding joint is detected, and green light indicates that the corresponding joint is positioned at a zero position without zero adjustment or zero detection; after screening out each joint to be adjusted, the control terminal equipment sends a signal for acquiring environmental parameters to the preset laser equipment, after the preset laser equipment receives the signal, the control environment sensor acquires parameters such as light intensity, light flux, light brightness, light illuminance and the like in the current environment of the target robot, the parameters are fed back to the control terminal equipment, the control terminal equipment firstly detects whether the environmental parameters exceed a preset environmental threshold value, if so, a preset emission power mapping table is queried, the light emission power corresponding to the environmental parameters is obtained, and the light emission power is sent to the preset laser equipment so that the preset laser equipment controls a laser emission end to emit zero rays corresponding to the light emission power; the method comprises the steps of irradiating each zero ray to a position on a corresponding joint to be adjusted to be a spot position, wherein the spot position can be understood to be an initial zero position of the joint to be adjusted, namely a zero mark, only when a target robot works, each joint can deflect or change in position due to some objective factors, so that the initial zero position, namely the zero mark, is not at the original position, the original position is required to be restored, namely zero adjustment is performed, a second image fed back by an image acquisition device is received, the second image is used for representing superposition information of each spot position and each zero mark, zero adjustment parameters are calculated according to the superposition information, a zero adjustment instruction corresponding to the zero adjustment parameters is generated, the zero adjustment instruction is sent to the target robot, and the target robot is controlled to perform zero adjustment on the corresponding joint to be adjusted according to the zero adjustment instruction.
In this embodiment, first images of the target robot are collected by using the binocular camera, so that each joint to be adjusted is screened out, compared with the monocular camera, the binocular camera can restore the quality of the photographed image more truly, and the photographing error is smaller than that of a single camera for a photographing target with a longer distance, so that a larger recognition range is provided for subsequent image recognition, the accuracy of image recognition is improved, the accuracy of robot zero point adjustment is further improved, a related technician can remotely observe each joint condition of the target robot, and the target robot is remotely controlled to perform zero point adjustment, so that the robot does not need to go to a production laboratory, personnel are reduced, and the efficiency of robot zero point adjustment is improved. And secondly, by utilizing the technical means of emitting zero rays of corresponding power according to the current environmental parameters by the preset laser equipment, the interference of surrounding environmental light on the zero rays can be preferentially reduced, so that the accuracy of the subsequent positioning of the light spot position is improved, and compared with the manual means, the accuracy of laser adjustment is higher, so that the accuracy and the efficiency of robot zero adjustment are improved.
The step of controlling the preset laser device to emit corresponding zero rays to each joint to be adjusted according to the environmental parameters comprises the following steps:
Step S21, detecting whether the environmental parameter exceeds a preset environmental threshold;
step S22, if yes, inquiring the light emission power corresponding to the environmental parameter according to a preset emission power mapping table;
step S23, controlling the preset laser device to emit zero-point rays corresponding to the light emission power to each joint to be adjusted.
In this embodiment, it should be noted that, the preset environmental threshold refers to an environmental parameter standard value when ambient light does not cause interference to zero line, and each environmental parameter corresponds to an environmental threshold; the preset emission power mapping table includes a correspondence between an environmental parameter and an emission power of light, for example, when the intensity of light is a, the flux of light is B, the brightness of light is C, and the illuminance of light is D, the corresponding emission power of light is E, and may be set as a correspondence between the range of environmental parameters and the emission power of light, for example, when the intensity of light is a-a, the flux of light is B-B, the brightness of light is C-C, and the illuminance of light is D-D, the corresponding emission power of light is F, which may be designed by a relevant technician according to the actual application situation.
As an example, steps S21 to S23 include: detecting whether the environmental parameter exceeds a preset environmental threshold; if the current environment parameters exceed the preset environment parameters, the current environment parameters cause interference to the zero point light, a preset emission power mapping table is queried to obtain the light emission power corresponding to the current environment parameters, and a laser emission end in the preset laser equipment is controlled to emit the zero point light corresponding to the light emission power to the joint to be adjusted; if the zero-point light does not exceed the preset zero-point light, the current environment parameters are not interfered, the zero-point light corresponding to the joint to be adjusted is directly emitted, and the light emission power is not adjusted.
According to the technical means for emitting the zero line of the corresponding power based on the current environmental parameters, the interference of the environmental factors on the zero line is considered, so that the interference on the whole zero adjustment is caused, the positioning accuracy of the subsequent light spot position is improved, and the accuracy of the zero adjustment is improved.
The step of controlling the target robot to perform zero adjustment on each joint to be adjusted based on each light spot position and each zero mark comprises the following steps:
Step S31, detecting whether each spot position coincides with a corresponding zero mark or not based on the received second image of the target robot;
step S32, if yes, keeping the corresponding joint to be adjusted still;
and step S33, if not, controlling the target robot to perform zero adjustment on each joint to be adjusted based on each light spot position and the corresponding zero mark.
As an example, step S31 to step S33 include: respectively acquiring pixel coordinates of each light spot position and a corresponding zero mark from a received second image of the target robot, and detecting whether each light spot position and the corresponding zero mark are overlapped or not according to each pixel coordinate; if the joints are overlapped, the joint to be adjusted is at the initial zero position, and the joint to be adjusted is kept motionless without zero adjustment; if the joints to be adjusted are not overlapped, that is, the joints to be adjusted are not at the initial zero point, and zero point position offset occurs in the working process, corresponding zero point adjustment parameters are calculated according to pixel coordinates of the joints to be adjusted, the zero point adjustment parameters are sent to the target robot, and the target robot controls the joints to be adjusted to move according to the zero point adjustment parameters until the joints to be adjusted move until the zero point marks are overlapped with the light spot positions.
The step of controlling the target robot to perform zero adjustment on each joint to be adjusted based on each light spot position and the corresponding zero mark comprises the following steps:
step S331, calculating zero point adjustment parameters between the positions of the light spots and the corresponding zero point marks;
step S332, according to each zero adjustment parameter, controlling the target robot to perform zero adjustment on each joint to be adjusted.
In this embodiment, the zero point adjustment parameter refers to a displacement distance and a deflection angle required when each zero point identifier is adjusted to a corresponding spot position.
As an example, steps S331 to S332 include: calculating a displacement distance and a deflection angle required by the pixel coordinates corresponding to the zero mark to move to the pixel coordinates corresponding to the light spot position; and controlling the corresponding joint to be adjusted to move or rotate according to the displacement distance and the deflection angle so as to adjust the zero mark to coincide with the spot position, thereby completing zero adjustment.
The step of controlling the target robot to perform zero adjustment on each joint to be adjusted according to each zero adjustment parameter includes:
Step S3321, according to each zero point adjustment parameter, sending a corresponding zero point adjustment instruction to the target robot so that the target robot can adjust the current position of the zero point mark according to each zero point adjustment instruction;
step S3322, if it is detected that the current position of the zero mark is adjusted to be coincident with the corresponding spot position, the adjustment is ended.
As an example, steps S3321 to S3322 include: according to the calculated displacement distance and deflection angle, the control terminal equipment sends a corresponding zero point adjustment instruction to the target robot so that the target robot can adjust the current position of the joint to be adjusted according to the zero point adjustment instruction, wherein the zero point adjustment instruction can be divided into a displacement adjustment instruction and an angle adjustment instruction, the displacement adjustment instruction is used for controlling the target robot to horizontally or vertically move the joint to be adjusted, and the angle adjustment instruction is used for controlling the target robot to rotate the joint to be adjusted; and if the pixel coordinates of the zero mark on the joint to be adjusted are detected to be adjusted to the corresponding light spot positions, sending an ending instruction to the target robot so as to control the target robot to end zero adjustment, wherein after the target robot finishes the position adjustment of the joint to be adjusted each time, the image acquisition equipment can be used for acquiring a third image again to detect whether the adjusted zero mark is overlapped with the light spot positions or not, and if the adjusted zero mark is not overlapped with the light spot positions, the adjustment is needed again.
Wherein, each joint corresponds to one indicator light, and the step of screening out at least one joint to be adjusted from each joint of the target robot comprises the following steps:
step S11, determining the lamplight information corresponding to each indicator lamp according to the first image;
and step S12, selecting a target indicator lamp from the indicator lamps according to the lamplight information, and taking the robot joint corresponding to the target indicator lamp as the joint to be adjusted.
In this embodiment, it should be noted that, the indicator light is electrically connected to each robot joint, when each joint of the target robot is shifted, and zero adjustment or zero detection needs to be performed, the indicator light will flash or emit light with different colors or different intensities, so as to prompt a technician that the joint needs to perform zero adjustment, and the joint to be adjusted can be more quickly screened out by using the indicator light, thereby improving the efficiency of zero adjustment.
As an example, steps S11 to S12 include: observing the lamplight flickering condition or lamplight color or lamplight intensity corresponding to each indicator lamp in the first image; and selecting a target indicator lamp from the indicator lamps according to the lamplight flickering condition, lamplight color or lamplight intensity, and taking the robot joint corresponding to the target indicator lamp as the joint to be adjusted.
Wherein, before the step of receiving the first image of the target robot, the method further comprises:
step A10, acquiring initial positions corresponding to all joints of the target robot, and controlling the preset laser equipment to emit the zero rays to all the initial positions to obtain all zero spots;
and step A20, taking the position corresponding to each zero point light spot as an initial zero point position, and setting a corresponding zero point mark at each initial zero point position.
In this embodiment, it should be noted that, zero calibration is performed in advance before the target robot works, so as to obtain zero rays and zero marks of each joint, and the zero rays and the zero marks are used for comparison when the zero adjustment is performed subsequently, so that the accuracy of the zero adjustment is improved.
As an example, steps a10 to a20 include: acquiring the initial position of each joint of the target robot before working, wherein each joint at the initial position is in a zero state, and controlling the preset laser equipment to emit light to each joint at the initial position, wherein the light is zero light, and light spots irradiated to the corresponding joints by the light are zero light spots; and taking the position corresponding to each zero point light spot as an initial zero point position, and setting the mark at the initial zero point position as a zero point mark.
For example, referring to fig. 2, assume that at this time, the initial positions of the joints of the target robot before the operation, that is, the first joint, the second joint, the third joint, and the fourth joint are all in a zero state, taking the first joint as an example, the preset laser device is controlled to emit light to the first joint (that is, a dashed line between the preset laser device and the first joint in fig. 2), where the light may fall on any position of the first joint, specifically, the light may be set by a related technician, the light is a zero light, a light spot on the first joint is a zero light spot, a position corresponding to the zero light spot is an initial zero position, and the set identifier at the initial zero position is a zero identifier.
Compared with the current mode of manually adjusting the robot zero point by usually adopting a mode that related technicians go to a production laboratory, the method and the device for adjusting the robot zero point provided by the application, at least one joint to be adjusted is screened out from all joints of the target robot according to a received first image of the target robot, wherein corresponding zero point marks exist on all the joints, and joint screening is carried out by acquiring the first image of the target robot, so that joint zero point adjustment is carried out, and the aim of manually adjusting the robot without the need of going to the production laboratory by related technicians is fulfilled; acquiring current environmental parameters of the target robot, controlling preset laser equipment to emit corresponding zero rays to all joints to be adjusted according to the environmental parameters, and improving the adaptation degree of the zero rays and the surrounding environment by a technical means of emitting the zero rays with different powers based on the current environmental parameters, so that the technical defect of lower definition of imaging facula of the zero rays caused by interference of strong/weak natural light, strong/weak lamplight or other influencing factors in the surrounding environment on the zero rays is overcome, the definition of the imaging facula of the zero rays is improved, the accuracy of the subsequent positioning facula position is improved, and the accuracy of zero adjustment of the robot is further improved, which is one of the invention points of the application; finally, the spot positions of the zero rays on the corresponding joints to be adjusted are positioned, and based on the spot positions and the zero marks, the target robot is controlled to perform zero adjustment on the joints to be adjusted.
In addition, an embodiment of the present application further provides a zero point adjustment device for a robot, as shown in fig. 4, including:
the screening module 10 is configured to screen at least one joint to be adjusted from the joints of the target robot according to the received first image of the target robot, where each joint has a corresponding zero point identifier;
the light emission module 20 is configured to obtain current environmental parameters of the target robot, and control a preset laser device to emit corresponding zero rays to each joint to be adjusted according to the environmental parameters;
the zero point adjustment module 30 is configured to locate a light spot position of each zero point ray on a corresponding joint to be adjusted, and control the target robot to perform zero point adjustment on each joint to be adjusted based on each light spot position and each zero point identifier.
Optionally, the light emitting module 20 is further configured to:
detecting whether the environmental parameter exceeds a preset environmental threshold;
if yes, inquiring the light emission power corresponding to the environmental parameter according to a preset emission power mapping table;
and controlling the preset laser equipment to emit zero rays corresponding to the light emission power to each joint to be adjusted.
Optionally, the zero adjustment module 30 is further configured to:
detecting whether each light spot position coincides with a corresponding zero mark or not based on the received second image of the target robot;
if yes, keeping the corresponding joint to be adjusted still;
if not, controlling the target robot to perform zero adjustment on each joint to be adjusted based on each light spot position and the corresponding zero mark.
Optionally, the zero adjustment module 30 is further configured to:
calculating zero point adjustment parameters between the positions of the light spots and the corresponding zero point identifiers;
and controlling the target robot to perform zero adjustment on each joint to be adjusted according to each zero adjustment parameter.
Optionally, the zero adjustment module 30 is further configured to:
sending corresponding zero point adjustment instructions to the target robot according to the zero point adjustment parameters so that the target robot can adjust the current position of the zero point mark according to the zero point adjustment instructions;
and if the current position of the zero mark is detected to be adjusted to be coincident with the corresponding light spot position, ending the adjustment.
Optionally, the screening module 10 is further configured to:
determining lamplight information corresponding to each indicator lamp according to the first image;
And selecting a target indicator lamp from the indicator lamps according to the lamplight information, and taking the robot joint corresponding to the target indicator lamp as the joint to be adjusted.
Optionally, the robot zero point adjustment device is further configured to:
acquiring initial positions corresponding to all joints of the target robot, and controlling the preset laser equipment to emit the zero rays to all the initial positions to obtain all zero spots;
and taking the position corresponding to each zero point light spot as an initial zero point position, and setting a corresponding zero point mark at each initial zero point position.
The robot zero point adjusting device provided by the application adopts the robot zero point adjusting method in the embodiment, and solves the technical problem that the accuracy of the current robot zero point adjustment is low. Compared with the prior art, the beneficial effects of the zero point adjusting device for the robot provided by the embodiment of the application are the same as those of the zero point adjusting method for the robot provided by the embodiment, and other technical features of the zero point adjusting device for the robot are the same as those disclosed by the method of the embodiment, so that the description is omitted.
The embodiment of the application provides electronic equipment, the electronic equipment includes: at least one processor; and a memory communicatively coupled to the at least one processor; the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor, so that the at least one processor can execute the robot zero adjustment method in the first embodiment.
Referring now to fig. 5, a schematic diagram of an electronic device suitable for use in implementing embodiments of the present disclosure is shown. The electronic devices in the embodiments of the present disclosure may include, but are not limited to, mobile terminals such as mobile phones, notebook computers, digital broadcast receivers, PDAs (personal digital assistants), PADs (tablet computers), PMPs (portable multimedia players), in-vehicle terminals (e.g., in-vehicle navigation terminals), and the like, and stationary terminals such as digital TVs, desktop computers, and the like. The electronic device shown in fig. 5 is merely an example and should not be construed to limit the functionality and scope of use of the disclosed embodiments.
As shown in fig. 5, the electronic device may include a processing means (e.g., a central processing unit, a graphic processor, etc.) that may perform various appropriate actions and processes according to a program stored in a Read Only Memory (ROM) or a program loaded from a storage means into a Random Access Memory (RAM). In the RAM, various programs and data required for the operation of the electronic device are also stored. The processing device, ROM and RAM are connected to each other via a bus. An input/output (I/O) interface is also connected to the bus.
In general, the following systems may be connected to the I/O interface: input devices including, for example, touch screens, touch pads, keyboards, mice, image sensors, microphones, accelerometers, gyroscopes, etc.; output devices including, for example, liquid Crystal Displays (LCDs), speakers, vibrators, etc.; storage devices including, for example, magnetic tape, hard disk, etc.; a communication device. The communication means may allow the electronic device to communicate with other devices wirelessly or by wire to exchange data. While electronic devices having various systems are shown in the figures, it should be understood that not all of the illustrated systems are required to be implemented or provided. More or fewer systems may alternatively be implemented or provided.
In particular, according to embodiments of the present disclosure, the processes described above with reference to flowcharts may be implemented as computer software programs. For example, embodiments of the present disclosure include a computer program product comprising a computer program embodied on a computer readable medium, the computer program comprising program code for performing the method shown in the flowcharts. In such an embodiment, the computer program may be downloaded and installed from a network via a communication device, or installed from a storage device, or installed from ROM. The above-described functions defined in the methods of the embodiments of the present disclosure are performed when the computer program is executed by a processing device.
The electronic equipment provided by the application adopts the robot zero point adjustment method in the embodiment, so that the technical problem of low accuracy of the current robot zero point adjustment is solved. Compared with the prior art, the beneficial effects of the electronic device provided by the embodiment of the application are the same as those of the robot zero point adjustment method provided by the embodiment, and other technical features of the electronic device are the same as those disclosed by the method of the embodiment, so that the description is omitted here.
It should be understood that portions of the present disclosure may be implemented in hardware, software, firmware, or a combination thereof. In the description of the above embodiments, particular features, structures, materials, or characteristics may be combined in any suitable manner in any one or more embodiments or examples.
The foregoing is merely specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily think about changes or substitutions within the technical scope of the present application, and the changes and substitutions are intended to be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
The present embodiment provides a computer-readable storage medium having computer-readable program instructions stored thereon for performing the robot zero adjustment method in the first embodiment described above.
The computer readable storage medium provided by the embodiments of the present application may be, for example, a usb disk, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, or device, or a combination of any of the foregoing. More specific examples of the computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In this embodiment, a computer-readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, or device. Program code embodied on a computer readable storage medium may be transmitted using any appropriate medium, including but not limited to: electrical wires, fiber optic cables, RF (radio frequency), and the like, or any suitable combination of the foregoing.
The above-described computer-readable storage medium may be contained in an electronic device; or may exist alone without being assembled into an electronic device.
The computer-readable storage medium carries one or more programs that, when executed by an electronic device, cause the electronic device to: screening at least one joint to be adjusted from all joints of the target robot according to the received first image of the target robot, wherein corresponding zero marks exist on all the joints; acquiring current environmental parameters of the target robot, and controlling preset laser equipment to emit corresponding zero rays to all joints to be adjusted according to the environmental parameters; and positioning the light spot position of each zero ray on the corresponding joint to be adjusted, and controlling the target robot to perform zero adjustment on each joint to be adjusted based on each light spot position and each zero mark.
Computer program code for carrying out operations of the present disclosure may be written in one or more programming languages, including an object oriented programming language such as Java, smalltalk, C ++ and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computer (for example, through the Internet using an Internet service provider).
The flowcharts and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present application. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
The modules described in the embodiments of the present disclosure may be implemented in software or hardware. Wherein the name of the module does not constitute a limitation of the unit itself in some cases.
The computer readable storage medium is stored with computer readable program instructions for executing the robot zero point adjustment method, and solves the technical problem that the accuracy of the current robot zero point adjustment is low. Compared with the prior art, the beneficial effects of the computer readable storage medium provided by the embodiment of the present application are the same as those of the robot zero adjustment method provided by the above embodiment, and are not described herein.
The present application also provides a computer program product comprising a computer program which, when executed by a processor, implements the steps of a robot zero adjustment method as described above.
The computer program product provided by the application solves the technical problem that the accuracy of zero point adjustment of the existing robot is low. Compared with the prior art, the beneficial effects of the computer program product provided by the embodiment of the present application are the same as those of the robot zero adjustment method provided by the above embodiment, and are not described in detail herein.
The foregoing description is only of the preferred embodiments of the present application and is not intended to limit the scope of the claims, and all equivalent structures or equivalent processes using the descriptions and drawings of the present application, or direct or indirect application in other related technical fields are included in the scope of the claims.
Claims (9)
1. The robot zero point adjustment method is characterized by comprising the following steps of:
screening at least one joint to be adjusted from all joints of the target robot according to the received first image of the target robot, wherein corresponding zero marks exist on all the joints;
acquiring current environmental parameters of the target robot, and controlling preset laser equipment to emit corresponding zero rays to all joints to be adjusted according to the environmental parameters, wherein the environmental parameters are used for representing information of surrounding environment rays, including ray intensity, ray flux, ray brightness and ray illuminance;
positioning the spot positions of the zero rays on the corresponding joints to be adjusted, obtaining pixel coordinates of the spot positions and pixel coordinates of zero marks corresponding to the spot positions based on the received second image of the target robot, and detecting whether the spot positions coincide with the corresponding zero marks according to the pixel coordinates;
if yes, keeping the corresponding joint to be adjusted still;
if not, controlling the target robot to perform zero adjustment on each joint to be adjusted based on each light spot position and the corresponding zero mark.
2. The method of claim 1, wherein the step of controlling the preset laser device to emit the corresponding zero-point light to each joint to be adjusted according to the environmental parameter comprises:
detecting whether the environmental parameter exceeds a preset environmental threshold;
if yes, inquiring the light emission power corresponding to the environmental parameter according to a preset emission power mapping table;
and controlling the preset laser equipment to emit zero rays corresponding to the light emission power to each joint to be adjusted.
3. The method of zero adjustment of a robot according to claim 1, wherein the step of controlling the target robot to perform zero adjustment on each joint to be adjusted based on each spot position and a corresponding zero mark comprises:
calculating zero point adjustment parameters between the positions of the light spots and the corresponding zero point identifiers;
and controlling the target robot to perform zero adjustment on each joint to be adjusted according to each zero adjustment parameter.
4. The method for zero adjustment of a robot according to claim 3, wherein the step of controlling the target robot to zero-adjust each joint to be adjusted according to each zero-adjustment parameter comprises:
Sending corresponding zero point adjustment instructions to the target robot according to the zero point adjustment parameters so that the target robot can adjust the current position of the zero point mark according to the zero point adjustment instructions;
and if the current position of the zero mark is detected to be adjusted to be coincident with the corresponding light spot position, ending the adjustment.
5. The robot zero point adjustment method according to claim 1, wherein one indicator lamp is provided for each of the joints, and the step of screening out at least one joint to be adjusted among the joints of the target robot comprises:
determining lamplight information corresponding to each indicator lamp according to the first image;
and selecting a target indicator lamp from the indicator lamps according to the lamplight information, and taking a joint corresponding to the target indicator lamp as the joint to be adjusted.
6. The robot zero point adjustment method according to claim 1, further comprising, before the step of receiving the first image of the target robot:
acquiring initial positions corresponding to all joints of the target robot, and controlling the preset laser equipment to emit the zero rays to all the initial positions to obtain all zero spots;
And taking the position corresponding to each zero point light spot as an initial zero point position, and setting a corresponding zero point mark at each initial zero point position.
7. A robot zero point adjustment device, characterized by comprising:
the screening module is used for screening at least one joint to be adjusted from all joints of the target robot according to the received first image of the target robot, wherein corresponding zero point identifiers exist on all the joints;
the light emission module is used for acquiring current environment parameters of the target robot and controlling preset laser equipment to emit corresponding zero rays to all joints to be adjusted according to the environment parameters, wherein the environment parameters are used for representing information of surrounding environment light, and the information comprises light intensity, light flux, light brightness and light illuminance;
the zero point adjustment module is used for positioning the spot positions of the zero point rays on the corresponding joints to be adjusted, obtaining pixel coordinates of the spot positions and pixel coordinates of zero point marks corresponding to the spot positions based on the received second image of the target robot, and detecting whether the spot positions are coincident with the corresponding zero point marks according to the pixel coordinates;
If yes, keeping the corresponding joint to be adjusted still;
if not, controlling the target robot to perform zero adjustment on each joint to be adjusted based on each light spot position and the corresponding zero mark.
8. An electronic device, the electronic device comprising:
at least one processor; the method comprises the steps of,
a memory communicatively coupled to the at least one processor; wherein,,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the steps of the robot zero adjustment method of any one of claims 1 to 6.
9. A readable storage medium, characterized in that it has stored thereon a program for realizing robot zero point adjustment, which is executed by a processor to realize the steps of the robot zero point adjustment method according to any one of claims 1 to 6.
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| DE102009017491A1 (en) * | 2009-04-15 | 2010-11-11 | Kuka Roboter Gmbh | System and method for measuring a manipulator |
| CN209951165U (en) * | 2019-01-24 | 2020-01-17 | 深圳市银星智能科技股份有限公司 | Mobile robot |
| CN112297054B (en) * | 2020-09-24 | 2021-11-23 | 苏州玖物互通智能科技有限公司 | Zero point debugging method for cooperative robot |
| CN114147725B (en) * | 2021-12-21 | 2024-04-02 | 乐聚(深圳)机器人技术有限公司 | Zero point adjustment method, device and equipment for robot and storage medium |
| CN115256469A (en) * | 2022-09-08 | 2022-11-01 | 中铭谷智能机器人(广东)有限公司 | Zero calibration method for cooperative robot |
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