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

Abstract

The application discloses a method, equipment, medium and program product for determining the rotation center of an eccentric robot. In the method, the position parameters of a target product and an eccentric robot and the relative position relationship therebetween when being at an original point teaching position are determined in advance; and the rotation center position of the eccentric robot when being at a standard posture to grab a target product at an arbitrary position is calibrated according to the position parameter of the target product at the arbitrary position and the position data determined in advance, so that the eccentric robot can accurately grab the target product. In the technical solution, the coordinate deviation value of the product compared with 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] This application relates to the field of flow field reconstruction technology, and in particular to a method, device, medium and program product for determining the rotation center of an eccentric robot. Background Technology

[0002] Currently, the automotive parts assembly industry is trending towards automation, and the cost of manual material handling is becoming increasingly high. With the advancement of automation technology, more and more factories are adopting machine vision-guided robots for material handling to replace manual labor, thereby improving assembly efficiency and reducing labor costs.

[0003] Currently, 2D vision algorithms are commonly used to accurately locate feature points on products on the production line, providing gripping coordinates for industrial robot grippers to achieve accurate loading and unloading operations. 2D vision algorithms can provide precise positioning compensation when the product center and the industrial robot flange center are concentric. However, when the industrial robot is an eccentric gripper, its flange center is eccentric to the product center, requiring rotational calibration to unify the camera coordinate system with the industrial robot tool coordinate system. However, during actual origin teaching, the origin coordinates provided by the industrial robot are the flange center coordinates, while the camera often only acquires the coordinates of a single positioning feature point on the product. Since 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 grip the product in the same posture, it cannot directly derive the industrial robot's actual coordinates through vision algorithms.

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

[0005] This 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 relative to the original taught position to the robot tool coordinate system, the rotation center of the eccentric robot is corrected, thereby improving the grasping accuracy of the eccentric robot.

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

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

[0008] When the target product is in any position, a second image of the target product is acquired, and the current coordinates and a first current angle of the center of the target product are determined 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;

[0009] The offset of the rotation center of the eccentric robot is determined based on the reference coordinates, the first reference angle, the reference length, the second reference angle, the current coordinates, and the first current angle.

[0010] Based on the coordinates of the rotation center of the eccentric robot when it is in the original teaching position and the offset, the target coordinates of the rotation center of the eccentric robot are determined; 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 this application, an electronic device is provided, the device comprising: 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, the computer program being executed by the at least one processor to enable the at least one processor to perform the method for determining the rotation center of an eccentric robot according to any embodiment of this application.

[0012] According to another aspect of this application, a computer-readable storage medium is provided, the computer-readable storage medium storing computer instructions for causing a processor to execute and implement the method for determining the rotation center of an eccentric robot according to any embodiment of this application.

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

[0014] The technical solution provided in this application pre-determines the position parameters of the target product and the eccentric robot, as well as their relative positional relationship, when the target product is in the origin teaching position. Then, based on the position parameters of the target product at any position and the pre-determined position data, the rotation center position of the eccentric robot when grasping the target product in a standard posture at any position is calibrated, enabling the eccentric robot to accurately grasp the target product. This technical solution improves the grasping accuracy of the eccentric robot by mapping the coordinate deviation value of the product relative to the origin teaching position onto the robot tool coordinate system to correct the rotation center of the eccentric robot.

[0015] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of this application, nor is it intended to limit the scope of this application. Other features of this application will become readily apparent from the following description. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 This is a flowchart illustrating a method for determining the rotation center of an eccentric robot, as provided in Embodiment 1 of this application.

[0018] Figure 2 This is a flowchart of a method for determining the rotation center of an eccentric robot, provided in Embodiment 2 of this application.

[0019] Figure 3 This is a schematic diagram of the structure of a device for implementing a method for determining the rotation center of an eccentric robot according to an embodiment of this application. Detailed Implementation

[0020] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort 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., used in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0022] Example 1

[0023] Figure 1 This is a flowchart illustrating a method for determining the rotation center of an eccentric robot according to Embodiment 1 of this application. This embodiment is applicable to 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, which can be implemented in hardware and / or software. This device 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 in a standard posture and move it to the origin teaching position. Acquire a first image of the target product using a camera positioned at a fixed location above the production line. Determine the reference coordinates and a first reference angle of the target product's center, as well as the reference length and a second reference angle of the line connecting the target product's center and the eccentric robot's rotation center, based on the first image. The relative distance between the eccentric robot's rotation center and the target product's center remains constant when the eccentric robot grasps the target product in a standard posture.

[0025] An eccentric robot is one in which the working point of the end effector is offset from the center of the end flange due to special assembly tasks or installation requirements. Therefore, when performing motion control on an eccentric robot, the offset between the center of the robot's end flange and the working point of the end effector must be considered.

[0026] The origin teaching position can be a reference position determined by the eccentric robot in its operating space through manual operation or a specific program. 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 can be the position of the robot when the rotation angle of the sixth axis is 0°.

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

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

[0029] Optionally, the process of determining the center of the target product includes: identifying two predefined feature contours in the target product based on a pre-trained feature recognition model, and determining the center 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 center of the target product.

[0030] The feature profile can be a boundary shape with specific characteristics on the target product. For example, it could be the edge profile of two circular holes on the target product.

[0031] To improve the accuracy and efficiency of feature recognition models, this application can use two similar or identical feature contours as predefined feature contours of the target product. For example, two circular contours with different radii can be used as feature contours, or two square contours with the same side length can be used as feature contours.

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

[0033] The rotation center of the eccentric robot can be the rotation center around which the end effector of the eccentric robot rotates during its movement. Since the origin teaching position is predetermined, the rotation center of the eccentric robot at the origin teaching position can be determined based on the origin teaching position and the structural parameters of the eccentric robot. Taking a six-axis robot as an example, its rotation center can be the rotation center of the sixth axis.

[0034] In this application, an eccentric robot can be controlled to grasp a target product in a standard posture and then move it to the original teaching position, or grasp the target product in a standard posture at the original teaching position. Then, a camera mounted on the end flange of the eccentric robot captures an image of the target product at this time, obtaining a first image of the target product. Finally, the relevant positional parameters of the target product's center are determined based on the first image.

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

[0036] Specifically, the pixel coordinates of the target product center in the first image can be determined first, and then the pixel coordinates can be transformed based on the camera's extrinsic and intrinsic parameters to obtain the reference coordinates of the target product center 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, a straight line segment can be created in the first image using the line segment creation tool of vision software, starting from the target product center and ending at the eccentric robot rotation center. The length and angle of the straight line segment are determined, and the length of the straight line segment is used as the reference length, and the angle of the straight line segment is used as the second reference angle.

[0038] By demonstrating the relative positional relationship between the target product and the eccentric robot at the origin position, a reference benchmark is provided for the eccentric robot to grasp the target product at any position in the future.

[0039] Optionally, before determining the reference coordinates and first reference angle of the target product center, and the reference length and second reference angle of the 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 in the image in the robot coordinate system based on the calibration parameters.

[0040] Specifically, the camera is mounted at a fixed position above the production line. The coordinate parameters determined by the image acquired by the camera are the coordinates in the camera coordinate system, i.e., pixel coordinates. However, due to the eccentricity of the end effector's working point, there is a rotational relationship between the camera coordinate system and the robot coordinate system. When the target product rotates, if the eccentric robot grasps the target product in the same standard posture, it is impossible to directly determine the eccentric robot's coordinates in the robot coordinate system. Therefore, this application calibrates the camera's pixel coordinate system and the robot coordinate system in which the eccentric robot resides to facilitate the determination of the eccentric robot's coordinates in the robot coordinate system.

[0041] S120. When the target product is in any position, acquire a second image of the target product, and determine the current coordinates and a 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.

[0042] When the production line is operating normally, the target products being transported or placed on it are usually in any orientation. Therefore, if the eccentric robot still grasps the target product in a standard orientation, it is necessary to determine the eccentric robot's orientation information based on the target product's current orientation information.

[0043] Therefore, when the target product is in any position, a second image containing the target product is acquired by 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 the offset of the rotation center of the eccentric robot based on 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 eccentric robot's rotation center can 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 center of rotation 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 center of rotation of the eccentric robot is the same as the offset of the center of rotation of the eccentric robot.

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

[0048] S140. Based on the coordinates of the rotation center of the eccentric robot when it is in the original teaching position and the offset, determine the target coordinates of the rotation center of the eccentric robot. 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 of the rotation center of the eccentric robot when it is in the origin teaching position are also predetermined.

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

[0051] This invention provides a method for determining the rotation center of an eccentric robot. The method pre-determines the position parameters of the target product and the eccentric robot, as well as their relative positional relationship, when the target product is in the origin teaching position. Then, based on the position parameters of the target product at any position and the pre-determined position data, the rotation center position of the eccentric robot when grasping the target product in a standard posture at any position is calibrated, enabling the eccentric robot to accurately grasp the target product. This technical solution improves the grasping accuracy of the eccentric robot by mapping the coordinate deviation value of the product relative to the origin teaching position onto the robot tool coordinate system to correct the rotation center of the eccentric robot.

[0052] Example 2

[0053] Figure 2 This is a flowchart illustrating a method for determining the rotation center of an eccentric robot according to Embodiment 2 of this application. This embodiment is an optimization based on the above embodiment, specifically refining the process for determining the offset of the eccentric robot's rotation center. For example... Figure 2 As shown, the method in this embodiment specifically includes the following steps.

[0054] S210. Control the eccentric robot to grasp the target product on the production line in a standard posture and move it to the origin teaching position. Based on the camera at a fixed position above the production line, acquire a first image of the target product. Determine the reference coordinates and a first reference angle of the center of the target product, as well as the reference length and a second reference angle of the line connecting the center of the target product and the rotation center of the eccentric robot, based on the first image. The reference length remains unchanged when the eccentric robot grasps the target product in a standard posture.

[0055] S220. When the target product is in any position, acquire a second image of the target product, and determine the current coordinates and a 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 the rotation offset of the eccentric robot rotation center based on the reference coordinates, the first reference angle, the reference length, the second reference angle, and the first current angle.

[0057] In this application, the eccentric robot rotation center, relative to the original teaching position, essentially only produces two types of offsets when grasping a target product at any position: one is a rotation offset that rotates but does not translate relative to the original rotation center, and the other is a translation offset that 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 in any position, the type of displacement of the target product center relative to the teaching position of the origin can be determined. If only rotational displacement occurs, step S230 can be executed only. If only translational displacement occurs, step S240 can be executed only. If both rotational and translational displacement occur, steps S230 and S240 can be executed simultaneously.

[0059] Optionally, determining the rotational offset of the eccentric robot's rotation center based on the first reference angle, the second reference angle, the first current angle, and the reference length includes: 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; and determining the rotational offset of the eccentric robot's rotation center based on the second current angle and the reference length.

[0060] The second current angle can be the angle between the center of rotation of the eccentric robot and the center of the target product when the eccentric robot grasps the target product in a standard posture at any position, and it corresponds to the second reference angle.

[0061] Specifically, the second current angle of the line connecting the center of the target product and the rotation center of the eccentric robot can be determined using the following formula: dt = R1 + R - SR; where 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 rotational offset of the eccentric robot's rotation center can be obtained based on the second current angle and the reference length.

[0063] Optionally, determining the rotational offset of the eccentric robot's rotation center based on the second current angle, the reference length, and the reference coordinates includes: determining the rotational offset of the eccentric robot's rotation center using the following formula:

[0064]

[0065] In the formula, dX represents the rotational offset of the target product in the X-axis direction, dY represents the rotational 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 translational offset of the rotation center of the eccentric robot based on the reference coordinates and the current coordinates.

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

[0068] Optionally, determining the translational offset of the eccentric robot's rotation center based on the reference coordinates and the current coordinates includes: determining the translational offset of the eccentric robot's rotation center using the following formula:

[0069]

[0070] In the formula, ΔX represents the translational offset of the target product in the X-axis direction, ΔY represents the translational 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 based on the rotation offset and the translation offset.

[0072] Specifically, the rotational offset and translational offset of the eccentric robot's rotation center can be added together to obtain the offset of the eccentric robot's rotation center. Furthermore, based on the principle of translation, 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 when it is at the origin teaching position and the first current angle at any position, thus determining the angular offset of the eccentric robot.

[0073] Based on steps S230 and S240, the target coordinates of the target product center can be determined using the following formula:

[0074]

[0075] In the formula, 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. Based on the coordinates of the rotation center of the eccentric robot when it is in the original teaching position and the offset, determine the target coordinates of the rotation center of the eccentric robot; wherein, the target coordinates are used to control the eccentric robot to grasp the target product in a standard posture.

[0077] This invention provides a method for determining the rotation center of an eccentric robot. This method simplifies the calculation of the rotation center offset by dividing the offset of the eccentric robot's rotation center into rotational offset and translational offset, thereby further improving the grasping accuracy of the eccentric robot.

[0078] Example 3

[0079] Figure 3 A schematic diagram of the structure of a device 10 that can be used to implement embodiments of this application is shown. The device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The device can also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, 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 illustrative and are not intended to limit the implementation of the application described and / or claimed herein.

[0080] like Figure 3As shown, device 10 includes at least one processor 11 and a memory, such as read-only memory (ROM) 12, random access memory (RAM) 13, etc., communicatively connected to at least one processor 11. The memory stores computer programs executable by at least one processor. The processor 11 can perform various appropriate actions and processes based on the computer program stored in the ROM 12 or loaded from storage unit 18 into the RAM 13. The RAM 13 may also store various programs and data required for the operation of device 10. The processor 11, ROM 12, and RAM 13 are interconnected via bus 14. Input / output (I / O) interface 15 is also connected to bus 14.

[0081] Multiple components in device 10 are connected to I / O interface 15, including: input unit 16, such as keyboard, mouse, etc.; output unit 17, such as various types of monitors, speakers, etc.; storage unit 18, such as disk, optical disk, etc.; and communication unit 19, such as network card, modem, wireless transceiver, etc. Communication unit 19 allows device 10 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0082] Processor 11 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. Processor 11 performs the various methods and processes described above, such as the method for determining the rotation center of an eccentric robot.

[0083] In some embodiments, the method for determining the rotation center of an eccentric robot can be implemented as a computer program tangibly contained in a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program can be loaded and / or installed on device 10 via ROM 12 and / or communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the method for determining the rotation center of an eccentric robot described above can be performed. Alternatively, in other embodiments, processor 11 can be configured to perform the method for determining the rotation center of an eccentric robot by any other suitable means (e.g., by means of firmware).

[0084] Various embodiments 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-a-chip (SoCs), payload-programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0085] Computer programs used to implement the methods of this 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, such that when executed by the processor, the computer programs cause the functions / operations specified in the flowcharts and / or block diagrams to be performed. The computer programs may be executed entirely on a machine, partially on a machine, or as a standalone software package, partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0086] In the context of this application, a computer-readable storage medium can be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, apparatus, or device. A computer-readable storage medium can be, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium can be a machine-readable signal medium. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, 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 for displaying information to the user (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor); and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the device. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or haptic feedback); and input from the user can be received in any form (including sound input, voice input, or haptic input).

[0088] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), or computing systems that include middleware components (e.g., application servers), or computing systems that include frontend components (e.g., user computers with graphical user interfaces or web browsers through which users can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., communication networks). Examples of communication networks include local area networks (LANs), wide area networks (WANs), blockchain networks, and the Internet.

[0089] A computing system can include clients and servers. Clients and servers are generally located far apart and typically interact through a communication network. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a hosting product within the cloud computing service system to address the shortcomings of traditional physical hosts and VPS services, such as high management difficulty and weak business scalability.

[0090] It should be understood that the various forms of processes shown above can be used to rearrange, add, or delete steps. For example, the steps described in this application can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this application can be achieved, and this is not limited herein.

[0091] The specific embodiments described above do not constitute a limitation on the scope of protection of this application. Those skilled in the art should understand 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 within the scope of protection of this application.

Claims

1. A method for determining the rotation center of an eccentric robot, characterized in that, The method includes: The eccentric robot is controlled to grasp a target product on the production line in a standard posture and move it to the origin teaching position. A first image of the target product is acquired based on a camera at a fixed position above the production line. The reference coordinates and a first reference angle of the center of the target product, as well as the reference length and a second reference angle of the line connecting the center of the target product and the rotation center of the eccentric robot, are determined based on the first image. The reference length remains unchanged when the eccentric robot grasps the target product in a standard posture. When the target product is in any position, a second image of the target product is acquired, and the current coordinates and a first current angle of the center of the target product are determined 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; The offset of the rotation center of the eccentric robot is determined based on the reference coordinates, the first reference angle, the reference length, the second reference angle, the current coordinates, and the first current angle. Based on the coordinates of the rotation center of the eccentric robot when it is in the original teaching position and the offset, the target coordinates of the rotation center of the eccentric robot are determined; wherein, the target coordinates are used to control the eccentric robot to grasp the target product in a standard posture. The process of determining the target product center includes: Based on a pre-trained feature recognition model, two predefined feature contours in the target product are identified, and the center of the two feature contours is determined. Connect the centers of the two feature contours to obtain the target feature line segment, and take the midpoint of the target feature line segment as the center of the target product.

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

3. The method according to claim 1, characterized in that, The offset of the rotation center of the eccentric robot is determined based on the reference coordinates, the first reference angle, the reference length, the second reference angle, the current coordinates, and the first current angle, including: The rotational offset of the eccentric robot's rotation center is determined based on the first reference angle, the reference length, the second reference angle, and the first current angle. The translational offset of the rotation center of the eccentric robot is determined based on the reference coordinates and the current coordinates. The offset of the rotation center of the eccentric robot is determined based on the rotation offset and the translation offset.

4. The method according to claim 3, characterized in that, The rotational 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: Based on the first reference angle, the second reference angle, and the first current angle, determine the second current angle of the line connecting the center of the target product and the rotation center of the eccentric robot; The rotational offset of the eccentric robot's rotation center is determined based on the second current angle and the reference length.

5. The method according to claim 4, characterized in that, Determining the rotational offset of the eccentric robot's rotation center based on the second current angle, the reference length, and the reference coordinates includes: The rotational offset of the eccentric robot's rotation center is determined using the following formula: ； In the formula, This represents the rotational offset of the target product in the X-axis direction. This represents the rotational offset of the target product in the Y-axis direction. Indicates the reference length. Indicates the second current angle.

6. The method according to claim 3, characterized in that, Based on the reference coordinates and the current coordinates, the translational offset of the rotation center of the eccentric robot is determined, including: The translational offset of the rotation center of the eccentric robot is determined using the following formula: ； In the formula, This represents the translational offset of the target product in the X-axis direction. This represents the translational offset of the target product in the Y-axis direction. This represents the current coordinate value along the X-axis. This represents the current coordinate value along the Y-axis. This represents the coordinate value of the reference coordinate along the X-axis. This represents the coordinate value of the reference coordinate in the Y-axis direction.

7. An electronic device, characterized in that, The device 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, the computer program being executed by the at least one processor to enable the at least one processor to perform the method for determining the rotation center of an eccentric robot according to any one of claims 1-6.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions that, when executed by a processor, implement the method for determining the rotation center of the eccentric robot as described in any one of claims 1-6.

9. A computer program product, characterized in that, The computer program product includes a computer program that, when executed by a processor, implements the method for determining the rotation center of an eccentric robot according to any one of claims 1-6.

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