Robot deployment processing method and system, electronic equipment and storage medium

Abstract

The invention provides a robot deployment processing method and system, electronic equipment and a storage medium. The method comprises the following steps: determining a first pose of a robot on each first operation point; acquiring a second pose of the robot on each teaching operation point, wherein the plurality of teaching operation points are part of operation points in all operation points of the second workbench; constructing a coordinate system matrix of a second workbench according to the second poses corresponding to the teaching operation points; and according to the first poses corresponding to the first operation points and the coordinate system matrix of the second workbench, target poses of second operation points corresponding to the first operation points in the second workbench are determined, and the robot is controlled to operate at the second operation points according to the target poses. The situation that in the prior art, teaching deployment needs to be carried out on all operation points on each workbench is avoided, and meanwhile the workload of follow-up large-scale teaching is greatly reduced.

Description

Technical Field

[0001] The present application relates to the field of robotics technology, and more specifically, to a robot deployment processing method, system, electronic device, and storage medium. Background Art

[0002] In a factory workshop, a robot needs to operate multiple workbenches and needs to be taught separately at multiple work points on each workbench.

[0003] In the prior art, before the robot is taught, it is necessary to first attach a visual label to each workbench, and then use the visual label as a positioning reference to establish a user coordinate system. Then, the robot is taught at the working point of each workbench. If the number of workbenches is large, such a teaching method takes a lot of time, making the robot teaching cost relatively high. Summary of the invention

[0004] The purpose of this application is to provide a robot deployment processing method, system, electronic device and storage medium to improve the accuracy of robot deployment processing in response to the above-mentioned deficiencies in the prior art.

[0005] To achieve the above purpose, the technical solution adopted in the embodiment of the present application is as follows:

[0006] In a first aspect, an embodiment of the present application provides a robot deployment processing method, the method comprising:

[0007] Controlling the robot to perform teaching operations on all first working points of the first workbench, and determining a first posture of the robot at each first working point, wherein the first posture is a posture in a coordinate system of the first workbench;

[0008] Control the robot to perform teaching operations on multiple teaching work points of the second workbench, and obtain a second posture of the robot at each teaching work point, wherein the second posture is a posture of the robot in a coordinate system, wherein the multiple teaching work points are some of all work points of the second workbench, and the work point deployment structure of the second workbench is the same as the work point deployment structure of the first workbench;

[0009] Constructing a coordinate system matrix of the second workbench according to the second posture corresponding to each teaching operation point;

[0010] According to the first posture corresponding to each of the first working points and the coordinate system matrix of the second workbench, the target posture of the second working point corresponding to each of the first working points in the second workbench is determined, and the robot is controlled to work at the second working point with the target posture.

[0011] Optionally, determining the first posture of the robot at each first operating point includes:

[0012] Acquire a first robot teaching posture corresponding to all first working points, where the first robot teaching posture is a posture in a coordinate system of the robot;

[0013] Selecting a preset number of reference operating points from all first operating points, and obtaining a first robot teaching position in a first robot teaching posture of each reference operating point;

[0014] Constructing a coordinate system matrix of the first workbench according to each of the first robot teaching positions;

[0015] Each of the first postures is determined according to each of the first robot teaching postures and the coordinate system matrix of the first workbench.

[0016] Optionally, constructing a coordinate system matrix of the first workbench according to each of the first robot teaching positions includes:

[0017] Determine an x ​​vector in a coordinate system matrix of the first workbench according to a first first robot teaching position and a second first robot teaching position;

[0018] Determine the y vector in the coordinate system matrix of the first workbench according to the first first robot teaching position and the third first robot teaching position;

[0019] Determine the z vector in the coordinate system matrix of the first workbench according to the x vector in the coordinate system matrix of the first workbench and the y vector in the coordinate system matrix of the first workbench;

[0020] Determine a translation vector in a coordinate system matrix of the first workbench according to the first robot teaching position;

[0021] The coordinate system matrix of the first workbench is constructed according to the x vector in the coordinate system matrix of the first workbench, the y vector in the coordinate system matrix of the first workbench, the z vector in the coordinate system matrix of the first workbench, and the translation vector in the coordinate system matrix of the first workbench.

[0022] Optionally, determining the x vector in the coordinate system of the first workbench according to the first first robot teaching position and the second first robot teaching position includes:

[0023] Subtracting the coordinates of the first first robot teaching position from the coordinates of the second first robot teaching position to obtain a coordinate vector difference;

[0024] calculating the magnitude of the coordinate vector difference;

[0025] The coordinate vector difference is divided by the modulus of the coordinate vector difference to obtain an x ​​vector in the coordinate system matrix of the first workbench.

[0026] Optionally, determining the z vector in the coordinate system matrix of the first workbench according to the x vector in the coordinate system matrix of the first workbench and the y vector in the coordinate system matrix of the first workbench includes:

[0027] The x vector in the coordinate system matrix of the first workbench is cross-multiplied with the y vector in the coordinate system matrix of the first workbench to obtain the z vector in the coordinate system matrix of the first workbench.

[0028] Optionally, determining each of the first postures according to each of the first robot teaching postures and a coordinate system matrix of the first workbench includes:

[0029] Constructing the inverse matrix of the coordinate system matrix of the first workbench;

[0030] Each of the first robot teaching postures is multiplied by the inverse matrix to obtain each of the first postures.

[0031] Optionally, constructing a coordinate system matrix of the second workbench according to the second posture corresponding to each teaching operation point includes:

[0032] Acquire a second robot teaching position in a second posture corresponding to each of the teaching operation points;

[0033] Determine the x vector in the coordinate system matrix of the second workbench according to the first second robot teaching position and the second second robot teaching position;

[0034] Determine the y vector in the coordinate system matrix of the second workbench according to the first teaching position of the second robot and the third teaching position of the second robot;

[0035] Determine the z vector in the coordinate system matrix of the second workbench according to the x vector in the coordinate system matrix of the second workbench and the y vector in the coordinate system matrix of the second workbench;

[0036] Determine a translation vector in a coordinate system matrix of the second workbench according to the first second robot teaching position;

[0037] The coordinate system matrix of the second workbench is constructed according to the x vector in the coordinate system matrix of the second workbench, the y vector in the coordinate system matrix of the second workbench, the z vector in the coordinate system matrix of the second workbench, and the translation vector in the coordinate system matrix of the second workbench.

[0038] Optionally, determining the target pose of the second working point corresponding to each of the first working points in the second working table according to the first pose corresponding to each of the first working points and the coordinate system matrix of the second working table includes:

[0039] The first position corresponding to each of the first working points is multiplied by the coordinate system matrix of the second workbench to obtain the target position of the second working point corresponding to each of the first working points in the second workbench.

[0040] In a second aspect, an embodiment of the present application further provides a robot deployment processing system, including: a control device, a robot, and a plurality of workbenches, each of which is deployed with the same number of work points, and the deployment structure of the work points of each workbench is the same;

[0041] The control device is used to implement robot deployment processing through the method steps described in the first aspect.

[0042] In a third aspect, an embodiment of the present application further provides an electronic device, comprising: a processor, a storage medium and a bus, wherein the storage medium stores program instructions executable by the processor, and when an application is running, the processor communicates with the storage medium via the bus, and the processor executes the program instructions to execute the steps of the robot deployment processing method described in the first aspect above.

[0043] In a fourth aspect, an embodiment of the present application further provides a computer-readable storage medium, on which a computer program is stored, and the computer program is read and executes the steps of the robot deployment processing method described in the first aspect above.

[0044] The beneficial effects of this application are:

[0045] The present application provides a robot deployment processing method, system, electronic device and storage medium, which performs teaching operations on all first working points on a first workbench, and determines the first posture of the robot at each first working point in the coordinate system of the first workbench, and then controls only some working points on the second workbench to perform teaching operations, and constructs the coordinate system matrix of the second workbench according to the second postures of some working points on the second workbench in the coordinate system of the robot, so that according to the first postures in the coordinate system of the first workbench and the constructed coordinate system matrix of the second workbench, the target postures of each second working point on the second workbench are obtained, and then the robot can be directly controlled to operate on the second workbench according to the obtained target postures. It is only necessary to teach all the work points on the first workbench, and the other workbenches only need to teach some of the work points. The target posture of the work points on other workbenches is obtained by converting the first posture taught on the first workbench, and there is no need to adjust the posture, thus avoiding the need to perform teaching deployment on all the work points on each workbench as in the prior art. At the same time, the point where the visual label is affixed is also regarded as a work point, and the visual labeling is completed by a robot, eliminating the arbitrariness of manual labeling to ensure the accuracy of the labeled work points, and greatly reducing the workload of subsequent large-scale teaching. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0047] Figure 1 A schematic diagram of the architecture of a robot deployment processing system provided in an embodiment of the present application;

[0048] Figure 2 A schematic diagram of a process flow of a robot deployment processing method provided in an embodiment of the present application;

[0049] Figure 3 A flowchart of a method for determining a first position provided in an embodiment of the present application;

[0050] Figure 4 A schematic flow chart of a method for constructing a coordinate system matrix of a first workbench provided in an embodiment of the present application;

[0051] Figure 5 A schematic flow chart of another method for constructing a coordinate system matrix of a first workbench provided in an embodiment of the present application;

[0052] Figure 6 A flowchart of another method for determining a first position provided in an embodiment of the present application;

[0053] Figure 7 A schematic flow chart of a method for constructing a coordinate system matrix of a second workbench provided in an embodiment of the present application;

[0054] Figure 8 A structural block diagram of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0055] To make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. It should be understood that the drawings in the present application only serve the purpose of explanation and description and are not used to limit the scope of protection of the present application. In addition, it should be understood that the schematic drawings are not drawn in real proportion. The flowchart used in this application shows the operations implemented according to some embodiments of the present application. It should be understood that the operations of the flowchart can be implemented out of sequence, and the steps without logical context can be reversed in order or implemented simultaneously. In addition, those skilled in the art can add one or more other operations to the flowchart under the guidance of the content of the present application, or remove one or more operations from the flowchart.

[0056] In addition, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. The components of the embodiments of the present application described and shown in the drawings here can be arranged and designed in various configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the application claimed for protection, but merely represents the selected embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without making creative work belong to the scope of protection of the present application.

[0057] It should be noted that the term "comprising" will be used in the embodiments of the present application to indicate the existence of the features declared thereafter, but does not exclude the addition of other features.

[0058] Figure 1 A schematic diagram of the architecture of a robot deployment processing system provided in an embodiment of the present application is shown in FIG. Figure 1As shown, the method is applied to a robot deployment scenario, which involves a control device, a robot and a plurality of workbenches, wherein each workbench is deployed with the same number of work points, and the work point deployment structure of each workbench is the same. Exemplarily, there are 3 work points in a workbench A, the first work point is located at the center of the workbench A, the second work point is located at a position 1 meter to the left of the first work point, and the third work point is located at a position 1 meter to the right of the first work point. Then, there are also 3 work points in any other workbench B, the first work point is located at the center of the workbench B, the second work point is located at a position 1 meter to the left of the first work point, and the third work point is located at a position 1 meter to the right of the first work point. The control device can be connected to the robot for communication, and the control device can use the robot deployment processing method provided in the embodiment of the present application to realize the deployment processing of the robot during the teaching process. The deployment time of the robot during the teaching process is greatly reduced, thereby simplifying the teaching workload and time.

[0059] The control device may be, for example, a mobile phone, tablet computer, laptop computer, PDA, desktop computer, or other terminal device with computing and display capabilities, or may also be a server. Specifically, it may be applied to an application in a terminal device, such as an APP (application) in a mobile phone, an application system on a computer, etc.

[0060] Figure 2 The flowchart of a robot deployment processing method provided in an embodiment of the present application is shown in FIG. 1 , wherein the execution subject of the method is the aforementioned control device. Figure 2 As shown, the method includes:

[0061] S101, controlling the robot to perform teaching operations on all first operating points of the first workbench, and determining the first position of the robot at each first operating point.

[0062] The first posture refers to the posture in the coordinate system of the first workbench.

[0063] Optionally, there are multiple workbenches in the production workshop, and the first workbench may refer to the first workbench for teaching among the multiple workbenches. Multiple first operating points are deployed on the first workbench, and the robot needs to be controlled to perform teaching operations at each first operating point, that is, the robot needs to be taught to a posture that meets the operating requirements at each first operating point according to the operating requirements.

[0064] Exemplarily, if the first workbench is deployed with 10 first work points, the identification of the 10 first work points can be, for example, s1n1~s1n10, the work points for teaching visual labels are labeled by the robot, and the work points with visual labels are identified using s1n11, then the first work points included in the first workbench are 11 first work points s1n1~s1n11.

[0065] Optionally, the control device may first control the robot to move to the first operating point s1n1 on the first workbench, and may adjust the robot's posture according to the operating requirements so that the robot's posture at the first operating point s1n1 meets the operating requirements, and then record the posture that meets the operating requirements at the first operating point s1n1 and in the robot coordinate system, and determine the first posture U1T1 at the first operating point s1n1. Assuming that the posture that meets the operating requirements at the first operating point s1n1 in the robot coordinate system is posture 1, the first posture U1T1 at the first operating point s1n1 may be determined based on posture 1.

[0066] It is worth noting that the teaching process for other first working points of the first workbench is the same as the teaching process at the first working point s1n1, that is, for the first workbench, it is necessary to adjust the robot's posture according to the working requirements at each first working point, and then record the posture that meets the working requirements and is in the robot coordinate system. And use the preset method to determine the first posture U1T2~U1T11 of the robot at other first working points.

[0067] S102, controlling the robot to perform teaching operations at multiple teaching work points on the second workbench, and obtaining a second posture of the robot at each teaching work point.

[0068] The second posture is the posture of the robot in the coordinate system of the robot. The multiple teaching work points are some of the work points of all the work points of the second workbench, and the work point deployment structure of the second workbench is the same as the work point deployment structure of the first workbench, that is, the number of teaching work points on the second workbench is the same as the number of work points on the first workbench, and the position of each teaching work point on the second workbench is the same as the position of each first work point on the first workbench. The second workbench is any other workbench except the first workbench.

[0069] For example, the plurality of teaching operation points may be, for example, 3 teaching operation points, such as s2n1, s2n2 and s2n3. If there are 11 operation points on the first workbench, there are also 11 operation points on the second workbench, such as s2n1 to s2n11.

[0070] Optionally, the process of the robot performing the teaching operation on multiple teaching work points of the second workbench is similar to the process of performing the teaching operation at the first work point s1n1 in the aforementioned S101. Specifically, first move the robot to one of the multiple teaching work points in the second workbench, s2n1, adjust the robot's posture according to the work requirements, and then use the posture adjusted according to the work requirements as the second posture W2p1 of the robot in the robot's coordinate system at the teaching work point s2n1. Move the robot to the teaching work point s2n2 in the second workbench, adjust the robot's posture according to the work requirements, and then use the posture adjusted according to the work requirements as the second posture W2p2 of the robot in the robot's coordinate system at the teaching work point s2n2. Further, move the robot to the teaching work point s2n3 in the second workbench, adjust the robot's posture according to the work requirements, and then use the posture adjusted according to the work requirements as the second posture W2p3 of the robot in the robot's coordinate system at the teaching work point s2n3.

[0071] Optionally, for the second workbench, it is only necessary to adjust the robot's posture at the above-mentioned multiple teaching work points, that is, performing teaching operations on the robot at the above-mentioned multiple teaching work points does not require adjusting the robot's posture at all work points of the second workbench.

[0072] S103, constructing a coordinate system matrix of the second workbench according to the second posture corresponding to each teaching operation point.

[0073] Specifically, the coordinate system matrix of the second workbench can be constructed using a preset method according to the second posture of the robot in the coordinate system of the robot at each teaching operation point.

[0074] For example, the coordinate system matrix T of the second workbench can be constructed using a preset method according to the second postures W2p1, W2p2 and W2p3 of the robot obtained at the three teaching operation points s2n1, s2n2 and s2n3. user2 .

[0075] S104. Determine the target posture of the second working point corresponding to each first working point in the second working table according to the first posture corresponding to each first working point and the coordinate system matrix of the second working table, so as to control the robot to operate at each second working point according to each target posture.

[0076] The target posture of each second operating point refers to the posture in the coordinate system of the second workbench.

[0077] Optionally, since the deployment structure of the work points of the second workbench is the same as the deployment structure of the work points in the first workbench, each second work point in the second workbench corresponds one-to-one to each first work point in the first workbench.

[0078] Exemplarily, the first work point s1n1 corresponds to the second work point s2n1, the first work point s1n2 corresponds to the second work point s2n2, the first work point s1n3 corresponds to the second work point s2n3, the first work point s1n4 corresponds to the second work point s2n4, the first work point s1n4 corresponds to the second work point s2n4, the first work point s1n5 corresponds to the second work point s2n5, the first work point s1n6 corresponds to the second work point s2n6, and so on.

[0079] For example, the first position U1T1 corresponding to the first working point s1n1 and the coordinate system matrix T of the second workbench can be used. user2 , use a preset method to determine the target position U2T1 of the second work point s2n1 corresponding to the first work point s1n1 on the second workbench. The first position U1T2 corresponding to the first work point s1n2 and the coordinate system matrix T of the second workbench can be used. user2 , use a preset method to determine the target position U2T2 of the second working point s2n2 corresponding to the first working point s1n2 on the second workbench. And so on.

[0080] Optionally, after the target posture of each second working point is obtained, the control device can directly control the robot to perform work on each second working point on the second workbench according to the obtained target posture.

[0081] In this embodiment, the teaching operation is performed on all the first working points on the first workbench, and the first posture of the robot at each first working point in the coordinate system of the first workbench is determined. Then, the robot is controlled to perform the teaching operation on only some working points on the second workbench, and the coordinate system matrix of the second workbench is constructed according to the second posture of some working points on the second workbench in the coordinate system of the robot. Thus, according to the first postures in the coordinate system of the first workbench and the constructed coordinate system matrix of the second workbench, the target posture of each second working point on the second workbench is obtained, and then the robot can be directly controlled to perform operations on each second workbench according to the obtained target postures. It is only necessary to teach all the work points on the first workbench, and the other workbenches only need to teach some of the work points. The target posture of the work points on other workbenches is obtained by converting the first posture taught on the first workbench, and there is no need to adjust the posture, thus avoiding the need to perform teaching deployment on all the work points on each workbench as in the prior art. At the same time, the point where the visual label is affixed is also regarded as a work point, and the visual labeling is completed by a robot, eliminating the arbitrariness of manual labeling to ensure the accuracy of the labeled work points, and greatly reducing the workload of subsequent large-scale teaching.

[0082] Figure 3A flow chart of a method for determining a first position provided in an embodiment of the present application is shown as follows: Figure 3 As shown, determining the first position of the robot at each first working point in the above S101 may include:

[0083] S201, obtaining a first robot teaching posture corresponding to a first working point.

[0084] The first robot teaching posture refers to the posture in the robot coordinate system.

[0085] Optionally, when the posture of the robot at the first working point on the first workbench is adjusted according to the working requirements, the posture of the robot after the adjustment in the robot coordinate system can be used as the first robot teaching posture corresponding to the first working point.

[0086] Exemplarily, the first robot teaching posture W1T1 corresponding to the first work point s1n1, the first robot teaching posture W1T2 corresponding to the first work point s1n2, the first robot teaching posture W1T3 corresponding to the first work point s1n3, the first robot teaching posture W1T4 corresponding to the first work point s1n4, the first robot teaching posture W1T5 corresponding to the first work point s1n5, the first robot teaching posture W1T6 corresponding to the first work point s1n6, the first robot teaching posture W1T7 corresponding to the first work point s1n7, the first robot teaching posture W1T8 corresponding to the first work point s1n8, the first robot teaching posture W1T9 corresponding to the first work point s1n9, the first robot teaching posture W1T10 corresponding to the first work point s1n10, and the first robot teaching posture W1T11 corresponding to the first work point s1n11 can be obtained.

[0087] S202 , selecting a preset number of reference operating points from all first operating points, and obtaining a first robot teaching position in a first robot teaching posture of each reference operating point.

[0088] Optionally, the preset number may be, for example, the first three first working points, and the reference working points are s1n1, s1n2, and s1n3, respectively. The first robot teaching position W1p1 is obtained from W1T1, the first robot teaching position W1p2 is obtained from W1T2, and the first robot teaching position W1p3 is obtained from W1T3.

[0089] S203: construct a coordinate system matrix of the first workbench according to the teaching positions of the first robots.

[0090] Specifically, the coordinate system matrix T of the first workbench can be constructed using a preset method according to the first robot teaching positions of a preset number of reference work points, that is, the first robot teaching positions of the first three first work points. user1.

[0091] Optionally, the first three first working points can be used as associated transformation points for calculating the coordinate system of the robot and the coordinate system of the first worktable. Since the first three first working points are fixedly connected to the first worktable, the coordinate system matrix of the first worktable can be constructed using a preset method based on the first robot teaching positions of these three first working points fixedly connected to the first worktable.

[0092] S204, determining each first posture according to each first robot teaching posture and the coordinate system matrix of the first workbench.

[0093] Optionally, each first posture can be obtained by using a preset method according to each first robot teaching posture and the coordinate system matrix of the first workbench.

[0094] Figure 4 A schematic diagram of a method for constructing a coordinate system matrix of a first workbench provided in an embodiment of the present application is shown in FIG. Figure 4 As shown, in the above S203, constructing the coordinate system matrix of the first workbench according to the teaching positions of each first robot may include:

[0095] S301. Determine an x ​​vector in a coordinate system matrix of a first workbench according to a first first robot teaching position and a second first robot teaching position.

[0096] Specifically, the x vector in the coordinate system matrix of the first workbench may be determined using a preset method according to the first first robot teaching position W1p1 and the second first robot teaching position W1p2.

[0097] S302. Determine the y vector in the coordinate system matrix of the first workbench according to the first first robot teaching position and the third first robot teaching position.

[0098] Specifically, the y vector in the coordinate system matrix of the first workbench may be determined using a preset method according to the first robot teaching position W1p1 and the third first robot teaching position W1p3.

[0099] S303 . Determine the z vector in the coordinate system matrix of the first workbench according to the x vector in the coordinate system matrix of the first workbench and the y vector in the coordinate system matrix of the first workbench.

[0100] Optionally, a z vector in the coordinate system matrix of the first workbench may be determined using a preset method according to an x ​​vector in the coordinate system matrix of the first workbench and a y vector in the coordinate system matrix of the first workbench.

[0101] S304, determining a translation vector in a coordinate system matrix of the first workbench according to the first robot teaching position.

[0102] Specifically, the coordinates in the first robot teaching position can be directly used as the translation vector in the system matrix of the first workbench coordinates.

[0103] S305. Construct a coordinate system matrix of the first workbench according to the x vector in the coordinate system matrix of the first workbench, the y vector in the coordinate system matrix of the first workbench, the z vector in the coordinate system matrix of the first workbench, and the translation vector in the coordinate system matrix of the first workbench.

[0104] Specifically, the coordinate system matrix of the first workbench is Among them, x1 is the x vector in the coordinate system matrix of the first workbench, y1 is the y vector in the coordinate system matrix of the first workbench, z1 is the z vector in the coordinate system matrix of the first workbench, and W1p1 is the translation vector in the coordinate system matrix of the first workbench.

[0105] Figure 5 A flow chart of another method for constructing a coordinate system matrix of a first workbench provided in an embodiment of the present application is as follows: Figure 5 As shown, in the above S301, determining the x vector in the coordinate system matrix of the first workbench according to the first first robot teaching position and the second first robot teaching position may include:

[0106] S401 . Subtract the coordinates of the first teaching position of the first robot from the coordinates of the second teaching position of the first robot to obtain a coordinate vector difference.

[0107] Specifically, the coordinate vector difference is W1p2-W1p1.

[0108] S402, calculate the modulus of the coordinate vector difference.

[0109] Specifically, the modulus of the coordinate vector difference is ||W1p2-W1p1||.

[0110] S403 . Divide the coordinate vector difference by the modulus of the coordinate vector difference to obtain the x vector in the coordinate system matrix of the first workbench.

[0111] Specifically, the x vector in the coordinate system matrix of the first workbench is

[0112] Optionally, the calculation method of the y vector in the coordinate system matrix of the first workbench is similar to the calculation method of the x vector in the coordinate system matrix of the first workbench, then the y vector in the coordinate system matrix of the first workbench is

[0113] Optionally, the above S303, determining the z vector in the coordinate system matrix of the first workbench according to the x vector in the coordinate system matrix of the first workbench and the y vector in the coordinate system matrix of the first workbench, may include:

[0114] Specifically, the x vector in the coordinate system matrix of the first workbench can be cross-producted with the y vector in the coordinate system matrix of the first workbench to obtain the z vector in the coordinate system matrix of the first workbench. Then the z vector in the coordinate system matrix of the first workbench is cross_product(x1, y1), where x1 is the x vector in the coordinate system matrix of the first workbench, and y1 is the y vector in the coordinate system matrix of the first workbench.

[0115] Figure 6 A flowchart of another method for determining the first position provided in an embodiment of the present application is shown as follows: Figure 6 As shown, in the above S204, determining each first posture according to each first robot teaching posture and the coordinate system matrix of the first workbench may include:

[0116] S501, constructing the inverse matrix of the coordinate system matrix of the first workbench.

[0117] Specifically, the inverse matrix of the coordinate system matrix of the first workbench is [t user1 ] T .

[0118] S502, multiplying each first robot teaching posture by the inverse matrix to obtain each first posture.

[0119] Exemplarily, the first positions are: U1T1=W1T1*[T user1 ] T 、U1T2=W1T2*[T user1 ] T 、U1T3=W1T3*[T user1 ] T 、U1T4=W1T4*[T user1 ] T 、U1T5=W1T5*[T user1 ] T 、U1T6=W1T6*[T user1 ] T 、U1T7=W1T7*[T user1 ] T 、U1T8=W1T8*[T user1 ] T 、U1T9=W1T9*[T user1 ] T 、U1T10=W1T10*[T user1 ] T、U1T11=W1T11*[T user1 ] T .

[0120] Figure 7 A flow chart of a method for constructing a coordinate system matrix of a second workbench provided in an embodiment of the present application is shown as follows: Figure 7 As shown, in the above S103, constructing the coordinate system matrix of the second workbench according to the second posture corresponding to each teaching operation point may include:

[0121] S601, obtaining a second robot teaching position in a second posture corresponding to each teaching operation point.

[0122] Specifically, each teaching operation point is the first three second operation points taught on the second workbench, and the acquired second robot teaching positions are W2p1, W2p2, and W2p3.

[0123] S602: Determine the x vector in the coordinate system matrix of the first workbench according to the first teaching position of the second robot and the second teaching position of the second robot.

[0124] Specifically, the x vector in the coordinate system matrix of the second workbench is

[0125] S603: Determine the y vector in the coordinate system matrix of the second workbench according to the first teaching position of the second robot and the third teaching position of the second robot.

[0126] Specifically, the y vector in the coordinate system matrix of the second workbench is

[0127] S604. Determine the z vector in the coordinate system matrix of the second workbench according to the x vector in the coordinate system matrix of the second workbench and the y vector in the coordinate system matrix of the second workbench.

[0128] Optionally, the x vector in the coordinate system matrix of the second workbench can be cross-producted with the y vector in the coordinate system matrix of the second workbench to obtain the z vector in the coordinate system matrix of the second workbench. Then the z vector in the coordinate system matrix of the second workbench is cross_product(x2, y2), where x2 is the x vector in the coordinate system matrix of the second workbench, and y2 is the y vector in the coordinate system matrix of the second workbench.

[0129] S605. Determine the translation vector in the coordinate system matrix of the second workbench according to the teaching position of the second robot.

[0130] Specifically, the coordinates in the teaching position of the second robot can be directly used as the translation vector in the coordinate system matrix of the second workbench.

[0131] S606. Construct a coordinate system matrix of the second workbench according to the x vector in the coordinate system matrix of the second workbench, the y vector in the coordinate system matrix of the second workbench, the z vector in the coordinate system matrix of the second workbench, and the translation vector in the coordinate system matrix of the second workbench.

[0132] Specifically, the coordinate system matrix of the second workbench is Among them, x2 is the x vector in the coordinate system matrix of the second workbench, y2 is the y vector in the coordinate system matrix of the second workbench, z2 is the z vector in the coordinate system matrix of the second workbench, and W2p1 is the translation vector in the coordinate system matrix of the second workbench.

[0133] Optionally, in the above S104, determining the target posture of the second working point corresponding to each first working point in the second working table according to the first posture corresponding to each first working point and the coordinate system matrix of the second working table may include:

[0134] Optionally, the first position corresponding to each first working point may be multiplied by the coordinate system matrix of the second workbench to obtain the target position of the second working point corresponding to each first working point in the second workbench.

[0135] For example, the first position U1T1 corresponding to the first working point s1n1 is compared with the coordinate system matrix T of the second workbench. user2 Multiply them to get the target posture of the second working point s2n1 corresponding to the first working point on the second workbench, that is, the target posture of the second working point s2n1 is T user2 *U1T1. The calculation process of the target postures of other second operating points is the same as that of the target posture of the second operating point s2n1, and the target posture of each second operating point can be obtained.

[0136] For example, the target positions of the second operating points are T user2 *U1T2T user2 *U1T3,T user2 *U1T1,T user2 *U1T4,T user2 *U1T5、T user2 *U1T6,T user2 *U1T7、T user2 *U1T8、T user2 *U1T9,T user2 *U1T10、T user2 *U1T11.

[0137] Figure 8 This is a structural block diagram of an electronic device 700 provided in an embodiment of the present application. The electronic device may be, for example, a robot deployment processor as described in the above embodiment. Figure 8 As shown, the electronic device may include: a processor 701 and a memory 702 .

[0138] Optionally, a bus 703 may also be included, wherein the memory 702 is used to store machine-readable instructions executable by the processor 701. When the electronic device 700 is running, the processor 701 communicates with the memory 702 through the bus 703. When the machine-readable instructions are executed by the processor 701, the method steps in the above method embodiment are performed.

[0139] An embodiment of the present application further provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the method steps in the above-mentioned robot deployment processing method embodiment are executed.

[0140] Those skilled in the art can clearly understand that, for the convenience and simplicity of description, the specific working process of the system and device described above can refer to the corresponding process in the method embodiment, and will not be repeated in this application. In the several embodiments provided in this application, it should be understood that the disclosed system, device and method can be implemented in other ways. The device embodiments described above are merely schematic. For example, the division of the modules is only a logical function division. There may be other division methods in actual implementation. For example, multiple modules or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some communication interfaces, indirect coupling or communication connection of devices or modules, which can be electrical, mechanical or other forms.

[0141] In addition, each functional unit in each embodiment of the present application can be integrated into a processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. If the function is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art or the part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including several instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, RandomAccess Memory), disk or optical disk and other media that can store program code.

[0142] The above are only specific implementation methods of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be covered by the protection scope of the present application.

Claims

1. A robot deployment processing method, characterized in that: The method comprises: Controlling the robot to perform teaching operations on all first working points of the first workbench, and determining a first posture of the robot at each first working point, wherein the first posture is a posture in a coordinate system of the first workbench; Control the robot to perform teaching operations on multiple teaching work points of the second workbench, and obtain a second posture of the robot at each teaching work point, wherein the second posture is a posture of the robot in a coordinate system, wherein the multiple teaching work points are some of all work points of the second workbench, and the work point deployment structure of the second workbench is the same as the work point deployment structure of the first workbench; Constructing a coordinate system matrix of the second workbench according to the second posture corresponding to each teaching operation point; According to the first posture corresponding to each of the first working points and the coordinate system matrix of the second workbench, the target posture of the second working point corresponding to each of the first working points in the second workbench is determined, so as to control the robot to work at the second working point according to the target posture.

2. The robot deployment processing method according to claim 1, characterized in that: Determining the first position of the robot at each first operating point includes: Acquire a first robot teaching posture corresponding to all first working points, where the first robot teaching posture is a posture in a coordinate system of the robot; Selecting a preset number of reference operating points from all first operating points, and obtaining a first robot teaching position in a first robot teaching posture of each reference operating point; Constructing a coordinate system matrix of the first workbench according to each of the first robot teaching positions; Each of the first postures is determined according to each of the first robot teaching postures and the coordinate system matrix of the first workbench.

3. The robot deployment processing method according to claim 2, characterized in that: The step of constructing a coordinate system matrix of the first workbench according to each of the first robot teaching positions includes: Determine an x ​​vector in a coordinate system matrix of the first workbench according to a first first robot teaching position and a second first robot teaching position; Determine the y vector in the coordinate system matrix of the first workbench according to the first first robot teaching position and the third first robot teaching position; Determine the z vector in the coordinate system matrix of the first workbench according to the x vector in the coordinate system matrix of the first workbench and the y vector in the coordinate system matrix of the first workbench; Determine a translation vector in a coordinate system matrix of the first workbench according to the first robot teaching position; The coordinate system matrix of the first workbench is constructed according to the x vector in the coordinate system matrix of the first workbench, the y vector in the coordinate system matrix of the first workbench, the z vector in the coordinate system matrix of the first workbench, and the translation vector in the coordinate system matrix of the first workbench.

4. The robot deployment processing method according to claim 3, characterized in that: The step of determining the x vector in the coordinate system of the first workbench according to the first first robot teaching position and the second first robot teaching position includes: Subtracting the coordinates of the first first robot teaching position from the coordinates of the second first robot teaching position to obtain a coordinate vector difference; Calculating the magnitude of the coordinate vector difference; The coordinate vector difference is divided by the modulus of the coordinate vector difference to obtain an x ​​vector in the coordinate system matrix of the first workbench.

5. The robot deployment processing method according to claim 3, characterized in that: The determining the z vector in the coordinate system matrix of the first workbench according to the x vector in the coordinate system matrix of the first workbench and the y vector in the coordinate system matrix of the first workbench comprises: The x vector in the coordinate system matrix of the first workbench is cross-multiplied with the y vector in the coordinate system matrix of the first workbench to obtain the z vector in the coordinate system matrix of the first workbench.

6. The robot deployment processing method according to claim 2, characterized in that: The determining each of the first postures according to each of the first robot teaching postures and the coordinate system matrix of the first workbench includes: Constructing the inverse matrix of the coordinate system matrix of the first workbench; Each of the first robot teaching postures is multiplied by the inverse matrix to obtain each of the first postures.

7. The robot deployment processing method according to claim 1, characterized in that: The step of constructing a coordinate system matrix of the second workbench according to the second posture corresponding to each teaching operation point includes: Acquire a second robot teaching position in a second posture corresponding to each of the teaching operation points; Determine the x vector in the coordinate system matrix of the second workbench according to the first second robot teaching position and the second second robot teaching position; Determine the y vector in the coordinate system matrix of the second workbench according to the first teaching position of the second robot and the third teaching position of the second robot; Determine the z vector in the coordinate system matrix of the second workbench according to the x vector in the coordinate system matrix of the second workbench and the y vector in the coordinate system matrix of the second workbench; Determine a translation vector in a coordinate system matrix of the second workbench according to the first second robot teaching position; The coordinate system matrix of the second workbench is constructed according to the x vector in the coordinate system matrix of the second workbench, the y vector in the coordinate system matrix of the second workbench, the z vector in the coordinate system matrix of the second workbench, and the translation vector in the coordinate system matrix of the second workbench.

8. The robot deployment processing method according to claim 1, characterized in that: The determining, according to the first pose corresponding to each of the first working points and the coordinate system matrix of the second working table, a target pose of the second working point corresponding to each of the first working points in the second working table includes: The first position corresponding to each of the first working points is multiplied by the coordinate system matrix of the second workbench to obtain the target position of the second working point corresponding to each of the first working points in the second workbench.

9. A robot deployment processing system, characterized in that: include: Control equipment, robots and multiple workbenches, each of which has the same number of work points deployed on it, and the deployment structure of the work points of each workbench is the same; The control device is used to implement robot deployment processing through the steps of the robot deployment processing method described in any one of claims 1-8.

10. An electronic device, characterized in that: It comprises a memory and a processor, wherein the memory stores a computer program executable by the processor, and when the processor executes the computer program, the steps of the robot deployment processing method according to any one of claims 1 to 8 are implemented.

11. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the robot deployment processing method according to any one of claims 1 to 8 are executed.

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