Equipment cooperative control method and device, electronic equipment and storage medium

Abstract

The invention provides an equipment cooperative control method and device, electronic equipment and a storage medium, and relates to the technical field of robots. According to the method, a conversion relation between a world coordinate system and a robot base coordinate system, a conversion relation between the world coordinate system and a positioner base coordinate system and a conversion relation between a flange coordinate system of a positioner and a user coordinate system are established in advance, so that the coordinate systems of a robot, a guide rail and the positioner are unified; based on a target pose corresponding to a target point position when the robot flange moves to a user coordinate system, a joint angle of a guide rail corresponding to the target point position, a joint angle of a positioner corresponding to the target point position and the conversion relation, the pose of the robot flange in a robot base coordinate system can be calculated. And the joint angle of the robot corresponding to the target point location is obtained, so that cooperative control among the robot, the guide rail and the positioner can be realized more simply and conveniently.

Description

Technical Field

[0001] The present invention relates to the field of robotics technology, and in particular to a device collaborative control method, device, electronic device and storage medium. Background Art

[0002] With the continuous development of robot technology, robots are widely used in various industrial production fields, such as welding, assembly, handling, etc. However, in some specific application scenarios, such as occasions with large working range requirements or more space restrictions, the robot's own arm span often cannot meet the requirements. In order to expand the robot's working range, it is usually necessary to add guide rails or external axes to the robot's base so that the robot can move in a larger space.

[0003] However, the robot, guide rail and positioner usually have their own coordinate systems, which are independent of each other and not integrated, making it difficult to achieve coordinated control among the robot, guide rail and positioner. Summary of the invention

[0004] In view of this, an object of the present invention is to provide a method, device, electronic device and storage medium for collaborative control of equipment to solve the problem in the prior art that it is difficult to achieve collaborative control among robots, guide rails and positioners.

[0005] In order to achieve the above purpose, the technical solution adopted by the embodiment of the present invention is as follows:

[0006] In a first aspect, the present invention provides a device collaborative control method, the method comprising:

[0007] Obtain the target posture corresponding to the target point of the robot flange moving to the user coordinate system, the joint angle of the guide rail corresponding to the target point, and the joint angle of the positioner corresponding to the target point;

[0008] The posture of the robot flange in the robot base coordinate system is obtained according to the target posture, the joint angle of the guide rail corresponding to the target point, the joint angle of the positioner corresponding to the target point, the first preset conversion relationship between the flange coordinate system of the positioner and the user coordinate system, the second preset conversion relationship between the world coordinate system and the positioner base coordinate system, and the third preset conversion relationship between the world coordinate system and the robot base coordinate system;

[0009] Calculating the joint angle of the robot corresponding to the target point according to the position and posture of the robot flange in the robot base coordinate system;

[0010] The robot, the guide rail and the positioner are collaboratively controlled according to the joint angle of the guide rail corresponding to the target point, the joint angle of the positioner corresponding to the target point and the joint angle of the robot corresponding to the target point.

[0011] In an optional embodiment, the position of the robot flange in the robot base coordinate system is obtained according to the target posture, the joint angle of the guide rail corresponding to the target point, the joint angle of the positioner corresponding to the target point, the first preset conversion relationship between the flange coordinate system of the positioner and the user coordinate system, the second preset conversion relationship between the world coordinate system and the positioner base coordinate system, and the third preset conversion relationship between the world coordinate system and the robot base coordinate system, including:

[0012] Calculate the posture of the robot flange in the world coordinate system according to the target posture, the joint angle of the positioner corresponding to the target point, the first preset conversion relationship, and the second preset conversion relationship;

[0013] The position and posture of the robot flange in the robot base coordinate system is calculated according to the position and posture of the robot flange in the world coordinate system, the joint angle of the guide rail corresponding to the target point, and the third preset conversion relationship.

[0014] In an optional embodiment, calculating the posture of the robot flange in the world coordinate system according to the target posture, the joint angle of the positioner corresponding to the target point, the first preset conversion relationship, and the second preset conversion relationship includes:

[0015] According to the formula Calculate the position and posture of the robot flange in the world coordinate system; wherein U represents the user coordinate system, P represents the positioner base coordinate system, W represents the world coordinate system, M represents the point in the user coordinate system, and θ represents the joint angle of the positioner. represents the position and posture of the robot flange in the world coordinate system, represents the second preset conversion relationship, represents the first preset conversion relationship, represents the target pose, and Rot represents the rotation matrix.

[0016] In an optional embodiment, the calculating the position and posture of the robot flange in the robot base coordinate system according to the position and posture of the robot flange in the world coordinate system, the joint angle of the guide rail corresponding to the target point, and the third preset conversion relationship includes:

[0017] According to the formula Calculate the position and posture of the robot flange in the robot base coordinate system; wherein, represents the position and posture of the robot flange in the robot base coordinate system, R represents the robot base coordinate system, H represents a point in the robot base coordinate system, d represents the joint angle of the guide rail, V represents the displacement vector, Indicates the third preset conversion relationship.

[0018] In a second aspect, the present invention provides a device cooperative control apparatus, the apparatus comprising:

[0019] A data acquisition module, used to acquire the target posture corresponding to the target point of the robot flange moving to the user coordinate system, the joint angle of the guide rail corresponding to the target point, and the joint angle of the positioner corresponding to the target point;

[0020] a robot posture calculation module, for obtaining the posture of the robot flange in the robot base coordinate system according to the target posture, the joint angle of the guide rail corresponding to the target point, the joint angle of the positioner corresponding to the target point, the first preset conversion relationship between the flange coordinate system of the positioner and the user coordinate system, the second preset conversion relationship between the world coordinate system and the positioner base coordinate system, and the third preset conversion relationship between the world coordinate system and the robot base coordinate system;

[0021] A robot joint angle calculation module, used to calculate the robot joint angle corresponding to the target point according to the posture of the robot flange in the robot base coordinate system;

[0022] A collaborative control module is used to collaboratively control the robot, the guide rail and the positioner according to the joint angle of the guide rail corresponding to the target point, the joint angle of the positioner corresponding to the target point and the joint angle of the robot corresponding to the target point.

[0023] In an optional embodiment, the robot posture calculation module is used to calculate the posture of the robot flange in the world coordinate system according to the target posture, the joint angle of the positioner corresponding to the target point, the first preset transformation relationship, and the second preset transformation relationship; and calculate the posture of the robot flange in the robot base coordinate system according to the posture of the robot flange in the world coordinate system, the joint angle of the guide rail corresponding to the target point, and the third preset transformation relationship.

[0024] In an optional embodiment, the robot posture calculation module is used according to the formula Calculate the position and posture of the robot flange in the world coordinate system; wherein U represents the user coordinate system, P represents the positioner base coordinate system, W represents the world coordinate system, M represents the point in the user coordinate system, and θ represents the joint angle of the positioner. represents the position and posture of the robot flange in the world coordinate system, represents the second preset conversion relationship, represents the first preset conversion relationship, represents the target pose, and Rot represents the rotation matrix.

[0025] In an optional embodiment, the robot posture calculation module is used according to the formula Calculate the position and posture of the robot flange in the robot base coordinate system; wherein, represents the position and posture of the robot flange in the robot base coordinate system, R represents the robot base coordinate system, H represents a point in the robot base coordinate system, d represents the joint angle of the guide rail, V represents the displacement vector, Indicates the third preset conversion relationship.

[0026] In a third aspect, the present invention provides an electronic device comprising a processor, a memory, and a computer program stored in the memory and executable on the processor, wherein the computer program, when executed by the processor, implements the steps of the device collaborative control method as described in any one of the aforementioned embodiments.

[0027] In a fourth aspect, the present invention provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the device collaborative control method as described in any one of the aforementioned embodiments are implemented.

[0028] The embodiments of the present invention provide a method, apparatus, electronic device and storage medium for collaborative control of equipment. The method includes obtaining a target posture corresponding to a target point in a user coordinate system where a robot flange moves, the joint angle of a guide rail corresponding to the target point, and the joint angle of a positioner corresponding to the target point; obtaining the posture of the robot flange in the robot base coordinate system according to the target posture, the joint angle of the guide rail corresponding to the target point, the joint angle of the positioner corresponding to the target point, the first preset conversion relationship between the flange coordinate system of the positioner and the user coordinate system, the second preset conversion relationship between the world coordinate system and the positioner base coordinate system, and the third preset conversion relationship between the world coordinate system and the robot base coordinate system; calculating the joint angle of the robot corresponding to the target point according to the posture of the robot flange in the robot base coordinate system; and collaboratively controlling the robot, the guide rail and the positioner according to the joint angle of the guide rail corresponding to the target point, the joint angle of the positioner corresponding to the target point, and the joint angle of the robot corresponding to the target point. By pre-establishing the conversion relationship between the world coordinate system and the robot base coordinate system, the conversion relationship between the world coordinate system and the positioner base coordinate system, and the conversion relationship between the flange coordinate system of the positioner and the user coordinate system, the respective coordinate systems of the robot, guide rail, and positioner can be unified, thereby enabling simpler and more convenient coordinated control of the robot, guide rail, and positioner.

[0029] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, preferred embodiments are given below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments are briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without creative work.

[0031] Figure 1 A schematic diagram of a process flow of a device collaborative control method provided by an embodiment of the present invention is shown;

[0032] Figure 2 Another schematic diagram of a process flow of a device collaborative control method provided by an embodiment of the present invention is shown;

[0033] Figure 3 A functional module diagram of a device cooperative control apparatus provided by an embodiment of the present invention is shown;

[0034] Figure 4 A block diagram of an electronic device provided by an embodiment of the present invention is shown.

[0035] Icon: 100 - electronic device; 110 - memory; 120 - processor; 130 - communication module; 600 - equipment collaborative control device; 610 - data acquisition module; 620 - robot posture calculation module; 630 - robot joint angle calculation module; 640 - collaborative control module. DETAILED DESCRIPTION

[0036] The following will be combined with the accompanying drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0037] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without making creative work are within the scope of protection of the present invention.

[0038] It should be noted that relational terms such as "first" and "second" are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0039] In the prior art, robots, guide rails and positioners usually have their own coordinate systems, which are independent of each other and not integrated, making it difficult to achieve collaborative control between robots, guide rails and positioners. Based on this, an embodiment of the present invention provides a method, device, electronic device and storage medium for collaborative control of equipment, which unifies the respective coordinate systems of robots, guide rails and positioners by pre-establishing the conversion relationship between the world coordinate system and the robot base coordinate system, the conversion relationship between the world coordinate system and the positioner base coordinate system, and the conversion relationship between the flange coordinate system of the positioner and the user coordinate system, thereby enabling collaborative control between robots, guide rails and positioners to be achieved more simply and conveniently.

[0040] Hereinafter, various embodiments of the present invention will be described in detail with reference to the accompanying drawings.

[0041] Please refer to Figure 1 , is a flow chart of a device collaborative control method provided by an embodiment of the present invention. It should be noted that the device collaborative control method of the present invention is not based on Figure 1 And the following specific order is limited. It should be understood that in other embodiments, the order of some steps in the equipment collaborative control method of the present invention can be interchanged according to actual needs, or some steps therein can be omitted or deleted. The equipment collaborative control method can be applied to electronic devices such as control cabinets, laptops, tablet computers, PCs (Personal Computers), servers, etc. Taking the control cabinet as an example, the control cabinet can be communicatively connected with the robot, guide rails and positioners for collaboratively controlling the robot, guide rails and positioners. The following will describe Figure 1 The specific process shown is described in detail.

[0042] Step S101, obtaining a target posture corresponding to a target point in a user coordinate system where the robot flange moves, a joint angle of a guide rail corresponding to the target point, and a joint angle of a positioner corresponding to the target point.

[0043] In this embodiment, the target position of the robot flange, the joint angle of the guide rail, and the joint angle of the positioner corresponding to each point (with the user coordinate system as the reference coordinate system) can be recorded in the electronic device when teaching the point. In other words, to achieve the coordinated work of the three devices of the robot, the guide rail and the positioner, the teaching point needs to meet the key points: 1. The point uses the user coordinate system as the reference coordinate system; 2. The teaching point needs to include the joint angle of the guide rail; 3. The teaching point needs to include the joint angle of each joint of the positioner.

[0044] In this embodiment, the key to the robot moving to a certain point is to calculate the joint angle of the robot, the joint angle of the guide rail and the joint angle of the positioner corresponding to each point. When teaching the point, the joint angle of the guide rail is known, and the joint angle of the positioner is known, so calculating the joint angle of the robot is the key, and the key to calculating the joint angle of the robot is to calculate the posture of the robot flange with reference to the robot base coordinate system. Among them, the robot flange is the interface for installing tools (such as grippers, welding guns, cameras, etc.) at the end of the robot. Therefore, the posture of the robot flange directly determines the position and orientation of the robot TCP (Tool Center Point) in space. Since the robot TCP is set on the robot flange, and the posture of the TCP relative to the flange is known, in order to simplify the calculation, the posture of the robot flange can be regarded as the posture of the robot TCP.

[0045] Step S102, obtains the posture of the robot flange in the robot base coordinate system according to the target posture, the joint angle of the guide rail corresponding to the target point, the joint angle of the positioner corresponding to the target point, the first preset conversion relationship between the flange coordinate system of the positioner and the user coordinate system, the second preset conversion relationship between the world coordinate system and the positioner base coordinate system, and the third preset conversion relationship between the world coordinate system and the robot base coordinate system.

[0046] In this embodiment, the first preset transformation relationship, the second preset transformation relationship and the third preset transformation relationship can be in the form of transformation matrices. By pre-establishing the first preset transformation relationship between the flange coordinate system of the positioner and the user coordinate system, the second preset transformation relationship between the world coordinate system and the positioner base coordinate system, and the third preset transformation relationship between the world coordinate system and the robot base coordinate system, after obtaining the target posture of the robot flange in the user coordinate system, the joint angle of the guide rail and the joint angle of the positioner, the posture of the robot flange in the robot base coordinate system can be obtained.

[0047] In this embodiment, the base coordinate system of the guide rail is established at the zero position of the guide rail and is used as the world coordinate system, and the robot is installed on the guide rail flange; the base coordinate system of the robot is located on the flange of the guide rail; the base coordinate system of the positioner is established with the first axis of the positioner (the first axis from bottom to top), and the flange of the positioner is established on the terminal axis of the positioner; the user coordinate system is located on the flange of the positioner.

[0048] Step S103, calculating the joint angle of the robot corresponding to the target point according to the position and posture of the robot flange in the robot base coordinate system.

[0049] In this embodiment, there is a kinematic relationship between the joint angle of the robot and the position and posture of the robot flange. By using the robot kinematic model and solving the inverse kinematics, the position and posture of the robot flange can be converted into the joint angle of the robot.

[0050] Step S104, collaboratively controlling the robot, the guide rail and the positioner according to the joint angle of the guide rail corresponding to the target point, the joint angle of the positioner corresponding to the target point and the joint angle of the robot corresponding to the target point.

[0051] In this embodiment, control information can be generated according to the joint angles of the robot, the joint angles of the guide rails, and the joint angles of the positioner, and the robot, the guide rails, and the positioner are collaboratively controlled according to the control information so that the robot moves to the target point. For example, the robot TCP can be made to follow a curve with a certain trajectory in the user coordinate system fixed on the positioner by collaboratively controlling the three devices of the robot, the guide rails, and the positioner.

[0052] It can be seen that the device collaborative control method provided by the embodiment of the present invention includes obtaining the target posture corresponding to the target point in the user coordinate system where the robot flange moves, the joint angle of the guide rail corresponding to the target point, and the joint angle of the positioner corresponding to the target point; obtaining the posture of the robot flange in the robot base coordinate system according to the target posture, the joint angle of the guide rail corresponding to the target point, the joint angle of the positioner corresponding to the target point, the first preset conversion relationship between the flange coordinate system of the positioner and the user coordinate system, the second preset conversion relationship between the world coordinate system and the positioner base coordinate system, and the third preset conversion relationship between the world coordinate system and the robot base coordinate system; calculating the joint angle of the robot corresponding to the target point according to the posture of the robot flange in the robot base coordinate system; and collaboratively controlling the robot, the guide rail, and the positioner according to the joint angle of the guide rail corresponding to the target point, the joint angle of the positioner corresponding to the target point, and the joint angle of the robot corresponding to the target point. By pre-establishing the conversion relationship between the world coordinate system and the robot base coordinate system, the conversion relationship between the world coordinate system and the positioner base coordinate system, and the conversion relationship between the flange coordinate system of the positioner and the user coordinate system, the respective coordinate systems of the robot, guide rail, and positioner can be unified, thereby enabling simpler and more convenient coordinated control of the robot, guide rail, and positioner.

[0053] In this embodiment, the three devices, robot, guide rail and positioner, need to work together and use a unified coordinate system. The three devices, robot, guide rail and positioner, each have their own independent base coordinate system and flange. The key to unifying the coordinate system is to establish the relationship between the various coordinate systems and use one coordinate system as the basis for calculation. The method of establishing (defining) the coordinate system is as follows:

[0054] 1. Use the three-point method to calculate the relationship between the world coordinate system and the robot base coordinate system: (1) Mark a point on the guide rail, move the guide rail and move the robot to align with this point and record; repeat this step twice, record the three points and the joint angles of the guide rail; (2) Fit the three points to a straight line, the direction of the straight line is the X-axis direction of the world coordinate system, the Z-axis direction of the robot base coordinate system is the Z-axis direction of the world coordinate system, and the Y-axis direction is obtained by multiplying X by Z, that is, the conversion relationship between the guide rail zero point world coordinate system and the robot base coordinate system (that is, the third preset conversion relationship mentioned above): Where W represents the world coordinate system, and R represents the robot base coordinate system;

[0055] 2. The base coordinate system of the positioner is established on the first axis of the positioner, and the Z axis is determined by the right-hand rule. Mark a point on the positioner body, and record three points when one axis of the positioner rotates three times. These three points can determine the center of a circle, and use this center of the circle as the origin of the base coordinate system. The direction of the line from any point of the three points to the center of the circle is used as the direction of the X axis, and the cross product of X and Z can get the direction of the Y axis. Through robot calibration, the conversion relationship between the robot base coordinate system and the positioner base coordinate system can be obtained, which is recorded as R is the robot base coordinate system, P is the positioner base coordinate system, and the conversion relationship between the world coordinate system and the robot base coordinate system is The conversion relationship between the world coordinate system and the positioner base coordinate system (i.e. the second preset conversion relationship mentioned above) can be obtained: Where d is the joint angle of the guide rail;

[0056] 3. Record three points on the surface of the positioner and establish a user coordinate system based on these three points (The user coordinate system with the robot as the reference can be understood as the conversion relationship between the robot base coordinate system and the user coordinate system when the positioner is stationary). At this time, the flange coordinate system of the positioner is The conversion relationship between the flange coordinate system of the positioner and the user coordinate system (i.e. the first preset conversion relationship mentioned above) can be obtained as follows: Where θ is the joint angle of the positioner.

[0057] At this point, the establishment of the coordinate system is completed, and the conversion relationship between the coordinate systems is obtained. Next, the specific process of determining the position and posture of the robot flange in the robot base coordinate system is described in combination with the established coordinate system and the conversion relationship between the coordinate systems.

[0058] Please refer to Figure 2 , the above step S102 specifically includes:

[0059] Step S1021, calculating the posture of the robot flange in the world coordinate system according to the target posture, the joint angle of the positioner corresponding to the target point, the first preset conversion relationship and the second preset conversion relationship.

[0060] Wherein, step S1021 specifically includes: according to the formula Calculate the position and posture of the robot flange in the world coordinate system; where U represents the user coordinate system, P represents the positioner base coordinate system, W represents the world coordinate system, M represents the point in the user coordinate system, and θ represents the joint angle of the positioner. represents the position of the robot flange in the world coordinate system, represents the second preset conversion relationship, represents the first preset conversion relationship, Represents the target pose, Rot represents the rotation matrix, and Rot(0,0,θ) indicates that the angle of rotation of the positioner around the X-axis and Y-axis is 0, and the angle of rotation around the Z-axis is θ.

[0061] Step S1022, calculating the position and posture of the robot flange in the robot base coordinate system according to the position and posture of the robot flange in the world coordinate system, the joint angle of the guide rail corresponding to the target point, and the third preset conversion relationship.

[0062] Wherein, step S1022 specifically includes: according to the formula Calculate the position and posture of the robot flange in the robot base coordinate system; where: represents the position of the robot flange in the robot base coordinate system, R represents the robot base coordinate system, H represents the point in the robot base coordinate system, d represents the joint angle of the guide rail, V represents the displacement vector, Indicates the third preset conversion relationship. V(d,0,0) indicates that the displacement of the guide rail in the X-axis direction is d, and the displacement in the Y-axis direction and the Z-axis direction is 0.

[0063] That is to say, according to the formula The target position of the robot flange in the user coordinate system can be Convert to the world coordinate system; and according to the formula The position of the robot flange in the robot base coordinate system can be Convert to the world coordinate system; Combine the formula and Can get Finally, the joint angles of the robot are obtained by inversely solving the robot flange position.

[0064] In order to execute the corresponding steps in the above embodiments and various possible methods, a method for implementing the device cooperative control device is given below. Figure 3 , which is a functional module diagram of the equipment collaborative control device 600 provided in an embodiment of the present invention. It should be noted that the basic principle and technical effects of the equipment collaborative control device 600 provided in this embodiment are the same as those of the above-mentioned embodiments. For the sake of brief description, for parts not mentioned in this embodiment, reference can be made to the corresponding contents in the above-mentioned embodiments. The equipment collaborative control device 600 includes: a data acquisition module 610, a robot posture calculation module 620, a robot joint angle calculation module 630 and a collaborative control module 640.

[0065] The data acquisition module 610 is used to obtain the target posture corresponding to the target point of the robot flange moving to the user coordinate system, the joint angle of the guide rail corresponding to the target point, and the joint angle of the positioner corresponding to the target point.

[0066] It can be understood that the data acquisition module 610 can execute the above step S101.

[0067] The robot posture calculation module 620 is used to obtain the posture of the robot flange in the robot base coordinate system according to the target posture, the joint angle of the guide rail corresponding to the target point, the joint angle of the positioner corresponding to the target point, the first preset conversion relationship between the flange coordinate system of the positioner and the user coordinate system, the second preset conversion relationship between the world coordinate system and the positioner base coordinate system, and the third preset conversion relationship between the world coordinate system and the robot base coordinate system.

[0068] It can be understood that the robot posture calculation module 620 can execute the above step S102.

[0069] The robot joint angle calculation module 630 is used to calculate the robot joint angle corresponding to the target point according to the position and posture of the robot flange in the robot base coordinate system.

[0070] It can be understood that the robot joint angle calculation module 630 can execute the above step S103.

[0071] The collaborative control module 640 is used to collaboratively control the robot, the guide rail and the positioner according to the joint angle of the guide rail corresponding to the target point, the joint angle of the positioner corresponding to the target point and the joint angle of the robot corresponding to the target point.

[0072] It can be understood that the collaborative control module 640 can execute the above step S104.

[0073] Optionally, the robot posture calculation module 620 is used to calculate the posture of the robot flange in the world coordinate system according to the target posture, the joint angle of the positioner corresponding to the target point, the first preset transformation relationship and the second preset transformation relationship; and calculate the posture of the robot flange in the robot base coordinate system according to the posture of the robot flange in the world coordinate system, the joint angle of the guide rail corresponding to the target point and the third preset transformation relationship.

[0074] Optionally, the robot posture calculation module 620 is specifically used to calculate the position of the robot according to the formula Calculate the position and posture of the robot flange in the world coordinate system; where U represents the user coordinate system, P represents the positioner base coordinate system, W represents the world coordinate system, M represents the point in the user coordinate system, and θ represents the joint angle of the positioner. represents the position of the robot flange in the world coordinate system, represents the second preset conversion relationship, represents the first preset conversion relationship, represents the target pose, and Rot represents the rotation matrix.

[0075] Optionally, the robot posture calculation module 620 is further specifically configured to calculate the position of the robot according to the formula Calculate the position and posture of the robot flange in the robot base coordinate system; where: represents the position of the robot flange in the robot base coordinate system, R represents the robot base coordinate system, H represents the point in the robot base coordinate system, d represents the joint angle of the guide rail, V represents the displacement vector, Indicates the third preset conversion relationship.

[0076] It can be understood that the robot posture calculation module 620 can also execute the above steps S1021 and S1022.

[0077] It can be seen that the equipment collaborative control device provided by the embodiment of the present invention includes a data acquisition module, a robot posture calculation module, a robot joint angle calculation module and a collaborative control module. The data acquisition module is used to obtain the target posture corresponding to the target point in the user coordinate system where the robot flange moves, the joint angle of the guide rail corresponding to the target point, and the joint angle of the positioner corresponding to the target point; the robot posture calculation module is used to obtain the posture of the robot flange in the robot base coordinate system according to the target posture, the joint angle of the guide rail corresponding to the target point, the joint angle of the positioner corresponding to the target point, the first preset conversion relationship between the flange coordinate system of the positioner and the user coordinate system, the second preset conversion relationship between the world coordinate system and the positioner base coordinate system, and the third preset conversion relationship between the world coordinate system and the robot base coordinate system; the robot joint angle calculation module is used to calculate the joint angle of the robot corresponding to the target point according to the posture of the robot flange in the robot base coordinate system; the collaborative control module is used to collaboratively control the robot, the guide rail and the positioner according to the joint angle of the guide rail corresponding to the target point, the joint angle of the positioner corresponding to the target point, and the joint angle of the robot corresponding to the target point. By pre-establishing the conversion relationship between the world coordinate system and the robot base coordinate system, the conversion relationship between the world coordinate system and the positioner base coordinate system, and the conversion relationship between the flange coordinate system of the positioner and the user coordinate system, the respective coordinate systems of the robot, guide rail, and positioner can be unified, thereby enabling simpler and more convenient coordinated control of the robot, guide rail, and positioner.

[0078] Please refer to Figure 4, is a block diagram of an electronic device 100 provided in an embodiment of the present invention. The electronic device 100 includes a memory 110, a processor 120, and a communication module 130. The memory 110, the processor 120, and the communication module 130 are electrically connected to each other directly or indirectly to achieve data transmission or interaction. For example, these components can be electrically connected to each other through one or more communication buses or signal lines.

[0079] The memory 110 is used to store programs or data. The memory 110 may be, but is not limited to, a random access memory (RAM), a read only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), etc.

[0080] The processor 120 is used to read / write data or programs stored in the memory 110 and execute corresponding functions. For example, when the computer program stored in the memory 110 is executed by the processor 120, the device cooperative control method disclosed in the above embodiments can be implemented.

[0081] The communication module 130 is used to establish a communication connection between the electronic device 100 and other devices through a network, and to send and receive data through the network.

[0082] It should be understood that Figure 4 The structure shown is only a schematic diagram of the structure of the electronic device 100. The electronic device 100 may also include Figure 4 More or fewer components as shown, or with Figure 4 Different configurations shown. Figure 4 Each component shown in the figure can be implemented by hardware, software or a combination thereof.

[0083] An embodiment of the present invention further provides a computer-readable storage medium on which a computer program is stored. When the computer program is executed by the processor 120, the device collaborative control method disclosed in the above embodiments is implemented.

[0084] In several embodiments provided in the present application, it should be understood that the disclosed devices and methods can also be implemented in other ways. The device embodiments described above are merely schematic. For example, the flowcharts and block diagrams in the accompanying drawings show the possible architecture, functions and operations of the devices, methods and computer program products according to multiple embodiments of the present invention. In this regard, each box in the flowchart or block diagram can represent a module, a program segment or a part of a code, and the module, a program segment or a part of a code contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flowchart, and the combination of boxes in the block diagram and / or flowchart can be implemented with a dedicated hardware-based system that performs a specified function or action, or can be implemented with a combination of dedicated hardware and computer instructions.

[0085] In addition, the functional modules in the various embodiments of the present invention may be integrated together to form an independent part, or each module may exist independently, or two or more modules may be integrated to form an independent part.

[0086] If the functions are implemented in the form of software function modules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods described in each embodiment of the present invention. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0087] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A device collaborative control method, characterized in that: The method comprises: Obtain the target posture corresponding to the target point of the robot flange moving to the user coordinate system, the joint angle of the guide rail corresponding to the target point, and the joint angle of the positioner corresponding to the target point; The posture of the robot flange in the robot base coordinate system is obtained according to the target posture, the joint angle of the guide rail corresponding to the target point, the joint angle of the positioner corresponding to the target point, the first preset conversion relationship between the flange coordinate system of the positioner and the user coordinate system, the second preset conversion relationship between the world coordinate system and the positioner base coordinate system, and the third preset conversion relationship between the world coordinate system and the robot base coordinate system; Calculating the joint angle of the robot corresponding to the target point according to the position and posture of the robot flange in the robot base coordinate system; The robot, the guide rail and the positioner are collaboratively controlled according to the joint angle of the guide rail corresponding to the target point, the joint angle of the positioner corresponding to the target point and the joint angle of the robot corresponding to the target point.

2. The device cooperative control method according to claim 1, characterized in that: The method of obtaining the position of the robot flange in the robot base coordinate system according to the target posture, the joint angle of the guide rail corresponding to the target point, the joint angle of the positioner corresponding to the target point, the first preset conversion relationship between the flange coordinate system of the positioner and the user coordinate system, the second preset conversion relationship between the world coordinate system and the positioner base coordinate system, and the third preset conversion relationship between the world coordinate system and the robot base coordinate system comprises: Calculate the posture of the robot flange in the world coordinate system according to the target posture, the joint angle of the positioner corresponding to the target point, the first preset conversion relationship, and the second preset conversion relationship; The position and posture of the robot flange in the robot base coordinate system is calculated according to the position and posture of the robot flange in the world coordinate system, the joint angle of the guide rail corresponding to the target point, and the third preset conversion relationship.

3. The device cooperative control method according to claim 2, characterized in that: The calculating the posture of the robot flange in the world coordinate system according to the target posture, the joint angle of the positioner corresponding to the target point, the first preset conversion relationship and the second preset conversion relationship includes: According to the formula Calculate the position and posture of the robot flange in the world coordinate system; wherein U represents the user coordinate system, P represents the positioner base coordinate system, W represents the world coordinate system, M represents the point in the user coordinate system, and θ represents the joint angle of the positioner. represents the position and posture of the robot flange in the world coordinate system, represents the second preset conversion relationship, represents the first preset conversion relationship, represents the target pose, and Rot represents the rotation matrix.

4. The device cooperative control method according to claim 3, characterized in that: The calculating the position and posture of the robot flange in the robot base coordinate system according to the position and posture of the robot flange in the world coordinate system, the joint angle of the guide rail corresponding to the target point, and the third preset conversion relationship includes: According to the formula Calculate the position and posture of the robot flange in the robot base coordinate system; wherein, represents the position and posture of the robot flange in the robot base coordinate system, R represents the robot base coordinate system, H represents a point in the robot base coordinate system, d represents the joint angle of the guide rail, V represents the displacement vector, Indicates the third preset conversion relationship.

5. A device cooperative control device, characterized in that: The device comprises: A data acquisition module, used to acquire the target posture corresponding to the target point of the robot flange moving to the user coordinate system, the joint angle of the guide rail corresponding to the target point, and the joint angle of the positioner corresponding to the target point; a robot posture calculation module, for obtaining the posture of the robot flange in the robot base coordinate system according to the target posture, the joint angle of the guide rail corresponding to the target point, the joint angle of the positioner corresponding to the target point, the first preset conversion relationship between the flange coordinate system of the positioner and the user coordinate system, the second preset conversion relationship between the world coordinate system and the positioner base coordinate system, and the third preset conversion relationship between the world coordinate system and the robot base coordinate system; A robot joint angle calculation module, used to calculate the robot joint angle corresponding to the target point according to the posture of the robot flange in the robot base coordinate system; A collaborative control module is used to collaboratively control the robot, the guide rail and the positioner according to the joint angle of the guide rail corresponding to the target point, the joint angle of the positioner corresponding to the target point and the joint angle of the robot corresponding to the target point.

6. The equipment cooperative control device according to claim 5, characterized in that: The robot posture calculation module is used to calculate the posture of the robot flange in the world coordinate system according to the target posture, the joint angle of the positioner corresponding to the target point, the first preset transformation relationship and the second preset transformation relationship; and calculate the posture of the robot flange in the robot base coordinate system according to the posture of the robot flange in the world coordinate system, the joint angle of the guide rail corresponding to the target point and the third preset transformation relationship.

7. The device cooperative control apparatus according to claim 6, characterized in that: The robot posture calculation module is used to calculate the robot posture according to the formula Calculate the position and posture of the robot flange in the world coordinate system; wherein U represents the user coordinate system, P represents the positioner base coordinate system, W represents the world coordinate system, M represents the point in the user coordinate system, and θ represents the joint angle of the positioner. represents the position and posture of the robot flange in the world coordinate system, represents the second preset conversion relationship, represents the first preset conversion relationship, represents the target pose, and Rot represents the rotation matrix.

8. The equipment cooperative control device according to claim 5, characterized in that: The robot posture calculation module is used to calculate the robot posture according to the formula Calculate the position and posture of the robot flange in the robot base coordinate system; wherein, represents the position and posture of the robot flange in the robot base coordinate system, R represents the robot base coordinate system, H represents a point in the robot base coordinate system, d represents the joint angle of the guide rail, V represents the displacement vector, Indicates the third preset conversion relationship.

9. An electronic device, characterized in that: It includes a processor, a memory, and a computer program stored in the memory and executable on the processor, wherein the computer program, when executed by the processor, implements the steps of the device collaborative control method as described in any one of claims 1 to 4.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the device collaborative control method as described in any one of claims 1 to 4 are implemented.

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