Coordinate conversion method, device and computer-readable medium for robot

Abstract

The present invention discloses a coordinate conversion method, device, and computer-readable medium for a robot, belonging to the field of robot control technology. A specific implementation of the method includes: first, obtaining the self-coordinate system of a virtual robot in a simulation environment, and the coordinate values ​​of the end of the virtual robot relative to the self-coordinate system; then, reading the coordinate values ​​of the end of a physical robot in a real environment relative to the system coordinate system; and finally, determining the system coordinate system of the physical robot in a real environment based on the self-coordinate system of the virtual robot, the coordinate values ​​of the end of the virtual robot, and the coordinate values ​​of the end of the physical robot. Thus, by converting the self-coordinate system of the virtual robot into the system coordinate system, the system coordinates of the physical robot in the real environment can be accurately obtained, so that without knowing the coordinate system referenced by the physical robot's operation, the system coordinate system can be used as a reference to effectively control the operation of the physical robot.

Description

Technical Field

[0001] The present invention relates to the field of robot control technology, and in particular to a coordinate conversion method, device and computer-readable medium for a robot. Background Art

[0002] In the related technology, in the process of controlling the work of the robot, it is often necessary to extract and design the working path of the robot. For example, when the robot is performing welding or spraying, it is necessary to pre-plan the starting point, end point and trajectory route for the working robot, so as to control the physical robot to complete the welding or spraying work; however, the current problem when planning the robot's working route is that the coordinates of the physical robot and the virtual robot in the control system cannot correspond.

[0003] To this end, existing technologies obtain the physical robot's posture in a real environment and adjust the virtual robot's posture based on the physical robot's posture, so that the physical robot and the virtual robot have the same posture. The control system then controls the virtual robot to control the physical robot's movement. However, in actual work scenarios, there are other external structures connected to the physical robot, such as external shafts, gantries, or guide rails. The posture of these external structures will have a substantial impact on the physical robot's movement. In addition, due to the inability to select a suitable robot reference coordinate system, the control system always experiences path deviations when controlling the physical robot through the virtual robot, and thus cannot effectively control the physical robot's operation. Summary of the Invention

[0004] The present invention provides a coordinate conversion method, device, and computer-readable medium for a robot, and the device and computer-readable medium. The method can effectively determine a reference coordinate system to control the operation of a physical robot without knowing the coordinate system referenced by the physical robot.

[0005] To achieve the above-mentioned purpose, according to the first aspect of an embodiment of the present application, a coordinate conversion method for a robot is provided, the method comprising: obtaining the own coordinate system of a virtual robot in a simulation environment, and the coordinate values ​​of the end of the virtual robot relative to the own coordinate system; reading the coordinate values ​​of the end of a physical robot in a real environment relative to the system coordinate system; based on the own coordinate system of the virtual robot, the coordinate values ​​of the end of the virtual robot and the coordinate values ​​of the end of the physical robot; determining the system coordinate system of the physical robot in the real environment.

[0006] Optionally, the method also includes: determining the angle of the joint angle of the physical robot in a real environment to obtain a first angle; obtaining the angle of the joint angle of the external structure connected to the physical robot in the real environment to obtain a second angle; adjusting the joint angle of the robot to be tested in the simulation environment based on the first angle to obtain a virtual robot; adjusting the joint angle of the external structure to be tested in the simulation environment based on the second angle to obtain a virtual external structure; and constructing a simulation environment corresponding to the real environment based on the virtual robot and the virtual external structure.

[0007] Optionally, the external structure includes one or more of an external shaft, a gantry, and a guide rail.

[0008] Optionally, when the self-coordinate system is the base coordinate system of the virtual robot; the acquisition of the self-coordinate system of the virtual robot in the simulation environment, and the coordinate value of the end of the virtual robot relative to the self-coordinate system; includes: taking the base center of the virtual robot as the coordinate origin, acquiring the base coordinate system of the virtual robot in the simulation environment; taking the base coordinate system as a reference, acquiring the coordinate value of the end of the virtual robot relative to the base coordinate system.

[0009] Optionally, when the self-coordinate system is the tool coordinate system of the virtual robot, obtaining the self-coordinate system of the virtual robot in the simulation environment, and the coordinate value of the end of the virtual robot relative to the self-coordinate system, includes: obtaining the tool coordinate system of the virtual robot in the simulation environment; reading the end coordinate value of the physical robot in the real environment relative to the basic coordinate system; and calculating the coordinate value of the end of the virtual robot relative to the tool coordinate system based on the end coordinate value of the physical robot and the tool coordinate system of the virtual robot.

[0010] Optionally, obtaining the tool coordinate system of the virtual robot in the simulation environment includes: obtaining the basic coordinate system of the virtual robot in the simulation environment with the base center of the virtual robot as the coordinate origin; obtaining the coordinate value of the tool center point (Tool Center Point, abbreviated as TCP) grasped by the robotic arm of the physical robot; and determining the tool coordinate system of the virtual robot in the simulation environment based on the basic coordinate system and the TCP coordinate value.

[0011] To achieve the above-mentioned purpose, according to the second aspect of an embodiment of the present application, a coordinate conversion device for a robot is provided, and the device includes: a first acquisition module, used to obtain the self-coordinate system of a virtual robot in a simulation environment, and the coordinate value of the end of the virtual robot relative to the self-coordinate system; a reading module, used to read the coordinate value of the end of a physical robot in a real environment relative to the system coordinate system; a first determination module, used to determine the system coordinate system of the physical robot in the real environment based on the self-coordinate system of the virtual robot, the coordinate value of the end of the virtual robot and the coordinate value of the end of the physical robot.

[0012] Optionally, the device also includes: a second determination module, used to determine the angle of the joint angle of the physical robot in a real environment to obtain a first angle; a second acquisition module, used to obtain the angle of the joint angle of the external structure connected to the physical robot in a real environment to obtain a second angle; an adjustment module, used to adjust the joint angle of the robot to be tested in the simulation environment based on the first angle and the second angle to obtain a virtual robot.

[0013] To achieve the above-mentioned purpose, according to the third aspect of an embodiment of the present application, an electronic device is also provided, which includes: a processor, and a memory for storing executable instructions of the processor; wherein the processor is configured to execute the method for coordinate transformation of a robot as described in the first aspect by executing the executable instructions.

[0014] To achieve the above-mentioned purpose, according to the fourth aspect of an embodiment of the present application, a computer-readable medium is further provided, on which a computer program is stored. When the program is executed by a processor, the method for coordinate transformation of a robot as described in the first aspect is implemented.

[0015] Compared to the prior art, embodiments of the present invention provide a coordinate conversion method, apparatus, and computer-readable medium for a robot. A specific implementation of the method includes: first, obtaining a virtual robot's own coordinate system in a simulation environment, and the coordinate values ​​of the end point of the virtual robot relative to the own coordinate system; then, reading the coordinate values ​​of the end point of a physical robot in a real environment relative to a system coordinate system; and finally, determining the system coordinate system of the physical robot in a real environment based on the virtual robot's own coordinate system, the end point coordinate values ​​of the virtual robot, and the end point coordinate values ​​of the physical robot. This embodiment determines the system coordinate system of the physical robot based on the coordinate values ​​of the end point of the virtual robot relative to the own coordinate system in the simulation environment, and the coordinate values ​​of the end point of the physical robot relative to the system coordinate system in the real environment. Thus, the system coordinate system of the physical robot in the real environment can be accurately obtained, thereby effectively controlling the operation of the physical robot. This solves the problem in the prior art of the control system always having path deviations when controlling the physical robot due to the inability to effectively select a suitable robot reference coordinate system. This further reduces errors in the physical robot's operation and improves the accuracy of the robot's machining of the target workpiece. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Hereinafter, some specific embodiments of the present invention will be described in detail in an exemplary and non-limiting manner with reference to the accompanying drawings. The same reference numerals in the accompanying drawings indicate the same or similar components or parts. It should be understood by those skilled in the art that these drawings are not necessarily drawn to scale. In the accompanying drawings:

[0017] Figure 1 A schematic flow chart of a coordinate conversion method for a robot provided in one embodiment of the present invention;

[0018] Figure 2 A schematic diagram of a process for creating a virtual robot in a simulation environment according to an embodiment of the present invention;

[0019] Figure 3 A schematic diagram of a process for obtaining coordinate values ​​of a virtual robot's end relative to a base coordinate system in one embodiment of the present invention;

[0020] Figure 4 A schematic diagram of a process for obtaining coordinate values ​​of an end point of a virtual robot relative to a tool coordinate system in one embodiment of the present invention;

[0021] Figure 5 Schematic diagram of the structure of a coordinate conversion device for a robot provided in one embodiment of the present invention. DETAILED DESCRIPTION

[0022] In order to make the purposes, features, and advantages of the present invention more obvious and easy to understand, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without making creative efforts shall fall within the scope of protection of the present invention.

[0023] The present invention can be applied to various robot control systems, simulation systems, online control software, and offline programming software. The robot control using a simulation system / offline programming software is used as an example for schematic illustration.

[0024] To ensure smooth operation, this embodiment plans the robot's working trajectory, cutting direction, and end point in advance when controlling the physical robot. The robot involved in the present invention can be applied to various practical work scenarios, such as welding, palletizing, and spraying.

[0025] The robots involved in the present invention include but are not limited to: industrial robots and educational robots, which have 3-6 degrees of freedom. This embodiment is schematically illustrated with 6 degrees of freedom, corresponding to the J1-J6 joints. The robot includes: a base, an elbow, a wrist, an arm (a robotic arm that clamps each workpiece through tools), a flange, etc. The robot internally contains: a servo motor, a conveyor belt, an air outlet, etc.

[0026] like Figure 1 FIG. 1 is a flow chart of a coordinate conversion method for a robot provided by an embodiment of the present invention. A coordinate conversion method for a robot, the method comprising at least the following steps:

[0027] S101, obtaining the self-coordinate system of the virtual robot in the simulation environment and the coordinate values ​​of the end of the virtual robot relative to the self-coordinate system;

[0028] S102, reading the coordinate value of the end of the physical robot in the real environment relative to the system coordinate system;

[0029] S103, based on the virtual robot's own coordinate system, the terminal coordinate value of the virtual robot and the terminal coordinate value of the physical robot; determine the system coordinate system of the physical robot in the real environment.

[0030] In S101, the simulation environment refers to an environment identical to the real environment. In the real environment, there is a physical robot and an external structure connected to the physical robot. Similarly, in the simulation environment, there is a virtual robot with the same structure as the physical robot and a virtual external structure identical to the physical external structure. The six joint angles of the virtual robot are positioned in the same manner as the six joint angles of the physical robot. Similarly, the joint angles of the virtual external structure in the simulation environment are positioned in the same manner as the joint angles of the physical external structure in the real environment.

[0031] Here, the joint angle is used to indicate the angle of the axis. Each axis has an initial position, which is used as the mechanical zero point, and the angles of the axis are relative to this zero point.

[0032] There are two types of virtual robot coordinate systems: the base coordinate system and the tool coordinate system. The tool is mounted on the end of the virtual robot and can be a welding gun, gripper, laser cutting head, electric spindle, or grinding head.

[0033] In S102 , the three-dimensional coordinates of the end point of the physical robot relative to the system coordinate system are read based on the teaching pendant in the real environment to obtain the coordinate values.

[0034] Here, the physical robot end point can be the center point of the robot flange end or the calibrated TCP end.

[0035] In S103, when determining the system coordinate system of the physical robot in the real environment, the calculation formula used is shown in the following formula (1).

[0036] M 求 ×M 输入 =M loc ×M tool Formula (1);

[0037] Among them, M loc is the virtual robot’s own coordinate system in the simulation environment, M tool It is the coordinate value of the end of the virtual robot relative to its own coordinate system after setting the joint angle; M 输入 It is the coordinate of the robot end relative to the system coordinate system read by the teaching pendant in the real environment; M 求 It is the system coordinate system in the real environment.

[0038] This embodiment constructs a simulation environment identical to the real environment and obtains the virtual robot's own coordinate system and the coordinate values ​​of the virtual robot's end point relative to the virtual robot's own coordinate system in the simulation environment. The teach pendant then reads the coordinate values ​​of the robot's end point relative to the system coordinate system in the real environment. Finally, the system coordinate system in the real environment is calculated based on the virtual robot's own coordinate system, the coordinate values ​​of the virtual robot's end point, and the coordinate values ​​of the physical robot's end point. Thus, the virtual robot's own coordinate system is converted into the system coordinate system. This allows the physical robot to be effectively controlled using the system coordinate system as a reference without knowing the coordinate system used by the physical robot. This solves the existing problem of path deviations when controlling the physical robot due to the inability to effectively select a suitable robot reference coordinate system. This further reduces errors in the physical robot's operation and improves the accuracy of the robot's machining of the target workpiece.

[0039] It should be noted that the type of the physical robot in this embodiment is an industrial robot or an educational robot.

[0040] like Figure 2 FIG. 1 is a flow chart of creating a virtual robot in a simulation environment according to an embodiment of the present invention;

[0041] In a preferred implementation of this embodiment, creating a virtual robot in a simulation environment includes at least the following steps:

[0042] S201, determining the joint angle of the physical robot in the real environment to obtain a first angle;

[0043] S202, obtaining a joint angle of an external structure connected to the physical robot in a real environment to obtain a second angle;

[0044] S203, adjusting the joint angles of the robot to be tested in the simulation environment based on the first angle to obtain a virtual robot;

[0045] S204, adjusting the joint angle of the external structure to be measured in the simulation environment based on the second angle to obtain a virtual external structure;

[0046] S205: Constructing a simulation environment corresponding to the real environment based on the virtual robot and the virtual external structure.

[0047] Here, the physical external structure includes one or more of an external shaft, a gantry, and a guide rail.

[0048] Specifically, the first angle corresponding to the J1 joint to the J6 joint of the physical robot and the second angle of the external structure E1 joint are read through the teaching pendant in the real environment; then, based on the user's request, a virtual robot debugging interface is generated; wherein, the virtual robot debugging interface includes at least J1 joint options, J2 joint options, J3 joint options, J4 joint options, J5 joint options, J6 joint options, and external structure E1 joint options; the user triggers the debugging interface according to the read first angle corresponding to the J1 joint to the J6 joint of the physical robot and the second angle of the external structure E1 joint, and generates a virtual robot and a virtual external structure with the same posture as the real environment; then, based on the virtual robot and the virtual external structure, a simulation environment corresponding to the real environment is generated.

[0049] Therefore, based on the placement posture of the physical robot and the placement posture of the physical external structure in the real environment, the robot to be tested and the external structure to be tested in the simulation environment are adjusted, so that the simulation environment identical to the real environment can be accurately constructed, which is beneficial to the control of the physical robot by the subsequent control system, reduces unnecessary errors, and improves the accuracy of the physical robot in processing the target workpiece.

[0050] like Figure 3 FIG. 1 is a flow chart of obtaining the coordinate values ​​of the end of the virtual robot relative to the basic coordinate system in one embodiment of the present invention.

[0051] In another preferred implementation of this embodiment, when the own coordinate system is the base coordinate system of the virtual robot; obtaining the coordinate value of the end of the virtual robot relative to the base coordinate system includes at least the following steps:

[0052] S301, taking the center of the base of the virtual robot as the coordinate origin, obtaining a basic coordinate system of the virtual robot in the simulation environment;

[0053] S302 , using the basic coordinate system as a reference, obtaining the coordinate value of the end of the virtual robot relative to the basic coordinate system.

[0054] Specifically, based on the user's triggering of the virtual robot, a coordinate system interface is generated; the coordinate system interface includes at least a basic coordinate system option; based on the user's selection of the basic coordinate system option in the coordinate system interface, a basic coordinate system is generated; after the basic coordinate system is selected as the reference coordinate system, based on the user's triggering of the center point of the tool installed at the end of the virtual robot, the coordinate value of the end of the virtual robot is obtained.

[0055] like Figure 4 FIG. 1 is a flow chart of obtaining the coordinate values ​​of the end of the virtual robot relative to the tool coordinate system in one embodiment of the present invention.

[0056] In another preferred implementation of this embodiment, when the self-coordinate system is the tool coordinate system of the virtual robot, obtaining the coordinate value of the end of the virtual robot relative to the tool coordinate system includes at least the following steps:

[0057] S401, obtaining a tool coordinate system of a virtual robot in a simulation environment;

[0058] S402, reading the terminal coordinate value of the physical robot relative to the basic coordinate system in the real environment;

[0059] S403 , calculating the coordinate values ​​of the end of the virtual robot relative to the tool coordinate system based on the end coordinate values ​​of the physical robot and the tool coordinate system of the virtual robot.

[0060] Specifically, the end coordinates of the physical robot relative to the tool coordinate system are read by the teaching pendant. The coordinates of the end of the virtual robot relative to the tool coordinate system are calculated based on the following calculation formula, as shown in formula (2).

[0061] M 坐loc ×M 读 =M 世 Formula (2);

[0062] Among them, M 坐loc is the coordinate value of the end of the virtual robot relative to the tool coordinate system, M 读 M is the end coordinate value of the physical robot relative to the basic coordinate system. 世 is the tool coordinate system of the virtual robot.

[0063] On this basis, we can infer that M 坐loc =M 世 ×M 读 The inverse matrix of M 读 The inverse matrix can be used to calculate the coordinate value of the end of the virtual robot relative to the tool coordinate system.

[0064] In this embodiment, the terminal coordinate values ​​of the virtual robot can be reverse-calculated using the terminal coordinate values ​​of the physical robot, which can ensure that the terminal coordinate values ​​of the physical robot and the virtual robot are naturally matched, thereby aligning the virtual robot with the physical robot, improving the trajectory planning efficiency and accuracy of the physical robot, reducing the error rate of the physical robot during work, and improving the quality qualification rate of products produced by the physical robot, thereby solving the technical problem in related technologies that robot coordinates are difficult to align, which easily leads to errors in the physical robot during work and causes unqualified product quality.

[0065] In another preferred implementation of this embodiment, determining the tool coordinate system of the virtual robot in the simulation environment includes at least the following steps:

[0066] S1, taking the center of the base of the virtual robot as the coordinate origin, obtain the basic coordinate system of the virtual robot in the simulation environment;

[0067] S2, obtain the coordinate value of the tool center point TCP grasped by the mechanical arm of the physical robot;

[0068] S3, determining a tool coordinate system of the virtual robot in the simulation environment based on the basic coordinate system and the TCP coordinate value.

[0069] Specifically, the tool coordinate system M of the virtual robot in the simulation environment is calculated according to the following formula (3): 世 .

[0070] M Fl xM TCP =M 世 Formula (3);

[0071] Among them, M Fl Used to indicate the basic coordinate system of the virtual robot, M TCP Used to indicate the TCP coordinate value of the physical robot.

[0072] Here, the TCP coordinate value is used to indicate the TCB three-dimensional coordinate.

[0073] It should be noted that the virtual robot's base coordinate system, tool coordinate system, and system coordinate system correspond one-to-one to the physical robot's base coordinate system, tool coordinate system, and system coordinate system, respectively. The virtual robot's base coordinate system is also the coordinate system corresponding to the virtual robot flange.

[0074] Therefore, based on the tool center point TCP coordinate value grasped by the physical robot's robotic arm, the basic coordinate system of the virtual robot is converted into the tool coordinate system of the virtual robot, which is beneficial to the subsequent calculation and improves the accuracy of the working coordinate system calculation.

[0075] It should be understood that in various embodiments of the present invention, the size of the serial numbers of the above-mentioned processes does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present invention.

[0076] The embodiments of the present invention are described in detail below with reference to specific application scenarios.

[0077] When the self-coordinate system is the base coordinate system of the virtual robot, a coordinate conversion method for the robot includes at least the following steps:

[0078] S11, determining the angle of the joint angle of the physical robot in the real environment to obtain a first angle;

[0079] S12, obtaining the angle of the joint angle of the external structure connected to the physical robot in the real environment to obtain a second angle;

[0080] S13, adjusting the joint angles of the robot to be tested in the simulation environment based on the first angle to obtain a virtual robot;

[0081] S14, adjusting the joint angle of the external structure to be measured in the simulation environment based on the second angle to obtain a virtual external structure;

[0082] S15, constructing a simulation environment corresponding to the real environment based on the virtual robot and the virtual external structure;

[0083] S16, taking the center of the base of the virtual robot as the coordinate origin, obtaining a basic coordinate system of the virtual robot in the simulation environment;

[0084] S17, using the basic coordinate system as a reference, obtaining the coordinate value of the end of the virtual robot relative to the basic coordinate system;

[0085] S18, reading the coordinate value of the end of the physical robot in the real environment relative to the system coordinate system;

[0086] S19, based on the virtual robot's own coordinate system, the terminal coordinate value of the virtual robot, and the terminal coordinate value of the physical robot; determine the system coordinate system of the physical robot in the real environment.

[0087] When the self-coordinate system is the tool coordinate system of the virtual robot, a coordinate conversion method for the robot includes at least the following steps:

[0088] S21, determining the angle of the joint angle of the physical robot in the real environment to obtain a first angle;

[0089] S22, obtaining a joint angle of an external structure connected to the physical robot in a real environment to obtain a second angle;

[0090] S23, adjusting the joint angles of the robot to be tested in the simulation environment based on the first angle to obtain a virtual robot;

[0091] S24, adjusting the joint angle of the external structure to be measured in the simulation environment based on the second angle to obtain a virtual external structure;

[0092] S25, constructing a simulation environment corresponding to the real environment based on the virtual robot and the virtual external structure;

[0093] S26, taking the center of the base of the virtual robot as the coordinate origin, obtaining a basic coordinate system of the virtual robot in the simulation environment;

[0094] S27, obtaining the coordinate value of the tool center point TCP grasped by the mechanical arm of the physical robot;

[0095] S28, determining a tool coordinate system of the virtual robot in the simulation environment based on the basic coordinate system and the TCP coordinate value;

[0096] S29, reading the terminal coordinate value of the physical robot relative to the basic coordinate system in the real environment;

[0097] S30, calculating the coordinate value of the end of the virtual robot relative to the tool coordinate system based on the end coordinate value of the physical robot and the tool coordinate system of the virtual robot;

[0098] S31, reading the coordinate value of the end of the physical robot in the real environment relative to the system coordinate system;

[0099] S32, based on the virtual robot's own coordinate system, the terminal coordinate value of the virtual robot and the terminal coordinate value of the physical robot; determine the system coordinate system of the physical robot in the real environment.

[0100] like Figure 5 FIG2 is a schematic diagram of a coordinate conversion device for a robot according to an embodiment of the present invention. A coordinate conversion device for a robot, the device 500, includes: a first acquisition module 501 for acquiring a virtual robot's own coordinate system in a simulation environment, and the coordinate values ​​of the end point of the virtual robot relative to the own coordinate system; a reading module 502 for reading the coordinate values ​​of the end point of a physical robot in a real environment relative to the system coordinate system; and a first determination module 503 for determining the system coordinate system of the physical robot in a real environment based on the virtual robot's own coordinate system, the coordinate values ​​of the end point of the virtual robot, and the coordinate values ​​of the end point of the physical robot.

[0101] In a preferred embodiment, the device also includes: a second determination module, used to determine the angle of the joint angle of the physical robot in a real environment to obtain a first angle; a second acquisition module, used to obtain the angle of the joint angle of the external structure connected to the physical robot in a real environment to obtain a second angle; an adjustment module, used to adjust the joint angle of the robot to be tested in the simulation environment based on the first angle and the second angle to obtain a virtual robot.

[0102] In a preferred embodiment, the external structure includes one or more of an external shaft, a gantry, and a guide rail.

[0103] In a preferred embodiment, when the self-coordinate system is the base coordinate system of the virtual robot; the first acquisition module includes: a first acquisition unit, used to obtain the base coordinate system of the virtual robot in the simulation environment with the base center of the virtual robot as the coordinate origin; a second acquisition unit, used to obtain the coordinate value of the end of the virtual robot relative to the base coordinate system with reference to the base coordinate system.

[0104] In a preferred embodiment, when the self-coordinate system is the tool coordinate system of the virtual robot, the first acquisition module includes: a third acquisition unit, which is also used to obtain the tool coordinate system of the virtual robot in the simulation environment; a reading unit, which is used to read the end coordinate value of the physical robot relative to the basic coordinate system in the real environment; and a calculation unit, which is used to calculate the coordinate value of the end of the virtual robot relative to the tool coordinate system based on the end coordinate value of the physical robot and the tool coordinate system of the virtual robot.

[0105] In a preferred embodiment, the third acquisition unit includes: a first acquisition sub-unit, used to acquire the basic coordinate system of the virtual robot in the simulation environment with the base center of the virtual robot as the coordinate origin; a second acquisition sub-unit, used to acquire the TCP coordinate value of the tool center point grasped by the robotic arm of the physical robot; and a determination sub-unit, used to determine the tool coordinate system of the virtual robot in the simulation environment based on the basic coordinate system and the TCP coordinate value.

[0106] The above-mentioned device can execute the coordinate conversion method for a robot provided by an embodiment of the present invention, and has the corresponding functional modules and beneficial effects of executing the coordinate conversion method for a robot. For technical details not fully described in this embodiment, please refer to the coordinate conversion method for a robot provided by an embodiment of the present invention.

[0107] The present invention also provides an electronic device, comprising: a processor; a memory for storing executable instructions of the processor; the processor is used to read the executable instructions from the memory and execute the instructions to implement the coordinate conversion method for a robot described in the present invention.

[0108] In addition to the above-mentioned methods and devices, an embodiment of the present application may also be a computer program product, which includes computer program instructions, which, when executed by a processor, enable the processor to execute the steps of the method according to various embodiments of the present application described in the above-mentioned "Exemplary Method" section of this specification.

[0109] The computer program product may be written in any combination of one or more programming languages ​​to implement the program code for performing the operations of the embodiments of the present application, including object-oriented programming languages ​​such as Java, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computing device, partially on the user's computing device, as a standalone software package, partially on the user's computing device and partially on a remote computing device, or entirely on a remote computing device or server.

[0110] In addition, an embodiment of the present application may also be a computer-readable storage medium having computer program instructions stored thereon, which, when executed by a processor, enable the processor to execute the steps of the method according to the following embodiments of the present application described in the above "Exemplary Method" section of this specification.

[0111] The computer-readable storage medium can adopt any combination of one or more readable media. The readable medium can be a readable signal medium or a readable storage medium. The readable storage medium can, for example, include but is not limited to a system, device or component of electricity, magnetism, light, electromagnetic, infrared, or semiconductor, or any combination thereof. More specific examples (non-exhaustive list) of readable storage media include: an electrical connection with one or more wires, a portable disk, 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 disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof.

[0112] The basic principles of the present application have been described above in conjunction with specific embodiments. However, it should be noted that the advantages, strengths, and effects mentioned in this application are merely illustrative and not restrictive, and it should not be assumed that these advantages, strengths, and effects are required of each embodiment of this application. In addition, the specific details disclosed above are merely illustrative and facilitating understanding, and are not restrictive. The above details do not limit this application to necessarily being implemented using the above specific details.

[0113] The block diagrams of the devices, devices, equipment, and systems involved in this application are merely illustrative examples and are not intended to require or imply that they must be connected, arranged, or configured in the manner shown in the block diagrams. As will be appreciated by those skilled in the art, these devices, devices, equipment, and systems can be connected, arranged, or configured in any manner. Words such as "include," "comprise," "have," and the like are open-ended words, meaning "including but not limited to," and can be used interchangeably therewith. The words "or" and "and" used herein refer to the words "and / or" and can be used interchangeably therewith, unless the context clearly indicates otherwise. The word "such as" used herein refers to the phrase "such as but not limited to," and can be used interchangeably therewith.

[0114] It should also be noted that in the apparatus, device, and method of the present application, each component or each step can be decomposed and / or recombined, and such decomposition and / or recombination should be regarded as equivalent solutions of the present application.

[0115] The above description of the disclosed aspects is provided to enable any person skilled in the art to make or use the present application. Various modifications to these aspects will be readily apparent to those skilled in the art, and the general principles defined herein may be applied to other aspects without departing from the scope of the present application. Therefore, the present application is not intended to be limited to the aspects shown herein, but rather to be accorded the widest scope consistent with the principles and novel features disclosed herein.

[0116] The above description has been provided for the purpose of illustration and description. Furthermore, this description is not intended to limit the embodiments of the present application to the forms disclosed herein. Although a number of example aspects and embodiments have been discussed above, those skilled in the art will recognize certain variations, modifications, alterations, additions, and sub-combinations thereof.

[0117] In the description of this specification, reference to the terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples" means that the specific features, structures, materials, or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. Moreover, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. In addition, those skilled in the art may combine and integrate different embodiments or examples described in this specification, as well as features of different embodiments or examples, unless otherwise inconsistent.

[0118] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of such features. In the description of the present invention, "plurality" means two or more, unless otherwise specifically defined.

[0119] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any modifications or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in the present invention should be included in the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be based on the scope of protection of the claims.

Claims

1. A coordinate conversion method for a robot, characterized in that: include: Acquire the self-coordinate system of the virtual robot in the simulation environment, and the coordinate values ​​of the end of the virtual robot relative to the self-coordinate system; Read the coordinate values ​​of the end of the physical robot in the real environment relative to the system coordinate system; Based on the virtual robot's own coordinate system, the terminal coordinate value of the virtual robot and the terminal coordinate value of the physical robot; determining the system coordinate system of the physical robot in the real environment; The virtual robot has the same structure as the physical robot and has the same joint angles; the system coordinate system is determined by the following formula: M 求 ×M 输入 =M loc ×M tool ; Among them, M loc is the virtual robot’s own coordinate system in the simulation environment, M tool It is the coordinate value of the virtual robot end relative to its own coordinate system after setting the joint angle; M 输入 It is the coordinate value of the physical robot end relative to the system coordinate system read by the teaching pendant in the real environment; M 求 It is the system coordinate system in the real environment.

2. The method according to claim 1, characterized in that Also includes: Determine the angle of the joint angle of the physical robot in a real environment to obtain a first angle; Obtaining a joint angle of an external structure connected to the physical robot in a real environment to obtain a second angle; adjusting the joint angles of the robot to be tested in the simulation environment based on the first angle to obtain a virtual robot; adjusting the joint angle of the external structure to be measured in the simulation environment based on the second angle to obtain a virtual external structure; Based on the virtual robot and the virtual external structure, a simulation environment corresponding to the real environment is constructed.

3. The method according to claim 2, characterized in that The outer structure includes an outer shaft.

4. The method according to claim 1, wherein When the self-coordinate system is the base coordinate system of the virtual robot; the step of obtaining the self-coordinate system of the virtual robot in the simulation environment and the coordinate values ​​of the end of the virtual robot relative to the self-coordinate system includes: Taking the center of the base of the virtual robot as the coordinate origin, obtaining the basic coordinate system of the virtual robot in the simulation environment; Taking the basic coordinate system as a reference, the coordinate value of the end of the virtual robot relative to the basic coordinate system is obtained.

5. A coordinate conversion device for a robot, characterized in that: include: A first acquisition module is used to acquire a self-coordinate system of the virtual robot in a simulation environment, and a coordinate value of a terminal of the virtual robot relative to the self-coordinate system; The reading module is used to read the coordinate values ​​of the end of the physical robot relative to the system coordinate system in the real environment; The first determination module is configured to determine a system coordinate system of the physical robot in a real environment based on the virtual robot's own coordinate system, the terminal coordinate values ​​of the virtual robot, and the terminal coordinate values ​​of the physical robot. The virtual robot and the physical robot have the same structure and consistent joint angles. The system coordinate system is determined by the following formula: M 求 ×M 输入 =M loc ×M tool ; Among them, M loc is the virtual robot’s own coordinate system in the simulation environment, M tool It is the coordinate value of the virtual robot end relative to its own coordinate system after setting the joint angle; M 输入 It is the coordinate value of the physical robot end relative to the system coordinate system read by the teaching pendant in the real environment; M 求 It is the system coordinate system in the real environment.

6. The device according to claim 5, characterized in that Also includes: A second determining module is used to determine the angle of the joint angle of the physical robot in a real environment to obtain a first angle; A second acquisition module is used to acquire the angle of the joint angle of the external structure connected to the physical robot in a real environment to obtain a second angle; The adjustment module is used to adjust the joint angle of the robot to be tested in the simulation environment based on the first angle to obtain a virtual robot; and adjust the joint angle of the external structure to be tested in the simulation environment based on the second angle to obtain a virtual external structure.

7. An electronic device, characterized in that: include: processor, and a memory for storing executable instructions of the processor; The processor is configured to execute the coordinate conversion method for a robot according to any one of claims 1 to 4 by executing the executable instructions.

8. A computer-readable medium having a computer program stored thereon, wherein when the program is executed by a processor, the coordinate conversion method for a robot according to any one of claims 1 to 4 is implemented.

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