Robot position monitoring method, device and equipment and storage medium

Abstract

The embodiment of the invention provides a robot position monitoring method and device, equipment and a storage medium. Comprising the steps that current position information and storage position information of a target robot are obtained, and torque information between a target robot body and a rotary table is obtained; determining a first synchronization result according to the current position information and the storage position information, and determining a second synchronization result according to the torque information; and when the first synchronization result and the second synchronization result are both position synchronization, determining that the position monitoring result of the target robot body and the rotary table is position synchronization. Mechanical motion can be converted into electric signals through the absolute value encoder, the control system can accurately master the motion state of each shaft by reading the signals, and therefore cutter collision, carving errors and personal injury are avoided. And the absolute value encoder is used for synchronously judging the position and synchronously judging the position based on the moment information, so that the accuracy of position synchronous monitoring is further ensured.

Description

Technical Field

[0001] The present invention relates to the technical field of seven-axis robots, and in particular to a robot position monitoring method, device, equipment and storage medium. Background Art

[0002] In the current field of industrial automation, the seven-axis engraving robot has become an important equipment in the precision machining industry due to its high flexibility and precision. However, with the continuous improvement of machining requirements, higher requirements are also placed on the accuracy of robot motion control. Especially in complex machining tasks involving multi-axis linkage and compound motion, the synchronization between the robot's axes becomes a key factor in determining machining quality.

[0003] In the structure of the seven-axis engraving robot, the turntable and the six-axis robot body are two relatively independent systems. The turntable is responsible for the rotation and positioning of the workpiece, while the six-axis robot body is responsible for performing specific actions such as engraving and polishing. These two systems need to maintain a high degree of synchronization during the robot's movement to ensure processing accuracy and efficiency.

[0004] However, since the motion between the turntable and the robot body is independent, it is not easy to achieve synchronous motion between them. Traditional control methods often fail to ensure accurate synchronization between the two during high-speed motion, especially when facing complex trajectories and variable speed motion, it becomes particularly difficult to maintain synchronization. Summary of the invention

[0005] The purpose of the present invention is to overcome the problem of poor synchronization between the seven-axis engraving robot body and the turntable in the prior art solution, and provide a robot position monitoring method, device, equipment and storage medium. By installing encoders on the robot joint shaft and turntable, their movement position and speed can be monitored in real time. The encoder can convert mechanical motion into electrical signals. By reading these signals, the control system can accurately grasp the movement state of each axis.

[0006] In a first aspect, an embodiment of the present disclosure provides a robot position monitoring method, the method comprising: Obtaining the current position information and storage position information of the target robot, and obtaining the torque information between the target robot body and the turntable; Determine a first synchronization result according to the current position information and the stored position information, and determine a second synchronization result according to the torque information; When both the first synchronization result and the second synchronization result are position synchronization, it is determined that the position monitoring result of the target robot body and the turntable is position synchronization.

[0007] Optionally, before obtaining the current position information of the target robot and storing the position information, the method also includes: comparing the measurement value of the absolute value encoder with that of the standard measuring tool to determine the encoder deviation; and calibrating the absolute value encoder based on the encoder deviation to generate a calibrated absolute value encoder.

[0008] Optionally, the current position information and storage position information of the target robot are obtained, including: when a program start instruction is obtained, a coordinate system is established for the turntable of the target robot; the turntable joint coordinates of the target robot are read in the coordinate system by a calibrated absolute encoder, and the turntable joint coordinates are used as the current position information; and the storage data at a specified address is read as the storage position information.

[0009] Optionally, determining a first synchronization result based on the current position information and the stored position information includes: determining target parameters corresponding to the target robot, wherein the target parameters include a target machine model, a target encoder accuracy, and a target process requirement; obtaining an allowable error list, wherein the allowable error list includes error thresholds corresponding to each parameter; matching the target parameters through the allowable error list to determine a target error threshold corresponding to the target parameters; calculating a position difference between the current position information and the stored position information; determining whether the position difference is less than the target error threshold, and if so, determining that the first synchronization result is position synchronization; otherwise, determining that the first synchronization result is position asynchrony.

[0010] Optionally, determining the second synchronization result based on the torque information includes: obtaining a preset torque threshold; determining whether the torque information is less than the preset torque threshold, and if so, determining that the second synchronization result is position synchronization; otherwise, determining that the second synchronization result is position asynchrony.

[0011] Optionally, after determining that the position monitoring result of the target robot body and the turntable is position synchronization, the method further includes: storing the current position information to a specified address to update the stored position information.

[0012] Optionally, the method also includes: when the first synchronization result or the second synchronization result is position asynchrony, determining that the position monitoring result of the target robot body and the turntable is position asynchrony; generating prompt information according to the position monitoring result, and alerting the user in a specified manner according to the prompt information.

[0013] In a second aspect, the present disclosure also provides a robot position monitoring device, the device comprising: The target robot information acquisition module is used to obtain the current position information and storage position information of the target robot, and obtain the torque information between the target robot body and the turntable; A synchronization result determination module, used to determine a first synchronization result according to the current position information and the stored position information, and to determine a second synchronization result according to the torque information; The position monitoring result determination module is used to determine that the position monitoring result of the target robot body and the turntable is position synchronization when the first synchronization result and the second synchronization result are both position synchronization.

[0014] In a third aspect, an embodiment of the present disclosure further provides an electronic device, the electronic device comprising: at least one processor; and a memory communicatively connected to at least one processor; wherein, When the memory stores a computer program executable by at least one processor, the computer program is executed by the at least one processor so that the at least one processor can execute a robot position monitoring method as described in any embodiment of the present disclosure.

[0015] In a fourth aspect, an embodiment of the present disclosure provides a computer storage medium having a computer program stored thereon, which, when executed by a processor, implements a robot position monitoring method as in any embodiment of the present disclosure.

[0016] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description.

[0017] Therefore, the present invention has the following beneficial effects: 1. The absolute encoder can convert mechanical motion into electrical signals. By reading these signals, the control system can accurately grasp the motion state of each axis, thereby avoiding tool collision, engraving errors and personal injuries.

[0018] 2. While the absolute encoder is used to synchronously judge the position, the position synchronization is also judged based on the torque information, which further ensures the accuracy of position synchronization monitoring.

[0019] 3. By improving the robot's motion accuracy and stability, waste and loss in the production process can be reduced and production efficiency can be improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0021] Figure 1is a flow chart of a robot position monitoring method provided according to Embodiment 1 of the present invention; Figure 2 is a schematic structural diagram of a robot position monitoring device provided according to Embodiment 2 of the present invention; Figure 3 It is a structural schematic diagram of an electronic device provided according to Embodiment 3 of the present invention. DETAILED DESCRIPTION

[0022] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme 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 described embodiments 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 ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0023] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0024] Embodiment 1 Figure 1 A flowchart of a robot position monitoring method is provided for the first embodiment of the present invention. This embodiment is applicable to the case where a seven-axis engraving robot is operating. The method can be executed by a robot position synchronization monitoring device provided by the embodiment of the present disclosure. The device can be implemented in software and / or hardware and can generally be integrated in a computer device. The method of the embodiment of the present disclosure specifically includes: S110: Acquire the current position information and storage position information of the target robot, and acquire the torque information between the target robot body and the turntable.

[0025] The target robot refers to the seven-axis engraving robot that needs to be monitored and analyzed, and the current position information refers to the turntable joint coordinates of the target robot at the current moment. The stored position information refers to the robot position coordinates recorded when the robot was last shut down. The torque information refers to the torque information generated by the interaction force between the target robot body and the turntable. The torque information can be measured by the force sensor installed on the target robot.

[0026] Optionally, before obtaining the current position information of the target robot and storing the position information, the method also includes: comparing the measurement value of the absolute value encoder with that of the standard measuring tool to determine the encoder deviation; and calibrating the absolute value encoder based on the encoder deviation to generate a calibrated absolute value encoder.

[0027] In a specific implementation, the standard gauge and the absolute encoder can be installed first and ensure that they are in a stable working environment. Then read the initial measurement value of the absolute encoder and record it, then measure it with the standard gauge and record the measurement value of the standard gauge. By comparing the measurement value of the standard gauge with the initial measurement value of the absolute encoder, the encoder deviation can be calculated, and according to the encoder deviation, the absolute encoder can be adjusted accordingly, such as fine-tuning the position or parameters of the encoder. After the calibration is completed, it is necessary to re-read the measurement value of the absolute encoder and compare it with the measurement value of the standard gauge to see if the encoder deviation is reduced.

[0028] Optionally, the current position information and storage position information of the target robot are obtained, including: when a program start instruction is obtained, a coordinate system is established for the turntable of the target robot; the turntable joint coordinates of the target robot are read in the coordinate system by a calibrated absolute encoder, and the turntable joint coordinates are used as the current position information; and the storage data at a specified address is read as the storage position information.

[0029] Specifically, when the controller receives a program start instruction, it will establish an accurate coordinate system for the turntable of the target robot. By establishing a coordinate system, a reference can be provided for determining the position of the target robot in space. After the coordinate system is established, the controller can use a calibrated absolute encoder to perform reading operations in the coordinate system. The absolute encoder can accurately measure the rotation angle and position of the turntable, and use the read turntable joint coordinates as the current position information. The turntable joint coordinates describe the exact position of the turntable in the coordinate system, including the offset and angle of the turntable in all directions. In addition, the controller will also read the stored data from the specified address as the storage position information. Among them, the controller refers to a computer controller that performs synchronous monitoring of the robot position.

[0030] S120: Determine a first synchronization result according to the current position information and the stored position information, and determine a second synchronization result according to the torque information.

[0031] The first synchronization result refers to the result on the position synchronization obtained by comparing the current position information with the stored position information, and the second synchronization result refers to the result on the torque synchronization determined based on the torque information.

[0032] Specifically, the controller will analyze and compare the acquired current position information and the stored position information to determine the first synchronization result. The first synchronization result is mainly about the synchronization between the current position of the target robot and the previously stored position. If the difference between the two is small, it can be considered that the position is synchronized. At the same time, it is also necessary to analyze and judge based on the acquired torque information to determine the second synchronization result. The second synchronization result is mainly about the torque synchronization between the target robot body and the turntable. If the torque change is within a reasonable range, it can be considered that the torque is synchronized.

[0033] Optionally, determining a first synchronization result based on the current position information and the stored position information includes: determining target parameters corresponding to the target robot, wherein the target parameters include a target machine model, a target encoder accuracy, and a target process requirement; obtaining an allowable error list, wherein the allowable error list includes error thresholds corresponding to each parameter; matching the target parameters through the allowable error list to determine a target error threshold corresponding to the target parameters; calculating a position difference between the current position information and the stored position information; determining whether the position difference is less than the target error threshold, and if so, determining that the first synchronization result is position synchronization; otherwise, determining that the first synchronization result is position asynchrony.

[0034] The error tolerance list is a list of error thresholds corresponding to various parameters. The error threshold is used to indicate within what range the position difference is acceptable, and beyond this range it is considered out of sync. Through the error tolerance list, the controller can determine the target error threshold corresponding to the target parameter.

[0035] Specifically, the controller calculates the position difference between the current position information and the stored position information, and compares the calculated position difference with the target error threshold. If the position difference is less than the target error threshold, it means that the position difference between the robot body and the turntable is within the allowable range, and the first synchronization result is determined to be position synchronization. If the position difference is greater than or equal to the target error threshold, it means that the position difference between the robot body and the turntable exceeds the allowable range, and the first synchronization result is determined to be position asynchrony.

[0036] For example, for a robot with machine model A, an absolute encoder accuracy of 0.01mm, and a process requirement that the synchronization error does not exceed 0.1mm, the user can specifically set the error threshold to 0.05mm. In this way, when the absolute value of the position difference calculated by the controller is less than 0.05mm, it is determined to be position synchronization; if the absolute value of the difference is greater than or equal to 0.05mm, it is determined that there is a synchronization error, and the system will trigger an alarm mechanism.

[0037] Optionally, determining the second synchronization result based on the torque information includes: obtaining a preset torque threshold; determining whether the torque information is less than the preset torque threshold, and if so, determining that the second synchronization result is position synchronization; otherwise, determining that the second synchronization result is position asynchrony.

[0038] The preset torque threshold is a value set in advance by the user to determine whether the torque between the robot body and the turntable is within a normal range. The preset torque threshold is usually determined based on the design and working requirements of the robot.

[0039] Specifically, the controller compares the torque information between the robot body and the turntable with the preset torque threshold. If the torque information is less than the preset torque threshold, it means that the torque between the robot body and the turntable is within the normal range, and the second synchronization result is determined to be position synchronization. If the torque information is greater than or equal to the preset torque threshold, it means that the torque between the robot body and the turntable exceeds the normal range, and the second synchronization result is determined to be position asynchrony.

[0040] S130: When both the first synchronization result and the second synchronization result are position synchronization, determining that the position monitoring result of the target robot body and the turntable is position synchronization.

[0041] Among them, position synchronization means that the positions of the target robot body and the turntable remain consistent during the movement without obvious deviation.

[0042] Specifically, when the first synchronization result indicates position synchronization and the second synchronization result also indicates position synchronization, it can be comprehensively judged that the position monitoring results of the target robot body and the turntable are position synchronization. At this time, the position of the target robot and the position of the turntable maintain good synchronization during the movement, and there is no obvious deviation or asynchrony.

[0043] Optionally, after determining that the position monitoring result of the target robot body and the turntable is position synchronization, the method further includes: storing the current position information to a specified address to update the stored position information.

[0044] Specifically, after determining that the position monitoring result of the target robot body and the turntable is position synchronization, the controller will store the current position information to the specified address to update the stored position information. The purpose of this is to ensure that the controller stores the latest position information of the robot for use in subsequent operations.

[0045] It should be noted that when storing the current location information, it is necessary to ensure the accuracy and integrity of the information, which can be achieved by using appropriate data storage technologies and algorithms, such as using a reliable database or data storage format, and adopting data verification and data compression technologies. At the same time, it is also necessary to consider the security and privacy of the data, which can be achieved by using encryption technology, permission control and data backup measures to ensure that the data will not be accessed or modified without authorization.

[0046] Optionally, the method also includes: when the first synchronization result or the second synchronization result is position asynchrony, determining that the position monitoring result of the target robot body and the turntable is position asynchrony; generating prompt information according to the position monitoring result, and alerting the user in a specified manner according to the prompt information.

[0047] Specifically, when the first synchronization result or the second synchronization result is position asynchrony, it means that there is a difference in the position between the target robot body and the turntable, and the position difference will affect the normal operation and working effect of the robot. Therefore, after determining that the position monitoring result is position asynchrony, the controller will generate corresponding prompt information so that the user can understand the situation that the robot body and the turntable are not synchronized. According to the prompt information, the controller can use a specified method to alarm the user, such as sound alarm, visual alarm, SMS alarm, etc., so that the user can understand the position problem of the robot in time. Furthermore, the controller can also set different alarm levels and alarm methods according to user needs and actual conditions to meet the needs of different users.

[0048] Furthermore, if the user wants the system to continue to operate after the alarm mechanism is triggered, the error threshold value can be appropriately increased, which may reduce the accuracy and reliability of the system.

[0049] The technical solution of the embodiment of the present invention performs synchronous monitoring of the joint axis and turntable of the robot when starting up, which can ensure that the robot is in a good synchronization state before starting to work. The timely synchronization monitoring and early warning mechanism can respond quickly when problems arise to avoid the problem from escalating. Once the synchronization deviation between the joint axis and the turntable is detected, the system will immediately issue a warning signal to remind the operator to check and adjust in time. Through continuous monitoring and early warning, the loss of the robot itself can also be reduced, synchronization problems can be discovered and solved in time, and abnormal wear of the robot can be reduced, thereby extending its service life and reducing maintenance costs. Example

[0050] Figure 2 This is a schematic diagram of the structure of a robot position monitoring device provided in the second embodiment of the present invention. The device can be implemented in software and / or hardware, and can generally be integrated into an electronic device that executes the method. Figure 2 As shown, the device comprises: The target robot information acquisition module 210 is used to acquire the current position information and storage position information of the target robot, and acquire the torque information between the target robot body and the turntable; A synchronization result determination module 220, configured to determine a first synchronization result according to the current position information and the stored position information, and to determine a second synchronization result according to the torque information; The position monitoring result determination module 230 is used to determine that the position monitoring result of the target robot body and the turntable is position synchronization when the first synchronization result and the second synchronization result are both position synchronization.

[0051] Optionally, the device also includes: an encoder calibration module, which is used to compare the measurement value of the absolute value encoder with the measurement value of the standard measuring tool before obtaining the current position information of the target robot and storing the position information to determine the encoder deviation; calibrate the absolute value encoder based on the encoder deviation to generate a calibrated absolute value encoder.

[0052] Optionally, the target robot information acquisition module 210 specifically includes: a position information acquisition unit, used to: establish a coordinate system for the target robot turntable when a program start instruction is obtained; read the turntable joint coordinates of the target robot in the coordinate system through a calibrated absolute encoder, and use the turntable joint coordinates as current position information; read the storage data at a specified address as storage position information.

[0053] Optionally, the synchronization result determination module 220 specifically includes: a first synchronization result determination unit, used to: determine target parameters corresponding to the target robot, wherein the target parameters include the target machine model, the target encoder accuracy and the target process requirements; obtain an error tolerance list, wherein the error tolerance list includes error thresholds corresponding to each parameter; match the target parameters through the error tolerance list to determine the target error threshold corresponding to the target parameters; calculate the position difference between the current position information and the stored position information; determine whether the position difference is less than the target error threshold, and if so, determine that the first synchronization result is position synchronization; otherwise, determine that the first synchronization result is position asynchrony.

[0054] Optionally, the synchronization result determination module 220 specifically includes: a second synchronization result determination unit, used to: obtain a preset torque threshold; determine whether the torque information is less than the preset torque threshold, and if so, determine that the second synchronization result is position synchronization; otherwise, determine that the second synchronization result is position asynchrony.

[0055] Optionally, the device also includes: a storage position update module, which is used to store the current position information to a specified address after determining that the position monitoring result of the target robot body and the turntable is position synchronization, so as to update the stored position information.

[0056] Optionally, the device also includes: a position asynchrony alarm module, which is used to determine that the position monitoring result of the target robot body and the turntable is position asynchrony when the first synchronization result or the second synchronization result is position asynchrony; generate prompt information according to the position monitoring result, and alarm the user in a specified manner according to the prompt information.

[0057] A robot position monitoring device provided by an embodiment of the present invention can execute a robot position monitoring method provided by any embodiment of the present invention, and has corresponding functional modules and beneficial effects of the execution method.

[0058] The technical solution of the embodiment of the present invention performs synchronous monitoring of the joint axis and turntable of the robot when starting up, which can ensure that the robot is in a good synchronization state before starting to work. The timely synchronization monitoring and early warning mechanism can respond quickly when problems arise to avoid the problem from escalating. Once the synchronization deviation between the joint axis and the turntable is detected, the system will immediately issue a warning signal to remind the operator to check and adjust in time. Through continuous monitoring and early warning, the loss of the robot itself can also be reduced, synchronization problems can be discovered and solved in time, and abnormal wear of the robot can be reduced, thereby extending its service life and reducing maintenance costs. Example

[0059] Figure 3 A schematic diagram of the structure of an electronic device 10 that can be used to implement an embodiment of the present invention is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital assistants, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or required herein.

[0060] like Figure 3As shown, the electronic device 10 includes at least one processor 11, and a memory connected to the at least one processor 11, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., wherein the memory stores a computer program that can be executed by at least one processor, and the processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 to the random access memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other through a bus 14. The input / output (I / O) interface 15 is also connected to the bus 14.

[0061] A number of components in the electronic device 10 are connected to the I / O interface 15, including: an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a disk, an optical disk, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0062] The processor 11 may be a variety of general and / or dedicated processing components with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 11 executes the various methods and processes described above, such as a robot position monitoring method.

[0063] In some embodiments, a robot position monitoring method may be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as a storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or installed on the electronic device 10 via the ROM 12 and / or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of a robot position monitoring method described above may be performed. Alternatively, in other embodiments, the processor 11 may be configured to perform a robot position monitoring method in any other appropriate manner (e.g., by means of firmware).

[0064] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0065] Computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that when the computer program is executed by the processor, the functions / operations specified in the flow chart and / or block diagram are implemented. The computer program may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0066] In the context of the present invention, a computer-readable storage medium may be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, device, or equipment. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices, or equipment, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer 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 of the foregoing.

[0067] To provide interaction with a user, the systems and techniques described herein may be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or trackball) through which the user can provide input to the electronic device. Other types of devices may also be used to provide interaction with the user; for example, the feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form (including acoustic input, voice input, or tactile input).

[0068] The systems and techniques described herein may be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0069] A computing system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The client and server relationship is generated by computer programs running on the corresponding computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system to solve the defects of difficult management and weak business scalability in traditional physical hosts and VPS services.

[0070] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and this document does not limit this.

[0071] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A robot position monitoring method, characterized in that: include: Obtaining the current position information and storage position information of the target robot, and obtaining the torque information between the target robot body and the turntable; determining a first synchronization result according to the current position information and the stored position information, and determining a second synchronization result according to the torque information; When both the first synchronization result and the second synchronization result are position synchronization, it is determined that the position monitoring result of the target robot body and the turntable is position synchronization.

2. A robot position monitoring method according to claim 1, characterized in that: Before obtaining the current position information of the target robot and storing the position information, the method further includes: Compare the measured value of the absolute encoder with the standard measuring tool to determine the encoder deviation; The absolute value encoder is calibrated based on the encoder deviation to generate a calibrated absolute value encoder.

3. A robot position monitoring method according to claim 2, characterized in that: The obtaining of the current position information and storage position information of the target robot includes: When the program start instruction is obtained, a coordinate system is established for the target robot turntable; Reading the turntable joint coordinates of the target robot in the coordinate system by using the calibrated absolute value encoder, and using the turntable joint coordinates as the current position information; The storage data at the designated address is read as the storage location information.

4. A robot position monitoring method according to claim 1, characterized in that: The determining a first synchronization result according to the current location information and the storage location information includes: Determine target parameters corresponding to the target robot, wherein the target parameters include target machine model, target encoder accuracy and target process requirements; Obtaining an error tolerance list, wherein the error tolerance list includes an error threshold corresponding to each parameter; Matching the target parameter through the error tolerance list to determine a target error threshold corresponding to the target parameter; Calculating a position difference between the current position information and the stored position information; Determine whether the position difference is less than the target error threshold, and if so, determine that the first synchronization result is position synchronization; Otherwise, it is determined that the first synchronization result is position asynchrony.

5. A robot position monitoring method according to claim 1, characterized in that: The determining a second synchronization result according to the torque information includes: Obtaining a preset torque threshold; Determining whether the torque information is less than the preset torque threshold, and if so, determining that the second synchronization result is position synchronization; Otherwise, it is determined that the second synchronization result is position asynchrony.

6. A robot position monitoring method according to claim 3, characterized in that: After determining that the position monitoring result of the target robot body and the turntable is position synchronization, the method further includes: The current location information is stored in the designated address to update the stored location information.

7. A robot position monitoring method according to claim 1, characterized in that: The method further comprises: When the first synchronization result or the second synchronization result is position asynchronism, determining that the position monitoring result of the target robot body and the turntable is position asynchronism; Prompt information is generated according to the position monitoring result, and a user is warned in a specified manner according to the prompt information.

8. A robot position monitoring device, characterized in that: include: The target robot information acquisition module is used to obtain the current position information and storage position information of the target robot, and obtain the torque information between the target robot body and the turntable; a synchronization result determination module, configured to determine a first synchronization result according to the current position information and the storage position information, and to determine a second synchronization result according to the torque information; The position monitoring result determination module is used to determine that the position monitoring result of the target robot body and the turntable is position synchronization when the first synchronization result and the second synchronization result are both position synchronization.

9. An electronic device, characterized in that: The electronic device comprises: at least one processor; and a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the robot position monitoring method according to any one of claims 1 to 7.

10. A computer storage medium, characterized in that: The computer storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement a robot position monitoring method according to any one of claims 1 to 7 when executed.

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