Method and equipment for determining rotation center of eccentric robot, medium and program product

Abstract

The invention discloses a method and equipment for determining the rotation center of an eccentric robot, a medium and a program product. According to the method, position parameters of a target product and an eccentric robot and a relative position relation between the target product and the eccentric robot when the target product is located at an original point teaching position are pre-determined; and according to the position parameters of the target product at any position and predetermined position data, the rotation center position of the eccentric robot in the standard posture for grabbing the target product at any position is calibrated, so that the eccentric robot can accurately grab the target product. According to the technical scheme, the coordinate deviation value of the product relative to the original point teaching position is mapped to the robot tool coordinate system, the rotation center of the eccentric robot is corrected, and the grabbing precision of the eccentric robot is improved.

Description

Technical Field

[0001] The present application relates to the technical field of flow field reconstruction, and in particular to a method, device, medium and program product for determining the rotation center of an eccentric robot. Background Art

[0002] Currently, the automotive parts assembly industry is trending towards automation, and the cost of the original manual loading and unloading method is getting higher and higher. With the advancement of automation technology, more and more factories are beginning to use machine vision to guide robots to load and unload materials instead of manual labor to improve assembly efficiency and reduce labor costs.

[0003] At present, 2D vision algorithms are usually used to accurately locate the feature points of products on the production line and provide grasping coordinates for the industrial robot gripper to achieve accurate loading and unloading operations. 2D vision algorithms can provide accurate positioning compensation when the product center is concentric with the flange center of the industrial robot. However, in the case of an eccentric gripper of an industrial robot, the flange center and the product center are eccentric, and the camera coordinate system needs to be unified with the industrial robot tool coordinate system through rotation calibration. However, in the actual teaching of the origin, the origin coordinates provided by the industrial robot are the flange center coordinates, and the camera can often only obtain the coordinates of a certain positioning feature point on the product. There is a rotational relationship between the flange center coordinates and the positioning feature point coordinates. When the product rotates, if the industrial robot still needs to grasp the product in the same posture, the actual coordinates of the industrial robot cannot be directly obtained through the visual algorithm.

[0004] Therefore, how to provide a technical solution that can accurately determine the rotation center of an eccentric robot is a technical problem that needs to be solved urgently by those skilled in the art. Summary of the invention

[0005] The present application provides a method, device, medium and program product for determining the rotation center of an eccentric robot. By mapping the coordinate deviation value of the product compared to the origin teaching position to the robot tool coordinate system, the rotation center of the eccentric robot is corrected to improve the grasping accuracy of the eccentric robot.

[0006] According to one aspect of the present application, a method for determining a rotation center of an eccentric robot is provided, the method comprising:

[0007] The eccentric robot is controlled to grasp the target product on the production line to the origin teaching position in a standard posture, a first image of the target product is acquired based on a camera at a fixed position above the production line, and a reference coordinate and a first reference angle of the center of the target product, as well as a reference length and a second reference angle of a line connecting the center of the target product and the rotation center of the eccentric robot are determined according to the first image; wherein the relative distance between the rotation center of the eccentric robot and the center of the target product remains unchanged when the eccentric robot grasps the target product in a standard posture;

[0008] When the target product is at any position, a second image of the target product is acquired, and the current coordinates and the first current angle of the center of the target product are determined according to the second image; wherein the reference coordinates, the first reference angle, the reference length, the second reference angle, the current coordinates and the current angle are all parameters determined in the robot coordinate system;

[0009] Determine an offset of a rotation center of the eccentric robot according to the reference coordinates, the first reference angle, the reference length, the second reference angle, the current coordinates and the first current angle;

[0010] The target coordinates of the rotation center of the eccentric robot are determined according to the coordinates corresponding to the rotation center of the eccentric robot when the eccentric robot is in the origin teaching position and the offset; wherein the target coordinates are used to control the eccentric robot to grasp the target product in a standard posture.

[0011] According to another aspect of the present application, an electronic device is provided, which includes: 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 method for determining the rotation center of an eccentric robot described in any embodiment of the present application.

[0012] According to another aspect of the present application, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the method for determining the rotation center of an eccentric robot described in any embodiment of the present application when executed.

[0013] According to another aspect of the present application, a computer program product is provided, the computer program product comprising a computer program, and when the computer program is executed by a processor, the computer program implements the method for determining the rotation center of an eccentric robot described in any embodiment of the present application.

[0014] The technical solution provided by the present application predetermines the position parameters of the target product and the eccentric robot when they are at the origin teaching position and the relative position relationship between the two; then, based on the position parameters of the target product at any position and the predetermined position data, calibrates the rotation center position of the eccentric robot when it is in a standard posture grasping the target product at any position, so that the eccentric robot can accurately grasp the target product. This technical solution calibrates the rotation center of the eccentric robot by mapping the coordinate deviation value of the product compared to the origin teaching position to the robot tool coordinate system, thereby improving the grasping accuracy of the eccentric robot.

[0015] It should be understood that the content described in this section is not intended to identify the key or important features of the embodiments of the present application, nor is it intended to limit the scope of the present application. Other features of the present application will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0017] Figure 1 This is a flow chart of a method for determining the rotation center of an eccentric robot provided in Example 1 of the present application.

[0018] Figure 2 A flowchart of a method for determining the rotation center of an eccentric robot provided in Example 2 of the present application.

[0019] Figure 3 It is a structural schematic diagram of a device for implementing a method for determining the rotation center of an eccentric robot in an embodiment of the present application. DETAILED DESCRIPTION

[0020] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution 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. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present application.

[0021] It should be noted that the terms "target", "first", "second", "reference", "current", etc. in the specification and claims of the present application 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 interchangeable where appropriate, so that the embodiments of the present application 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.

[0022] Embodiment 1

[0023] Figure 1 This is a flow chart of a method for determining the rotation center of an eccentric robot provided in the first embodiment of the present application. This embodiment is applicable to the case of determining the rotation center of an eccentric robot. The method can be executed by a device for determining the rotation center of an eccentric robot. The device for determining the rotation center of an eccentric robot can be implemented in the form of hardware and / or software. The device for determining the rotation center of an eccentric robot can be configured in a device with data processing capabilities. Figure 1 As shown, the method includes the following steps.

[0024] S110, control the eccentric robot to grasp the target product on the production line to the origin teaching position in a standard posture, obtain the first image of the target product based on the camera at a fixed position above the production line, and determine the reference coordinates and the first reference angle of the center of the target product, as well as the reference length and the second reference angle of the line connecting the center of the target product and the rotation center of the eccentric robot according to the first image. Wherein, when the eccentric robot grasps the target product in a standard posture, the relative distance between the rotation center of the eccentric robot and the center of the target product remains unchanged.

[0025] Among them, the eccentric robot can be a robot that has a certain offset between the end effector working point and the end flange center due to special assembly tasks or installation work requirements. Therefore, when controlling the motion of the eccentric robot, the offset between the robot end flange center and the end effector working point needs to be considered.

[0026] The origin teaching position may be a reference position determined by the eccentric robot in the operating space of the eccentric robot through manual operation or a specific program setting, and all other positions and movements are calculated and controlled with reference to this position. For example, if the eccentric robot is a six-axis robot, its origin teaching position may be the position of the robot when the rotation angle of the sixth axis of the six-axis robot is 0°.

[0027] The standard posture may be the posture of the eccentric robot when the relative position between the gripper and the target product remains unchanged when the eccentric robot grasps the target product.

[0028] The target product may be a component manufactured and transported on a production line. For an irregularly shaped target product, its center may be a predefined position; for a regularly shaped target product, its center may be the centroid position, for example, if the target product is circular, its center may be the center of the circle; for another example, if the target product is rectangular, its center may be the intersection of two diagonal lines.

[0029] Optionally, the process of determining the target product center includes: based on a pre-trained feature recognition model, identifying two pre-defined feature contours in the target product, and determining the centers of the two feature contours; connecting the centers of the two feature contours to obtain a target feature line segment, and taking the midpoint of the target feature line segment as the target product center.

[0030] The characteristic contour may be a boundary shape with specific characteristics on the target product, for example, it may be the edge contours of two circular holes on the target product.

[0031] In order to improve the recognition accuracy and efficiency of the feature recognition model, the present application may use two similar or identical feature contours as predefined feature contours of the target product. For example, two circular contours with different radii may be used as feature contours, or two square contours with the same side length may be used as feature contours.

[0032] In this application, the center coordinates of the identified characteristic contours can be determined, and then the center of the target product can be determined based on the center coordinates of the two characteristic contours. Specifically, the center coordinates of the first characteristic contour on the target product are (x1, y1), and the center coordinates of the other characteristic contour are (x2, y2). Then the coordinates of the center of the target product can be

[0033] The rotation center of the eccentric robot may be the rotation center around which the end effector of the eccentric robot moves. Since the origin teaching position is predetermined, the rotation center of the eccentric robot at the origin teaching position may be determined according to the origin teaching position and the structural parameters of the eccentric robot. Taking a six-axis robot as an example, its rotation center may be the rotation center of the sixth axis.

[0034] In this application, the eccentric robot can be controlled to grasp the target product in a standard posture and then move to the origin teaching position, or grasp the target product in a standard posture at the origin teaching position. Then, the camera installed on the end flange of the eccentric robot is used to capture the image of the target product at this time to obtain the first image of the target product. Finally, the relevant position parameters of the center of the target product are determined according to the first image.

[0035] Among them, the relevant position parameters of the target product center can be determined in the robot coordinate system, and the relevant position parameters may include the reference coordinates and the first reference angle of the target product center, and the reference length and the second reference angle of the line connecting the target product center and the eccentric robot rotation center.

[0036] Specifically, the pixel coordinates of the center of the target product in the first image may be determined first, and then the pixel coordinates may be transformed based on the camera extrinsic parameters and intrinsic parameters to obtain the reference coordinates of the center of the target product in the robot coordinate system.

[0037] The first reference angle is the angle of the target product center in the robot's three-dimensional coordinate system. In this application, the line segment creation tool of the visual software can be used to create a straight line segment in the first image with the target product center as the starting point and the eccentric robot rotation center as the end point, determine the length and angle of the straight line segment, and use the length of the straight line segment as the reference length and the angle of the straight line segment as the second reference angle.

[0038] By teaching the origin position, the relative position relationship between the target product and the eccentric robot provides a reference benchmark for the subsequent eccentric robot to grasp the target product at any position.

[0039] Optionally, before determining the reference coordinates and a first reference angle of the target product center and a reference length and a second reference angle of a line connecting the target product center and the rotation center of the eccentric robot based on the first image, the method further includes: calibrating the robot coordinate system of the eccentric robot and the camera coordinate system of the camera, and determining calibration parameters to determine the coordinates of each pixel point in the image in the robot coordinate system based on the calibration parameters.

[0040] Specifically, the camera is installed at a fixed position above the production line, and the coordinate parameters determined based on the image acquired by the camera are the coordinates in the camera coordinate system, i.e., the pixel coordinates. However, due to the eccentricity of the end effector working point of the eccentric robot, there is a rotation relationship between the camera coordinate system and the robot coordinate system. When the target product rotates, if the eccentric robot grabs the target product in the same standard posture, the coordinates of the eccentric robot in the robot coordinate system cannot be directly obtained. Therefore, the present application calibrates the pixel coordinate system of the camera and the robot coordinate system where the eccentric robot is located, so as to determine the coordinates of the eccentric robot in the robot coordinate system.

[0041] S120, when the target product is at any position, obtain a second image of the target product, and determine the current coordinates and the first current angle of the center of the target product according to the second image. The reference coordinates, the first reference angle, the reference length, the second reference angle, the current coordinates and the current angle are all parameters determined in the robot coordinate system.

[0042] When the production line is operating normally, the posture of the target product being transported or placed on it is usually in an arbitrary posture. Therefore, if the eccentric robot still grabs the target product in a standard posture, the posture information of the eccentric robot needs to be determined based on the current posture information of the target product.

[0043] Therefore, when the target product is at any position, a second image containing the target product is acquired through the camera, the pixel coordinates of the target product in the second image are determined, and the pixel coordinates are transformed based on the calibration parameters to obtain the current coordinates of the center of the target product in the robot coordinate system and the first current angle.

[0044] S130. Determine an offset of a rotation center of the eccentric robot according to the reference coordinates, the first reference angle, the reference length, the second reference angle, the current coordinates and the first current angle.

[0045] The offset of the rotation center of the eccentric robot may be the offset of the target product at any position relative to the teaching position of the origin.

[0046] Since the relative distance between the rotation center of the eccentric robot and the center of the target product remains unchanged when the eccentric robot grasps the target product in a standard posture, the offset of the rotation center of the eccentric robot is the same as the offset of the rotation center of the eccentric robot.

[0047] Specifically, the offset of the rotation center of the eccentric robot can be determined according to the reference coordinates and the current coordinates, and the angular offset of the target product center can be determined according to the first reference angle, the second reference angle and the first current angle.

[0048] S140, determining the target coordinates of the rotation center of the eccentric robot according to the coordinates corresponding to the rotation center of the eccentric robot when the eccentric robot is at the origin teaching position and the offset, wherein the target coordinates are used to control the eccentric robot to grasp the target product in a standard posture.

[0049] Since the origin teaching position is predetermined, the coordinates corresponding to the rotation center of the eccentric robot when it is at the origin teaching position are also predetermined.

[0050] Specifically, the target coordinates of the rotation center of the eccentric robot can be obtained by adding the offset to the rotation center coordinates.

[0051] The embodiment of the present invention provides a method for determining the rotation center of an eccentric robot. The method predetermines the position parameters of the target product and the eccentric robot when they are at the origin teaching position and the relative position relationship between the two; then, according to the position parameters of the target product at any position and the predetermined position data, calibrates the rotation center position of the eccentric robot when it is in a standard posture grasping the target product at any position, so that the eccentric robot can accurately grasp the target product. This technical solution, by mapping the coordinate deviation value of the product compared to the origin teaching position to the robot tool coordinate system, corrects the rotation center of the eccentric robot, and improves the grasping accuracy of the eccentric robot.

[0052] Embodiment 2

[0053] Figure 2 This is a flow chart of a method for determining the rotation center of an eccentric robot provided in the second embodiment of the present application. This embodiment is optimized based on the above embodiment, specifically, the process of determining the offset of the rotation center of the eccentric robot is refined. Figure 2 As shown, the method of this embodiment specifically includes the following steps.

[0054] S210, controlling the eccentric robot to grasp the target product on the production line to the origin teaching position in a standard posture, obtaining a first image of the target product based on a camera at a fixed position above the production line, and determining the reference coordinates and a first reference angle of the target product center, as well as a reference length and a second reference angle of a line connecting the target product center and the rotation center of the eccentric robot according to the first image; wherein the reference length remains unchanged when the eccentric robot grasps the target product in a standard posture.

[0055] S220. When the target product is at any position, obtain a second image of the target product, and determine the current coordinates and the first current angle of the center of the target product based on the second image; wherein the reference coordinates, the first reference angle, the reference length, the second reference angle, the current coordinates and the current angle are all parameters determined in the robot coordinate system.

[0056] S230. Determine a rotation offset of a rotation center of the eccentric robot according to the reference coordinates, the first reference angle, the reference length, the second reference angle, and the first current angle.

[0057] In the present application, the eccentric robot rotation center relative to the origin teaching position actually produces only two types of offsets when grasping the target product at any position. One is the rotation offset that only rotates but does not translate relative to the original rotation center, and the other is the translation offset that only translates but does not rotate relative to the rotation center. The offset of the eccentric robot rotation center can be obtained by adding the rotation offset and the translation offset.

[0058] It should be noted that when the target product is at any position, the type of displacement that occurs to the center of the target product when the current center of the target product is relative to the teaching position of the origin can be determined. If only rotational displacement occurs, only step S230 can be executed; if only translational displacement occurs, only step S240 can be executed; if both rotational displacement and translational displacement occur, both step S230 and step S240 can be executed at the same time.

[0059] Optionally, the rotation offset of the eccentric robot's rotation center is determined based on the first reference angle, the second reference angle, the first current angle and the reference length, including: determining the second current angle of the line connecting the target product center and the eccentric robot's rotation center based on the first reference angle, the second reference angle and the first current angle; determining the rotation offset of the eccentric robot's rotation center based on the second current angle and the reference length.

[0060] Among them, the second current angle can be the angle of the line connecting the rotation center of the eccentric robot and the center of the target product when the eccentric robot grabs the target product currently at any position in a standard posture, which corresponds to the second reference angle.

[0061] Specifically, the second current angle of the line connecting the target product center and the eccentric robot rotation center can be determined by the following formula: dt=R1+R-SR; wherein dt represents the second current angle, R1 represents the second reference angle, R represents the first current angle, and SR represents the first reference angle.

[0062] Furthermore, the rotation offset of the rotation center of the eccentric robot can be obtained according to the second current angle and the reference length.

[0063] Optionally, determining the rotation offset of the rotation center of the eccentric robot according to the second current angle, the reference length and the reference coordinate includes: determining the rotation offset of the rotation center of the eccentric robot using the following formula:

[0064]

[0065] Wherein, dX represents the rotation offset of the target product in the X-axis direction, dY represents the rotation offset of the target product in the Y-axis direction, L represents the reference length, and dt represents the second current angle.

[0066] S240. Determine the translation offset of the rotation center of the eccentric robot according to the reference coordinates and the current coordinates.

[0067] According to the translation principle, the translation offset of the target product center is the same as the translation offset of the eccentric robot. Therefore, the translation offset of the target product center can be determined based on the reference coordinates of the target product center at the origin teaching position and the current coordinates at any position, thereby determining the translation offset of the eccentric robot.

[0068] Optionally, determining the translation offset of the rotation center of the eccentric robot according to the reference coordinates and the current coordinates includes: determining the translation offset of the rotation center of the eccentric robot using the following formula:

[0069]

[0070] Wherein, ΔX represents the translation offset of the target product in the X-axis direction, ΔY represents the translation offset of the target product in the Y-axis direction, X represents the coordinate value of the current coordinate in the X-axis direction, Y represents the coordinate value of the current coordinate in the Y-axis direction, SX represents the coordinate value of the reference coordinate in the X-axis direction, and SY represents the coordinate value of the reference coordinate in the Y-axis direction.

[0071] S250. Determine the offset of the rotation center of the eccentric robot according to the rotation offset and the translation offset.

[0072] Specifically, the rotation offset and translation offset of the rotation center of the eccentric robot can be added to obtain the offset of the rotation center of the eccentric robot. In addition, based on the translation principle, the angular offset of the target product center is the same as the angular offset of the eccentric robot. Therefore, the angular offset of the eccentric robot can be determined based on the first reference angle of the target product center at the origin teaching position and the first current angle at any position, thereby determining the angular offset of the eccentric robot.

[0073] On the basis of step S230 and step S240, the target coordinates of the target product center may be determined by the following formula:

[0074]

[0075] Wherein, RX represents the coordinate value of the rotation center of the eccentric robot in the X-axis direction, RY represents the coordinate value of the rotation center of the eccentric robot in the Y-axis direction, and RR represents the angle of the rotation center of the eccentric robot.

[0076] S260. Determine the target coordinates of the rotation center of the eccentric robot according to the coordinates corresponding to the rotation center of the eccentric robot when the eccentric robot is in the origin teaching position and the offset; wherein the target coordinates are used to control the eccentric robot to grasp the target product in a standard posture.

[0077] An embodiment of the present invention provides a method for determining the rotation center of an eccentric robot. The method simplifies the calculation of the offset of the rotation center of the eccentric robot by dividing the offset of the rotation center of the eccentric robot into rotation offset and translation offset, thereby further improving the grasping accuracy of the eccentric robot.

[0078] Embodiment 3

[0079] Figure 3 A schematic diagram of a device 10 that can be used to implement an embodiment of the present application is shown. The device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workbenches, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The device can also represent various forms of mobile devices, such as personal digital processing, 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 application described and / or required herein.

[0080] like Figure 3As shown, the 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 device 10 can also be stored. The processor 11, ROM 12 and RAM 13 are connected to each other through a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0081] A number of components in the 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 device 10 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0082] The processor 11 may be a variety of general and / or special 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 special 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 method for determining the rotation center of an eccentric robot.

[0083] In some embodiments, the method for determining the eccentric robot rotation center 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 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 the method for determining the eccentric robot rotation center described above may be performed. Alternatively, in other embodiments, the processor 11 may be configured to perform the method for determining the eccentric robot rotation center in any other appropriate manner (e.g., by means of firmware).

[0084] 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.

[0085] The computer programs for implementing the methods of the present application 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 programs are executed by the processor, the functions / operations specified in the flow charts and / or block diagrams are implemented. The computer programs 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.

[0086] In the context of the present application, 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.

[0087] To provide interaction with a user, the systems and techniques described herein can be implemented on a 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 device. Other types of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic input, voice input, or tactile input).

[0088] 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.

[0089] 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.

[0090] 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 recorded in this application can be executed in parallel, sequentially or in different orders, as long as the expected results of the technical solution of this application can be achieved, and this document is not limited here.

[0091] The above specific implementations do not constitute a limitation on the protection scope of this application. 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 modifications, equivalent substitutions and improvements made within the spirit and principles of this application should be included in the protection scope of this application.

Claims

1. A method for determining the rotation center of an eccentric robot, characterized in that: The method comprises: Control the eccentric robot to grasp the target product on the production line to the origin teaching position in a standard posture, obtain a first image of the target product based on a camera at a fixed position above the production line, and determine the reference coordinates and the first reference angle of the center of the target product, as well as the reference length and the second reference angle of the line connecting the center of the target product and the rotation center of the eccentric robot according to the first image; wherein the reference length remains unchanged when the eccentric robot grasps the target product in a standard posture; When the target product is at any position, a second image of the target product is acquired, and the current coordinates and the first current angle of the center of the target product are determined according to the second image; wherein the reference coordinates, the first reference angle, the reference length, the second reference angle, the current coordinates and the current angle are all parameters determined in the robot coordinate system; Determine an offset of a rotation center of the eccentric robot according to the reference coordinates, the first reference angle, the reference length, the second reference angle, the current coordinates and the first current angle; The target coordinates of the rotation center of the eccentric robot are determined according to the coordinates corresponding to the rotation center of the eccentric robot when the eccentric robot is in the origin teaching position and the offset; wherein the target coordinates are used to control the eccentric robot to grasp the target product in a standard posture.

2. The method according to claim 1, characterized in that Before determining the reference coordinates and the first reference angle of the center of the target product, and the reference length and the second reference angle of the line connecting the center of the target product and the rotation center of the eccentric robot according to the first image, the method further includes: The robot coordinate system of the eccentric robot and the camera coordinate system of the camera are calibrated to determine calibration parameters, so as to determine the coordinates of each pixel point in the image in the robot coordinate system according to the calibration parameters.

3. The method according to claim 1, characterized in that Determining the offset of the rotation center of the eccentric robot according to the reference coordinates, the first reference angle, the reference length, the second reference angle, the current coordinates and the first current angle includes: Determining a rotation offset of a rotation center of the eccentric robot according to the first reference angle, the reference length, the second reference angle and the first current angle; Determining the translation offset of the rotation center of the eccentric robot according to the reference coordinates and the current coordinates; The offset of the rotation center of the eccentric robot is determined according to the rotation offset and the translation offset.

4. The method according to claim 3, characterized in that Determining the rotation offset of the rotation center of the eccentric robot according to the first reference angle, the second reference angle, the first current angle and the reference length includes: Determine a second current angle of a line connecting the center of the target product and the rotation center of the eccentric robot according to the first reference angle, the second reference angle and the first current angle; The rotation offset of the eccentric robot rotation center is determined according to the second current angle and the reference length.

5. The method according to claim 4, characterized in that Determining the rotation offset of the rotation center of the eccentric robot according to the second current angle, the reference length and the reference coordinates includes: The rotation offset of the rotation center of the eccentric robot is determined by the following formula: Wherein, dX represents the rotation offset of the target product in the X-axis direction, dY represents the rotation offset of the target product in the Y-axis direction, L represents the reference length, and dt represents the second current angle.

6. The method according to claim 3, characterized in that Determining the translation offset of the rotation center of the eccentric robot according to the reference coordinates and the current coordinates includes: The translation offset of the rotation center of the eccentric robot is determined by the following formula: Wherein, ΔX represents the translation offset of the target product in the X-axis direction, ΔY represents the translation offset of the target product in the Y-axis direction, X represents the coordinate value of the current coordinate in the X-axis direction, Y represents the coordinate value of the current coordinate in the Y-axis direction, SX represents the coordinate value of the reference coordinate in the X-axis direction, and SY represents the coordinate value of the reference coordinate in the Y-axis direction.

7. The method according to claim 1, characterized in that The process of determining the target product center includes: Based on a pre-trained feature recognition model, two pre-defined feature contours in the target product are recognized to determine the centers of the two feature contours; The centers of the two characteristic contours are connected to obtain a target characteristic line segment, and the midpoint of the target characteristic line segment is used as the target product center.

8. An electronic device, characterized in that: The 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 method for determining the rotation center of an eccentric robot according to any one of claims 1 to 7.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the method for determining the rotation center of an eccentric robot according to any one of claims 1 to 7 when executed.

10. A computer program product, characterized in that The computer program product comprises a computer program, which, when executed by a processor, implements the method for determining the rotation center of an eccentric robot according to any one of claims 1-7.

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