Six-axis robot operation trajectory determination method, device, equipment and medium

Abstract

The application relates to the field of intelligent spraying technology, in particular to a running track determination method and device based on a six-axis robot, equipment and a medium. The method comprises the following steps: acquiring first image information of a starting position and second image information of a terminal position of a product to be sprayed in a conveying and spraying process; determining a position offset of the product to be sprayed according to the first image information and the second image information; determining a spraying track corresponding to the product to be sprayed based on the position offset of the product to be sprayed and a standard spraying track, and spraying the product to be sprayed according to the spraying track corresponding to the product to be sprayed. The application has the effect of reducing the occurrence of differences in spraying effects between the product to be sprayed and other products to be sprayed.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of intelligent spraying technology, in particular to a method and device for determining a running track of a six-axis robot, equipment and a medium. BACKGROUND

[0002] With the continuous development of intelligent technology, intelligent robots have been applied to various fields and play an important role in various fields, for example, intelligent robots applied to catering services and intelligent robots applied to factory manufacturing, etc., which greatly improve work efficiency while providing services for people.

[0003] In intelligent robots applied to factory manufacturing, different types of intelligent robots can be divided according to different work contents, such as those responsible for assembling products, those responsible for screening products, and those responsible for spraying products, etc. Among them, the six-axis robot responsible for spraying products will work cooperatively with the conveying equipment responsible for fixed transportation, that is, a plurality of products to be sprayed are sequentially conveyed by the conveying device installed in the factory to the spraying range of the spray head of the six-axis robot, and then the six-axis robot controls the spray head to spray the product to be sprayed according to the set spraying running track, wherein the product to be sprayed is fixed by the product fixing device installed on the conveying device.

[0004] However, during the process of conveying a plurality of products to be sprayed to the six-axis robot, the conveying device may vibrate or the product fixing device may not be fixed firmly with the product to be sprayed, causing the product to be sprayed to deviate, and then causing the spraying effect between the product to be sprayed and other products to be sprayed to differ when the six-axis robot sprays according to the set spraying running track. SUMMARY

[0005] In order to reduce the occurrence of the difference in spraying effect between the product to be sprayed and other products to be sprayed, the present application provides a method and device for determining a running track of a six-axis robot.

[0006] In a first aspect, the present application provides a method for determining a running track of a six-axis robot, which adopts the following technical solution:

[0007] The method for determining a running track of a six-axis robot comprises:

[0008] obtaining first image information of a starting position and second image information of a terminal position of a product to be sprayed in a conveying and spraying process;

[0009] determining a position deviation of the product to be sprayed according to the first image information and the second image information;

[0010] determine a spraying track corresponding to the product to be sprayed based on the position deviation of the product to be sprayed and a standard spraying track, and spray the product to be sprayed according to the spraying track corresponding to the product to be sprayed.

[0011] By using the above technical solution, the first image information of the product to be sprayed at the starting position and the second image information of the product to be sprayed at the ending position are obtained during the conveying process. The position deviation of the product to be sprayed is determined by analyzing and processing the first image information and the second image information. The position deviation of the product to be sprayed can reflect the spraying track of the product to be sprayed. Therefore, the spraying track corresponding to the product to be sprayed is further determined based on the position deviation of the product to be sprayed and the standard spraying track determined previously. The product to be sprayed is sprayed according to the spraying track. The image information of the starting position and the ending position of the product to be sprayed can reflect the deviation of the position of the product to be sprayed during the conveying process. According to the deviation, the standard spraying track is taken as a reference to determine the spraying track corresponding to the product to be sprayed, thereby reducing the vibration and other factors during the conveying process and avoiding the difference in spraying effect between the product to be sprayed and other products to be sprayed.

[0012] In a possible implementation manner, the position deviation of the product to be sprayed is determined according to the first image information and the second image information, including:

[0013] feature points are extracted from the first image information and the second image information to determine a feature point set corresponding to the first image information and a feature point set corresponding to the second image information.

[0014] The points included in the feature point set corresponding to the first image information are compared with the points included in the feature point set corresponding to the second image information to determine a feature point set deviation.

[0015] The position deviation of the product to be sprayed is determined according to the feature point set deviation.

[0016] By using the above technical solution, feature points are extracted from the first image information and the second image information to determine the corresponding feature point sets. The position of the product to be sprayed is reflected by the feature point sets. Then, the points included in the feature point sets corresponding to the first image information and the second image information are compared to determine the feature point set deviation. The position deviation of the product to be sprayed is further determined according to the feature point set deviation. The determination of the feature points ensures the accuracy of the determined position deviation and reduces the deviation of the spraying area of the product to be sprayed caused by the influence of other environments.

[0017] In a possible implementation, the determining the position offset of the product to be sprayed according to the first image information and the second image information further includes:

[0018] acquiring distance information of the product to be sprayed in the conveying and spraying process;

[0019] determining a sub-position offset corresponding to preset distance information according to the position offset of the product to be sprayed and the distance information of the product to be sprayed in the conveying and spraying process;

[0020] acquiring distance information of a next product to be sprayed in the conveying and spraying process;

[0021] predicting a position offset corresponding to the next product to be sprayed according to the sub-position offset corresponding to the preset distance information;

[0022] coarsely adjusting the position of the spray head of the spraying robot at the end of the spraying of the product to be sprayed based on the position offset corresponding to the next product to be sprayed.

[0023] By using the above technical solution, the distance information of the product to be sprayed is acquired in the conveying process of the product to be sprayed. Then, the sub-position offset corresponding to preset distance information is determined according to the distance information and the position offset of the product to be sprayed, and the sub-position offset is used as the position offset unit of the product to be sprayed in the conveying process. Then, the distance information of a next product to be sprayed in the conveying and spraying process is acquired, and the position offset of the next product to be sprayed is predicted according to the sub-position offset. At the end of the spraying task of the product to be sprayed, the position of the spray head of the spraying robot is coarsely adjusted according to the predicted position offset of the next product to be sprayed, thereby improving the spraying efficiency of the spraying robot.

[0024] In a possible implementation, the determining the spraying trajectory corresponding to the product to be sprayed and spraying the product to be sprayed according to the spraying trajectory corresponding to the product to be sprayed further includes:

[0025] acquiring spraying trajectories respectively corresponding to at least two products to be sprayed before the product to be sprayed;

[0026] comparing the spraying trajectory of the product to be sprayed with the spraying trajectories respectively corresponding to the at least two products to be sprayed before the product to be sprayed to determine a spraying trajectory deviation range;

[0027] determining whether the spraying trajectory deviation range is smaller than a preset spraying trajectory deviation range;

[0028] If yes, the spraying trajectory corresponding to the product to be sprayed is used as a standard spraying trajectory for subsequent spraying of the current batch of products to be sprayed.

[0029] By adopting the technical scheme, firstly, the spraying track corresponding to each of the at least two spraying products before the to-be-sprayed product is acquired, then the spraying track corresponding to the to-be-sprayed product determined is compared with the spraying tracks corresponding to the at least two spraying products before the to-be-sprayed product acquired, to determine the spraying track deviation range; subsequently, the spraying track deviation range is compared with the preset spraying track deviation range, when the spraying track deviation range is smaller than the preset spraying track deviation range, it indicates that the position deviation of the batch of to-be-sprayed products in the conveying process is not enough to affect the spraying effect of the to-be-sprayed product, and then the spraying track corresponding to the spraying product is taken as the standard spraying track of the to-be-sprayed product in the subsequent spraying, thereby improving the spraying efficiency without affecting the spraying difference between the to-be-sprayed products.

[0030] In a possible implementation manner, the judging whether the spraying track deviation range is smaller than the preset spraying track deviation range further includes:

[0031] If the spraying track deviation range is greater than the preset spraying track deviation range, a stop standard spraying track determination instruction is generated during the spraying process of the batch of to-be-sprayed products.

[0032] By adopting the technical scheme, if the spraying track deviation range is greater than the preset spraying track deviation range, it indicates that the to-be-sprayed products in the batch have a large position deviation due to vibration of the conveying device and other reasons in the conveying process, therefore, during the spraying process of the batch of to-be-sprayed products, the confirmation of the standard spraying track is continued, which only increases the calculation amount, so a stop standard spraying track determination instruction is generated during the spraying process of the batch of to-be-sprayed products, thereby stopping the related process of the standard spraying track determination.

[0033] In a possible implementation manner, the determining the position deviation of the to-be-sprayed product further includes:

[0034] Judging whether the position deviation of the to-be-sprayed product exceeds a preset position deviation;

[0035] If yes, to-be-sprayed product fixing abnormal information is generated and fed back to a display terminal.

[0036] By adopting the technical scheme, the position offset of the to-be-sprayed product determined is compared with the preset position offset, it is judged whether the preset position offset is exceeded, if the preset position offset is exceeded, it indicates that the position of the to-be-sprayed product is offset to a large extent, which affects the spraying effect, therefore, the to-be-sprayed product fixing abnormal information is generated and fed back to the display terminal for display, the staff learns through the display terminal and performs manual intervention, so as to determine the spraying effect and quality of the spraying robot.

[0037] In a possible implementation, the method further includes:

[0038] acquiring spraying trajectories corresponding to at least two continuously sprayed products in history respectively;

[0039] comparing the spraying trajectories corresponding to the at least two products respectively to determine a spraying trajectory deviation range;

[0040] generating a nozzle running range limitation instruction based on the spraying trajectory deviation range.

[0041] By adopting the technical scheme, the spraying trajectories corresponding to at least two continuously sprayed products in history respectively are acquired, since the at least two products are offset in position during conveying, the spraying trajectories of the products are different, the spraying trajectories corresponding to the products respectively are compared, and then the spraying trajectory deviation range is determined, the spraying trajectory deviation range can reflect the deviation range of the spraying trajectory, and then the nozzle running range limitation instruction is generated based on the spraying trajectory deviation range, the nozzle is controlled to move within a certain range, so that the spraying efficiency of the spraying robot is improved.

[0042] In a second aspect, the application provides a six-axis robot running trajectory determination device, which adopts the following technical scheme:

[0043] The six-axis robot running trajectory determination device includes an image acquisition module, a position offset determination module, and a spraying trajectory determination module, wherein,

[0044] The image acquisition module is configured to acquire first image information of a starting position and second image information of a terminal position of a to-be-sprayed product during conveying and spraying.

[0045] The position offset determination module is configured to determine a position offset of the to-be-sprayed product based on the first image information and the second image information.

[0046] The spraying trajectory determination module is configured to determine a spraying trajectory corresponding to the to-be-sprayed product based on the position offset of the to-be-sprayed product and a standard spraying trajectory, and to spray the to-be-sprayed product with the spraying trajectory corresponding to the to-be-sprayed product.

[0047] By adopting the technical scheme, the image acquisition module acquires first image information of a starting position and second image information of a terminal position of the product to be sprayed in the conveying process, analyzes and processes the first image information and the second image information through the position offset determination module, and then determines the position offset amount of the product to be sprayed. The position offset amount of the product to be sprayed can reflect the spraying track of the product to be sprayed. Therefore, the spraying track determination module determines the spraying track corresponding to the product to be sprayed based on the position offset amount of the product to be sprayed and the standard spraying track determined before, and sprays the product to be sprayed according to the spraying track. The image information of the starting position and the terminal position of the product to be sprayed can reflect the deviation of the product to be sprayed in the conveying process. According to the deviation, the standard spraying track is taken as a reference, and then the spraying track conforming to the product to be sprayed is determined, so as to reduce the vibration and other factors in the conveying process, and avoid the situation that the spraying effect of the product to be sprayed is different from that of other products to be sprayed.

[0048] In a possible implementation manner, the position offset determination module further includes a feature point set determination unit, a feature point set offset determination unit, and a position offset determination unit, wherein,

[0049] The feature point set determination unit is configured to extract feature points from the first image information and the second image information, and determine a feature point set corresponding to the first image information and a feature point set corresponding to the second image information.

[0050] The feature point set offset determination unit is configured to compare points included in the feature point set corresponding to the first image information with points included in the feature point set corresponding to the second image information, and determine a feature point set offset amount.

[0051] The position offset determination unit is configured to determine the position offset amount of the product to be sprayed according to the feature point set offset amount.

[0052] In a possible implementation manner, the robot automatic spraying track determination device further includes a first distance acquisition module, a sub-position offset determination module, a second distance acquisition module, a position offset prediction module, and an adjustment module, wherein,

[0053] The first distance acquisition module is configured to acquire distance information of the product to be sprayed in the conveying and spraying process.

[0054] The sub-position offset determination module is configured to determine a sub-position offset amount corresponding to preset distance information according to the position offset amount of the product to be sprayed and the distance information of the product to be sprayed in the conveying and spraying process.

[0055] The second distance acquisition module is configured to acquire distance information of a next to-be-sprayed product of the to-be-sprayed product in the conveying and spraying process.

[0056] The adjustment module is configured to predict a position offset amount corresponding to the next to-be-sprayed product according to a sub-position offset amount corresponding to the preset distance information.

[0057] Based on the position offset amount corresponding to the next to-be-sprayed product, a position of a spray head of the spraying robot is coarsely adjusted at the end of spraying of the to-be-sprayed product.

[0058] In a possible implementation, the robot automatic spraying trajectory determination apparatus further includes a spraying trajectory acquisition module, a deviation range determination module, a first judgment module, and a standard spraying trajectory determination module, wherein

[0059] The spraying trajectory acquisition module is configured to acquire respective spraying trajectories corresponding to at least two to-be-sprayed products before the to-be-sprayed product.

[0060] The deviation range determination module is configured to compare the spraying trajectory of the to-be-sprayed product with the respective spraying trajectories corresponding to the at least two to-be-sprayed products before the to-be-sprayed product, and determine a spraying trajectory deviation range.

[0061] The first judgment module is configured to judge whether the spraying trajectory deviation range is less than a preset spraying trajectory deviation range.

[0062] The standard spraying trajectory determination module is configured to, if the spraying trajectory deviation range is less than the preset spraying trajectory deviation range, take the spraying trajectory corresponding to the to-be-sprayed product as a standard spraying trajectory for subsequent spraying of the to-be-sprayed product in the current batch.

[0063] In a possible implementation, the robot automatic spraying trajectory determination apparatus further includes an instruction generation module, wherein

[0064] The instruction generation module is configured to, if the spraying trajectory deviation range is greater than the preset spraying trajectory deviation range, generate a stop standard spraying trajectory determination instruction during spraying of the to-be-sprayed product in the batch.

[0065] In a possible implementation, the robot automatic spraying trajectory determination apparatus further includes a second judgment module and an abnormal information generation module, wherein

[0066] The second judgment module is configured to judge whether the position offset amount of the to-be-sprayed product exceeds a preset position offset amount.

[0067] The abnormal information generation module is configured to, if the position offset amount of the to-be-sprayed product exceeds the preset position offset amount, generate to-be-sprayed product fixation abnormal information and feed back to a display terminal.

[0068] In a possible implementation, the robot automatic spraying trajectory determination apparatus further comprises a spraying trajectory acquisition module, a trajectory deviation range determination module, and an instruction generation module, wherein,

[0069] The spraying trajectory acquisition module is configured to acquire spraying trajectories corresponding to at least two historical continuous spraying products respectively.

[0070] The trajectory deviation range determination module is configured to compare the spraying trajectories corresponding to the at least two spraying products respectively, and determine a spraying trajectory deviation range.

[0071] The instruction generation module is configured to generate a spraying head running range limitation instruction based on the spraying trajectory deviation range.

[0072] In a third aspect, the present application provides an apparatus, which adopts the following technical solution:

[0073] An apparatus comprises:

[0074] at least one processor;

[0075] a memory;

[0076] at least one application program, wherein the at least one application program is stored in the memory and is configured to be executed by the at least one processor, and the at least one application program is configured to execute the method for determining a running trajectory of a six-axis robot.

[0077] In a fourth aspect, the present application provides a computer readable medium, which adopts the following technical solution:

[0078] A computer readable medium comprises a computer program stored therein, which can be loaded by a processor and execute the method for determining a running trajectory of a six-axis robot.

[0079] In summary, the present application has the following beneficial technical effects:

[0080] The first image information and the second image information of the to-be-sprayed product at the starting position and the ending position are acquired during the conveying process of the to-be-sprayed product, the position deviation of the to-be-sprayed product is determined through analysis and processing of the first image information and the second image information, the position deviation of the to-be-sprayed product can reflect the spraying track of the to-be-sprayed product, therefore, the spraying track corresponding to the to-be-sprayed product is further determined based on the position deviation of the to-be-sprayed product and the standard spraying track determined before, and the to-be-sprayed product is sprayed according to the spraying track; the image information of the starting position and the ending position of the to-be-sprayed product can reflect the deviation of the to-be-sprayed product in the conveying process, the standard spraying track is taken as a reference to determine the spraying track of the to-be-sprayed product, so as to reduce the vibration and other factors in the conveying process, and the spraying effect difference between the to-be-sprayed product and other to-be-sprayed products is avoided. BRIEF DESCRIPTION OF DRAWINGS

[0081] Figure 1 is a flowchart of a method for determining a running track of a six-axis robot according to an embodiment of the present application;

[0082] Figure 2 is a block diagram of a device for determining a running track of a six-axis robot according to an embodiment of the present application;

[0083] Figure 3 is a schematic diagram of a device according to an embodiment of the present application. DETAILED DESCRIPTION

[0084] The following will be described in detail with reference to the accompanying drawings. Figures 1-3 The present application will be described in further detail.

[0085] To make the objectives, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are some but not all of the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by a person of ordinary skill in the art without creative work fall within the scope of protection of the present application.

[0086] The embodiment of the present application provides a method for determining a running track based on a six-axis robot, which is executed by a device, wherein the server can be a server or a terminal device, the server can be an independent physical server, a server cluster or a distributed system composed of multiple physical servers, or a cloud server providing cloud computing services. The terminal device can be a smart phone, a tablet computer, a notebook computer, a desktop computer, etc., but is not limited thereto, and the terminal device and the server can be directly or indirectly connected through wired or wireless communication, and the embodiment of the present application does not limit this.

[0087] With reference to Figure 1 The method comprises the following steps: S101, S102, S103 and S104, wherein,

[0088] S101, first image information of a starting position and second image information of a terminal position of a product to be sprayed in a conveying and spraying process are acquired.

[0089] By adopting the technical scheme, the starting position is a position when the product to be sprayed is fixed on the conveying device, and the terminal position is a position when the product to be sprayed is about to reach a spraying range of a spraying robot, the image acquisition device is fixedly installed at the two positions, and the region of the product to be sprayed can be photographed; when a worker fixes the product to be sprayed on the conveying device, the image acquisition device acquires image information of the product to be sprayed, then the electronic device acquires the first image information from the image acquisition device; meanwhile, the product to be sprayed is conveyed through the conveying device, when the product to be sprayed moves to the terminal position, the image acquisition device at the terminal position acquires image information of the product to be sprayed, that is, the second image information; the electronic device acquires the second image information from the image acquisition device.

[0090] S102, a position offset of the product to be sprayed is determined according to the first image information and the second image information.

[0091] By adopting the technical scheme, the first image information and the second image information contain the region to be sprayed of the product to be sprayed and also contain other partial image information; therefore, in order to prevent the other partial image information contained in the first image information and the second image information from affecting the result of determining the position offset, the electronic device performs feature point analysis processing on the first image information and the second image information after obtaining the first image information and the second image information, can determine the graphic information of the region to be sprayed of the product to be sprayed while eliminating the other partial content information contained in the first image information and the second image information; and then, the electronic device further determines the position offset of the product to be sprayed according to the image information of the region to be sprayed of the product to be sprayed, wherein, since the images outside the region to be sprayed of the product to be sprayed contained in the first image information and the second image information are different, after the region to be sprayed of the product to be sprayed contained in the first image information and the second image information is determined, the position change between the region to be sprayed and the product fixing device contained in the conveying device can be determined by taking the product fixing device contained in the conveying device as a reference, and then the position offset of the product to be sprayed is determined.

[0092] S103, determining the spraying trajectory corresponding to the product to be sprayed based on the position offset of the product to be sprayed and the standard spraying trajectory, and spraying the product to be sprayed according to the spraying trajectory corresponding to the product to be sprayed.

[0093] By adopting the technical scheme, the spraying trajectory is set based on the spraying range of the fixed position of the spraying head of the spraying robot and the region to be sprayed of the product to be sprayed, and the spraying range of the spraying head of the spraying robot is generally unchanged in the fixed spraying position, so the electronic device further determines the spraying trajectory corresponding to the product to be sprayed based on the position offset of the product to be sprayed and the standard spraying trajectory which has been determined after the position offset of the product to be sprayed is determined, wherein the standard spraying trajectory is the spraying trajectory determined by analyzing the image information of the first product to be sprayed in the same batch of products to be sprayed when the first product to be sprayed is located at the position of the spraying head of the spraying robot.

[0094] Specifically, the first to-be-sprayed product is directly fixed on the fixing device contained in the conveying device, and the image information is directly acquired and analyzed to determine the spraying track corresponding to the first to-be-sprayed product. The spraying track is determined without problems such as vibration and unstable grabbing of the first to-be-sprayed product, and thus the spraying track is used as a standard track in the subsequent determination of the spraying track of other to-be-sprayed products. If the other to-be-sprayed products do not have problems such as vibration and deviation, the spraying can be performed according to the standard spraying track. However, if the electronic device determines the position deviation of the to-be-sprayed product, it indicates that the to-be-sprayed product has problems such as vibration and deviation, and the standard spraying track cannot be used to ensure the spraying quality. Therefore, the electronic device determines the horizontal deviation and / or angle deviation of the to-be-sprayed product according to the determined position deviation of the to-be-sprayed product, corrects the standard spraying track based on the horizontal deviation and / or angle deviation with the standard spraying track as a reference, determines the spraying track corresponding to the to-be-sprayed product, and then completes the spraying of the to-be-sprayed product. Thus, the deviation of the spraying effect caused by the vibration of the to-be-sprayed product in the conveying process is avoided, and the difference in the spraying effect between the to-be-sprayed product and other to-be-sprayed products is reduced.

[0095] The embodiment of the present application provides a method for determining the running track of a six-axis robot. The electronic device acquires first image information of a to-be-sprayed product at a starting position and second image information of the to-be-sprayed product at a terminal position in the conveying process of the to-be-sprayed product, analyzes and processes the first image information and the second image information, and determines the position deviation of the to-be-sprayed product. The position deviation of the to-be-sprayed product can reflect the spraying track of the to-be-sprayed product. Therefore, the electronic device determines the spraying track corresponding to the to-be-sprayed product based on the position deviation of the to-be-sprayed product and the previously determined standard spraying track, and sprays the to-be-sprayed product according to the spraying track. The image information of the starting position and the terminal position of the to-be-sprayed product can reflect the deviation of the to-be-sprayed product in the conveying process. The standard spraying track is used as a reference to determine the spraying track corresponding to the to-be-sprayed product, thereby reducing the vibration in the conveying process and the difference in the spraying effect between the to-be-sprayed product and other to-be-sprayed products.

[0096] In step S102, the position offset of the product to be sprayed is determined according to the first image information and the second image information, including: extracting feature points from the first image information and the second image information, determining a feature point set corresponding to the first image information and a feature point set corresponding to the second image information; comparing the points contained in the feature point set corresponding to the first image information with the points contained in the feature point set corresponding to the second image information to determine a feature point set offset; and determining the position offset of the product to be sprayed according to the feature point set offset.

[0097] For the embodiments of the present application, after the electronic device acquires the first image information and the second image information, the electronic device extracts feature points from the first image information and the second image information respectively, and forms a feature point set corresponding to the first image information (first feature point set) and a feature point set corresponding to the second image information (second feature point set) respectively; wherein the extraction of the feature points can be performed by using algorithms such as a histogram of oriented gradients (HOG) and a local binary pattern (LBP), which are not specifically limited in the embodiments of the present application; since the first feature point set and the second feature point set both contain feature points corresponding to the region of the product to be sprayed and other feature points, the electronic device filters the feature points corresponding to the region of the product to be sprayed from the first feature point set and the second feature point set before comparing the points contained in the first feature point set with the points contained in the second feature point set, and then compares the points contained in the filtered first feature point set and the filtered second feature point set; wherein the electronic device compares the points contained in the first feature point set with the points corresponding to the first feature point set from the second feature point set based on a single-point comparison principle, that is, the electronic device first determines any feature point from the first feature point set, and then determines the point corresponding to the any feature point from the second feature point set, and then compares the feature points; after the electronic device completes the comparison of the points contained in the first feature point set with the points contained in the second feature point set, the electronic device further determines the feature point set offset; since the feature point set reflects the features of the region of the product to be sprayed, the offset of the feature point set reflects the position offset of the product to be sprayed.

[0098] Specifically, after the electronic device determines the offset of the product to be sprayed during the conveying process by the conveying device, the electronic device determines the spraying trajectory of the product to be sprayed based on the offset. When the product to be sprayed is sprayed based on the spraying trajectory, the conveying device is in a state of stopping operation at this time. At this time, in order to improve the spraying efficiency of the spraying robot, the position offset of the next product to be sprayed can be predicted when the product to be sprayed is sprayed. After the spraying robot completes the spraying of the product to be sprayed and before the next product to be sprayed is conveyed to the spraying range of the nozzle of the spraying robot, the nozzle is coarsely adjusted to save the preparation time of the spraying. Specifically, in step S102, the position offset of the product to be sprayed is determined according to the first image information and the second image information. Then, the distance information of the product to be sprayed during the conveying and spraying process is obtained. The sub-position offset corresponding to the preset distance information is determined according to the position offset of the product to be sprayed and the distance information of the product to be sprayed during the conveying and spraying process. The distance information of the next product to be sprayed during the conveying and spraying process is obtained. The position offset of the next product to be sprayed is predicted according to the sub-position offset corresponding to the preset distance information. The position of the nozzle of the spraying robot is coarsely adjusted when the product to be sprayed is sprayed based on the position offset of the next product to be sprayed.

[0099] Specifically, after the electronic device determines the position offset of the product to be sprayed, the distance information of the product to be sprayed from the start of conveying to the conveying to the spraying position is obtained. The distance information corresponds to the position offset of the product to be sprayed. Then, the electronic device divides the distance information based on the preset distance information to determine the corresponding relationship between the preset distance information and the distance information. Then, the electronic device further determines the sub-position offset corresponding to the preset distance information according to the corresponding relationship. Then, the electronic device obtains the distance information of the next product to be sprayed during the conveying and spraying process, and further predicts the position offset of the next product to be sprayed according to the sub-position offset corresponding to the preset distance information. The electronic device generates a nozzle coarse adjustment instruction according to the position offset of the next product to be sprayed, and starts to coarsely adjust the position of the nozzle of the spraying robot when the spraying task of the product to be sprayed is completed. Thus, the preparation time of the spraying robot during the spraying process is reduced, and the working efficiency of the spraying robot is improved.

[0100] Specifically, since the moving range of the spray head of the spraying robot is limited, during the conveying of the to-be-sprayed product to the spray range of the spray head of the spraying robot by the conveying device, the to-be-sprayed product may not be fixed firmly or the conveying vibration may be too large, resulting in a large positional deviation of the to-be-sprayed product, and even the to-be-sprayed product may be out of the moving range of the spray head of the spraying robot. At this time, if the spraying work on the to-be-sprayed product is continued, the spraying effect may be seriously affected. Therefore, in step S102, the positional deviation of the to-be-sprayed product is determined, and then the following steps are further included: judging whether the positional deviation of the to-be-sprayed product exceeds a preset positional deviation; if yes, generating to-be-sprayed product fixing abnormal information and feeding back to the display terminal.

[0101] For the embodiment of the present application, a preset positional deviation is preset in the electronic device. After the positional deviation of the to-be-sprayed product is determined, the electronic device judges whether the positional deviation of the to-be-sprayed product exceeds the preset positional deviation, that is, whether the position of the to-be-sprayed product after the deviation has exceeded the moving range of the spray head of the spraying robot. When the positional deviation of the to-be-sprayed product exceeds the preset positional deviation, the electronic device generates to-be-sprayed product fixing abnormal information, and then feeds back the to-be-sprayed product fixing abnormal information to the display terminal for display. After the staff learns through the display terminal, the staff can make manual adjustments.

[0102] Specifically, when the to-be-sprayed product is sprayed, the entire batch of to-be-sprayed products are often sprayed, that is, a plurality of to-be-sprayed products are sprayed. For this case, the spraying trajectory of each to-be-sprayed product is confirmed, which increases the computational load of the electronic device and increases the spraying time of the entire batch of to-be-sprayed products. Therefore, when the entire batch of to-be-sprayed products is sprayed, if the positional deviation of the to-be-sprayed product during the conveying process is very small due to vibration or other reasons, it will not affect the spraying effect of the to-be-sprayed product. Therefore, in this case, the confirmation process of determining the spraying trajectory of the to-be-sprayed product can be simplified to improve the spraying efficiency of the entire batch of to-be-sprayed products. Specifically, in step S103, the spraying trajectory corresponding to the to-be-sprayed product is determined, and the to-be-sprayed product is sprayed according to the spraying trajectory corresponding to the to-be-sprayed product. Then the following steps are further included: obtaining the spraying trajectory corresponding to each of the at least two to-be-sprayed products before the to-be-sprayed product; comparing the spraying trajectory of the to-be-sprayed product with the spraying trajectory corresponding to each of the at least two to-be-sprayed products before the to-be-sprayed product to determine a spraying trajectory deviation range; judging whether the spraying trajectory deviation range is less than a preset spraying trajectory deviation range; if yes, taking the spraying trajectory corresponding to the to-be-sprayed product as a standard spraying trajectory for subsequent spraying of the current batch of to-be-sprayed products.

[0103] For the embodiment of the present application, after the electronic device determines the spraying trajectory of the product to be sprayed, it acquires the respective spraying trajectories of the at least two products to be sprayed before the current product to be sprayed, and then compares the spraying trajectory of the current product to be sprayed with the respective spraying trajectories of the at least two products to be sprayed before the current product to be sprayed, to determine the spraying trajectory deviation range. Then, the electronic device compares the spraying trajectory deviation range with the preset spraying trajectory deviation range, and if the spraying trajectory deviation range is smaller than the preset spraying trajectory deviation range, it means that the spraying trajectory of the current product to be sprayed has little deviation from the respective spraying trajectories of the at least two products to be sprayed before the current product to be sprayed, which is not enough to affect the spraying effect of the product to be sprayed. Therefore, at this time, the electronic device can use the spraying trajectory corresponding to the product to be sprayed as the standard spraying trajectory for the subsequent spraying of the current batch of products to be sprayed, and then use the standard spraying trajectory for spraying, thereby improving the spraying efficiency without affecting the spraying difference between the products to be sprayed.

[0104] Specifically, after determining whether the spraying trajectory deviation range is smaller than the preset spraying trajectory deviation range, the method further includes: if the spraying trajectory deviation range is greater than the preset spraying trajectory deviation range, generating a stop standard spraying trajectory determination instruction during the spraying process of the batch of products to be sprayed.

[0105] For the embodiment of the present application, if the electronic device determines that the spraying trajectory deviation range is greater than the preset spraying trajectory deviation range, it means that the batch of products to be sprayed has shifted in position during the conveying process due to vibration or poor fixation of the conveying device. Since the cause is the conveying device, the standard spraying trajectory of the batch of products to be sprayed cannot be determined in this case, and continuing to execute the process of determining the standard spraying trajectory of the batch of products to be sprayed will only increase the computational load of the electronic device. Therefore, the electronic device generates a stop standard spraying trajectory determination instruction during the spraying process of the batch of products to be sprayed, and then stops the process of determining the standard spraying trajectory of the batch of products to be sprayed, and continues the process of determining the respective spraying trajectories of the products to be sprayed.

[0106] Specifically, generally, the offset amount of the to-be-sprayed product occurring in the conveying process due to vibration or the like has a certain range, the moving range of the spray head of the spraying robot is greater than the range in which the to-be-sprayed product can move, and there is a certain space in which the spray head of the spraying robot does not need to move. Reducing the moving range of the spray head of the spraying robot adaptively can improve the spraying efficiency of the spraying robot. Therefore, the method further includes: acquiring historical spraying trajectories corresponding to at least two continuously sprayed products respectively; comparing the spraying trajectories corresponding to the at least two continuously sprayed products respectively to determine a spraying trajectory deviation range; and generating a spray head running range limitation instruction based on the spraying trajectory deviation range.

[0107] Specifically, the electronic device acquires spraying records of previous spraying products, acquires spraying trajectories corresponding to at least two continuously sprayed products respectively from the spraying records, compares the spraying trajectories corresponding to the at least two continuously sprayed products respectively to determine a spraying trajectory deviation range corresponding to the at least two continuously sprayed products, determines the range in which the to-be-sprayed product deviates in the previous case based on the spraying trajectory deviation range, and further determines the range in which the spraying trajectory deviates. Then, the electronic device generates a spray head running range limitation instruction according to the spraying trajectory deviation range, that is, controls the spray head to move and adjust within the range in which the spraying trajectory deviates, and improves the spraying efficiency of the spraying robot in the subsequent spraying process.

[0108] The above embodiment introduces a method for determining a running trajectory of a six-axis robot from the perspective of a method flow. The following embodiment introduces a device for determining a running trajectory of a six-axis robot from the perspective of a virtual module or a virtual unit. Details are shown in the following embodiment.

[0109] Reference Figure 2 The device 200 for determining a running trajectory of a six-axis robot specifically can include an image acquisition module 201, a position offset determination module 202, and a spraying trajectory determination module 203, wherein

[0110] The image acquisition module 201 is configured to acquire first image information of a starting position and second image information of a terminal position of a to-be-sprayed product in a conveying and spraying process.

[0111] The position offset determination module 202 is configured to determine a position offset amount of the to-be-sprayed product according to the first image information and the second image information.

[0112] The spraying trajectory determination module 203 is configured to determine a spraying trajectory corresponding to the to-be-sprayed product based on the position offset amount of the to-be-sprayed product and a standard spraying trajectory, and to spray the to-be-sprayed product with the spraying trajectory corresponding to the to-be-sprayed product.

[0113] In a possible implementation of the embodiment of the present application, the position offset determination module 202 further includes a feature point set determination unit, a feature point set offset determination unit, and a position offset determination unit, wherein

[0114] The feature point set determination unit is configured to perform feature point extraction on the first image information and the second image information, and determine a feature point set corresponding to the first image information and a feature point set corresponding to the second image information.

[0115] The feature point set offset determination unit is configured to compare points included in the feature point set corresponding to the first image information with points included in the feature point set corresponding to the second image information, and determine a feature point set offset.

[0116] The position offset determination unit is configured to determine a position offset of the product to be sprayed according to the feature point set offset.

[0117] In a possible implementation of the embodiment of the present application, the robot automatic spraying trajectory determination apparatus 200 further includes a first distance acquisition module, a sub-position offset determination module, a second distance acquisition module, a position offset prediction module, and an adjustment module, wherein

[0118] The first distance acquisition module is configured to acquire distance information of the product to be sprayed in a conveying and spraying process.

[0119] The sub-position offset determination module is configured to determine a sub-position offset corresponding to preset distance information according to the position offset of the product to be sprayed and the distance information of the product to be sprayed in the conveying and spraying process.

[0120] The second distance acquisition module is configured to acquire distance information of a next product to be sprayed in the conveying and spraying process.

[0121] The adjustment module is configured to predict a position offset corresponding to the next product to be sprayed according to the sub-position offset corresponding to the preset distance information.

[0122] Based on the position offset corresponding to the next product to be sprayed, a position of a spraying head of the spraying robot is coarsely adjusted when spraying of the product to be sprayed is completed.

[0123] In a possible implementation of the embodiment of the present application, the robot automatic spraying trajectory determination apparatus 200 further includes a spraying trajectory acquisition module, a deviation range determination module, a first judgment module, and a standard spraying trajectory determination module, wherein

[0124] The spraying trajectory acquisition module is configured to acquire spraying trajectories corresponding to at least two products to be sprayed before the product to be sprayed.

[0125] The bias range determining module is configured to compare the spraying track of the product to be sprayed with the respective spraying tracks of at least two products to be sprayed before the product to be sprayed, and determine a spraying track bias range.

[0126] The first determining module is configured to determine whether the spraying track bias range is less than a preset spraying track bias range.

[0127] The standard spraying track determining module is configured to, if the spraying track bias range is less than the preset spraying track bias range, take the spraying track corresponding to the product to be sprayed as a standard spraying track for subsequent spraying of the products to be sprayed in the current batch.

[0128] In one possible implementation of the embodiment, the robot automatic spraying track determining device 200 further includes an instruction generating module, wherein,

[0129] The instruction generating module is configured to, if the spraying track bias range is greater than the preset spraying track bias range, generate a stop standard spraying track determining instruction during the spraying process of the products to be sprayed in the batch.

[0130] In one possible implementation of the embodiment, the robot automatic spraying track determining device 200 further includes a second determining module and an abnormal information generating module, wherein,

[0131] The second determining module is configured to determine whether the position offset of the product to be sprayed exceeds a preset position offset.

[0132] The abnormal information generating module is configured to, if the position offset of the product to be sprayed exceeds the preset position offset, generate product to be sprayed fixing abnormal information and feed back to a display terminal.

[0133] In one possible implementation of the embodiment, the robot automatic spraying track determining device 200 further includes a spraying track obtaining module, a track bias range determining module, and an instruction generating module, wherein,

[0134] The spraying track obtaining module is configured to obtain the respective spraying tracks of the at least two continuously sprayed products.

[0135] The track bias range determining module is configured to compare the respective spraying tracks of the at least two products to be sprayed, and determine a spraying track bias range.

[0136] The instruction generating module is configured to generate a spraying head running range limiting instruction based on the spraying track bias range.

[0137] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the system, device and unit described above can refer to the corresponding processes in the foregoing method embodiments, which will not be described here.

[0138] Embodiments of the present application also introduce a device from the perspective of an entity, such as Figure 3 Figure 3 The device 300 shown in the figure includes a processor 301 and a memory 303. The processor 301 and the memory 303 are connected, such as through a bus 302. Optionally, the device 300 can also include a transceiver 304. It should be noted that the transceiver 304 is not limited to one in actual application, and the structure of the device 300 does not constitute a limitation on the embodiments of the present application.

[0139] The processor 301 can be a CPU (Central Processing Unit, central processor), a general-purpose processor, a DSP (Digital Signal Processor, data signal processor), an ASIC (Application Specific Integrated Circuit, application specific integrated circuit), an FPGA (Field Programmable Gate Array, field programmable gate array) or other programmable logic devices, transistor logic devices, hardware components or any combination thereof. It can implement or execute various exemplary logical blocks, modules and circuits described in combination with the disclosure content of the present application. The processor 301 can also be a combination of computing functions, such as one or more microprocessor combinations, combinations of DSP and microprocessor, etc.

[0140] The bus 302 can include a channel for transmitting information between the above-mentioned components. The bus 302 can be a PCI (Peripheral Component Interconnect, peripheral component interconnect) bus or an EISA (Extended Industry Standard Architecture, extended industry standard architecture) bus, etc. The bus 302 can be divided into an address bus, a data bus, a control bus, etc. For the convenience of representation, Figure 3 Only one thick line is used in the figure, but it does not mean that there is only one bus or only one type of bus.

[0141] ​The memory 303 can be a ROM (Read Only Memory) or other type of static storage device that can store static information and instructions, a RAM (Random Access Memory) or other type of dynamic storage device that can store information and instructions, an EEPROM (Electrically Erasable Programmable Read Only Memory), a CD-ROM (Compact Disc Read Only Memory) or other optical disk storage, a magnetic disk storage or other magnetic storage devices, or any other medium capable of storing desired program code in the form of instructions or data structures and that can be accessed by a computer, but is not limited thereto.

[0142] The memory 303 is configured to store application program codes for implementing the solutions of the present application, and the processor 301 is configured to control the execution of the application program codes. The processor 301 is configured to execute the application program codes stored in the memory 303 to implement the content shown in the foregoing method embodiments.

[0143] It should be understood that, although each step in the flowchart of the accompanying drawings is shown in sequence according to the direction of the arrow, these steps are not necessarily executed in sequence according to the direction of the arrow. Unless otherwise specified herein, the execution of these steps is not strictly limited in sequence, and they can be executed in other sequences. Moreover, at least part of the steps in the flowchart of the accompanying drawings can include multiple sub-steps or multiple stages, which are not necessarily executed at the same time, but can be executed at different times, and the execution sequence is not necessarily sequential, but can be executed in rotation or alternation with at least part of other steps or sub-steps or stages of other steps.

[0144] The above is only some embodiments of the present application, and it should be pointed out that, for those skilled in the art, without departing from the principles of the present application, a number of improvements and refinements can be made, and these improvements and refinements should also be considered as the protection scope of the present application.

Claims

1. A method for determining a running trajectory based on a six-axis robot, characterized by, The method comprises the following steps: acquiring first image information of a product to be sprayed at a starting position of a conveying and spraying process and second image information of the product to be sprayed at a terminal position of the conveying and spraying process; determining a position offset of the product to be sprayed according to the first image information and the second image information; acquiring distance information of the product to be sprayed in the conveying and spraying process, wherein the distance information is a distance of the product to be sprayed from the start of conveying to the conveying to a spraying position; determining a sub-position offset corresponding to preset distance information according to the position offset of the product to be sprayed and the distance information of the product to be sprayed in the conveying and spraying process; acquiring distance information of a next product to be sprayed in the conveying and spraying process; predicting a position offset corresponding to the next product to be sprayed according to the sub-position offset corresponding to the preset distance information; coarsely adjusting a position of a spraying head of a spraying robot at the end of spraying of the product to be sprayed based on the position offset corresponding to the next product to be sprayed; determining a spraying trajectory corresponding to the product to be sprayed based on the position offset of the product to be sprayed and a standard spraying trajectory, and spraying the product to be sprayed according to the spraying trajectory corresponding to the product to be sprayed, wherein the standard spraying trajectory is a spraying trajectory of a first product to be sprayed in a same batch of products to be sprayed, which is determined by analyzing acquired image information of the first product to be sprayed when the first product to be sprayed is located at a position of a spraying head of a spraying robot; acquiring a spraying trajectory corresponding to each of at least two products to be sprayed before the product to be sprayed; comparing the spraying trajectory of the product to be sprayed with the spraying trajectory corresponding to each of the at least two products to be sprayed before the product to be sprayed to determine a spraying trajectory deviation range; determining whether the spraying trajectory deviation range is smaller than a preset spraying trajectory deviation range; if yes, taking the spraying trajectory corresponding to the product to be sprayed as a spraying trajectory for subsequent spraying of the products to be sprayed in the same batch.

2. The method of claim 1, wherein, The method further comprises the following steps: extracting feature points from the first image information and the second image information to determine a feature point set corresponding to the first image information and a feature point set corresponding to the second image information; comparing points included in the feature point set corresponding to the first image information with points included in the feature point set corresponding to the second image information to determine a feature point set offset; determining the position offset of the product to be sprayed according to the feature point set offset.

3. The method of claim 1, wherein, The method further comprises the following steps after determining whether the spraying trajectory deviation range is smaller than the preset spraying trajectory deviation range: if the spraying trajectory deviation range is greater than the preset spraying trajectory deviation range, generating a stop standard spraying trajectory determination instruction during spraying of the products to be sprayed in the same batch.

4. The method of claim 1, wherein, The method further comprises the following steps after determining the position offset of the product to be sprayed: determining whether the position offset of the product to be sprayed exceeds a preset position offset; if yes, generating product to be sprayed fixation abnormal information and feeding back to a display terminal.

5. The method of claim 1, wherein, The method further comprises the following steps: acquiring a spraying trajectory corresponding to each of at least two continuously sprayed products in history; The spraying trajectories of the at least two spraying products are compared respectively to determine a spraying trajectory deviation range; Based on the spraying trajectory deviation range, a nozzle running range limitation instruction is generated.

6. A device for determining a running trajectory of a six-axis robot according to any one of claims 1 to 5, characterized by It comprises: An image acquisition module is configured to acquire first image information of a starting position and second image information of a terminal position of a product to be sprayed in a conveying and spraying process; A position offset determination module is configured to determine a position offset of the product to be sprayed according to the first image information and the second image information; A first distance acquisition module is configured to acquire distance information of the product to be sprayed in the conveying and spraying process, wherein the distance information is the distance between the product to be sprayed from the start of conveying to the conveying to the spraying position; A sub-position offset determination module is configured to determine a sub-position offset corresponding to the preset distance information according to the position offset of the product to be sprayed and the distance information of the product to be sprayed in the conveying and spraying process; A second distance acquisition module is configured to acquire distance information of a next product to be sprayed in the conveying and spraying process; An adjustment module is configured to predict a position offset of the next product to be sprayed according to the sub-position offset corresponding to the preset distance information, and to coarsely adjust the position of a nozzle of a spraying robot when the product to be sprayed is sprayed to end; A spraying trajectory determination module is configured to determine a spraying trajectory corresponding to the product to be sprayed based on the position offset of the product to be sprayed and a standard spraying trajectory, and to spray the product to be sprayed with the spraying trajectory corresponding to the product to be sprayed, wherein the standard spraying trajectory is a spraying trajectory determined by analyzing acquired image information of a first product to be sprayed in a same batch of products to be sprayed when the first product to be sprayed is located at the position of the nozzle of the spraying robot; A spraying trajectory acquisition module is configured to acquire respective spraying trajectories of at least two products to be sprayed before the product to be sprayed; A deviation range determination module is configured to compare the spraying trajectory of the product to be sprayed with respective spraying trajectories of the at least two products to be sprayed before the product to be sprayed to determine a spraying trajectory deviation range; A first judgment module is configured to judge whether the spraying trajectory deviation range is smaller than a preset spraying trajectory deviation range; A standard spraying trajectory determination module is configured to take the spraying trajectory corresponding to the product to be sprayed as a spraying trajectory for subsequent spraying of the products to be sprayed in the current batch if the spraying trajectory deviation range is smaller than the preset spraying trajectory deviation range.

7. An apparatus, comprising: The device comprises: At least one processor; A memory; At least one application program, wherein the at least one application program is stored in the memory and is configured to be executed by the at least one processor, and the at least one application program is configured to execute the six-axis robot-based running trajectory determination method of any one of claims 1-5.

8. A computer readable medium having stored thereon a computer program, characterized in that, When the computer program is executed in the computer, the computer is caused to execute the six-axis robot-based running trajectory determination method of any one of claims 1-5.

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