Configuration method and device of operation process parameters, equipment and storage medium

Abstract

The invention discloses an operation process parameter configuration method and device, equipment and a storage medium, and belongs to the technical field of computers. The method comprises the following steps: loading and displaying a three-dimensional model of a target workpiece; adding a plurality of execution points on the three-dimensional model, and setting operation process parameters of a robot for each execution point in the plurality of execution points; and sending the operation process parameters of each execution point in the plurality of execution points by the robot to the robot. And configuration of operation process parameters of the robot can be realized.

Description

Technical Field

[0001] This application relates to the technical field of robots, and particularly to a method, apparatus, device, and storage medium for configuring operating process parameters. Background Art

[0002] With the development of technology, robots are gradually applied in various industries. In the manufacturing industry, the application of robots is particularly extensive, such as using robots to perform operations such as welding and gluing on workpieces. Before a robot performs operations such as welding and gluing on a workpiece, configuring the operating process parameters of the robot has become the key for the robot to accurately perform the above operations. Summary of the Invention

[0003] Embodiments of this application provide a method, apparatus, device, and storage medium for configuring operating process parameters, which can implement decoding of pixel points in an encoded image of a measured object in three-dimensional reconstruction based on structured light. The technical solutions are as follows:

[0004] In a first aspect, a method for configuring operating process parameters is provided. The method includes:

[0005] Loading and displaying a three-dimensional model of a target workpiece;

[0006] Adding a plurality of execution points to the three-dimensional model and setting operating process parameters of the robot for each of the plurality of execution points;

[0007] Sending the operating process parameters of the robot for each of the plurality of execution points to the robot.

[0008] In a possible implementation, the operating process parameters include at least one of position, attitude, speed, radian, and acceleration.

[0009] In a possible implementation, the sending the operating process parameters included in the plurality of execution points to the robot includes:

[0010] Establishing wireless communication with the robot;

[0011] Sending, through the wireless communication, the operating process parameters of the robot for each of the plurality of execution points to the robot.

[0012] In a possible implementation, the sending the operating process parameters included in the plurality of execution points to the robot includes:

[0013] Sending, in accordance with the execution order corresponding to the plurality of executions, the operating process parameters of the robot for each of the plurality of execution points to the robot.

[0014] In a possible implementation, sending the operation process parameters included in the multiple execution points to the robot includes:

[0015] Sending the workpiece identifier of the target workpiece and the operation process parameters of the robot for each of the multiple execution points to the robot.

[0016] In a second aspect, there is provided a device for configuring operation process parameters, the device including:

[0017] A display module, configured to load and display a three-dimensional model of a target workpiece;

[0018] An adding module, configured to add multiple execution points on the three-dimensional model and set the operation process parameters of the robot for each of the multiple execution points;

[0019] A sending module, configured to send the operation process parameters of the robot for each of the multiple execution points to the robot.

[0020] In a possible implementation, the operation process parameters include at least one of position, attitude, speed, radian, and acceleration.

[0021] In a possible implementation, the sending module is configured to:

[0022] Establish wireless communication with the robot;

[0023] Via the wireless communication, send the operation process parameters of the robot for each of the multiple execution points to the robot.

[0024] In a possible implementation, the sending module is configured to:

[0025] According to the execution order corresponding to the multiple executions, send the operation process parameters of the robot for each of the multiple execution points to the robot.

[0026] In a possible implementation, the sending module is configured to:

[0027] Send the workpiece identifier of the target workpiece and the operation process parameters of the robot for each of the multiple execution points to the robot.

[0028] In a third aspect, there is provided an electronic device, the electronic device including a processor and a memory, where at least one instruction is stored in the memory, and the instruction is loaded and executed by the processor to implement the operations performed by the operation process parameter configuration method as described in the first aspect and its possible implementation manners above.

[0029] Fourthly, a computer-readable storage medium is provided, in which at least one instruction is stored, and the instruction is loaded and executed by a processor to implement the operations performed by the configuration method of operation process parameters as described in the first aspect and its possible implementation manners above.

[0030] Fifthly, a computer program product is provided, which includes at least one instruction, and the instruction is loaded and executed by a processor to implement the operations performed by the configuration method of operation process parameters as described in the first aspect and its possible implementation manners above.

[0031] The beneficial effects brought by the technical solution provided by the embodiments of this application are as follows:

[0032] The technical solution provided by the embodiments of this application does not require manual teaching of the robot. Only by loading and displaying the three-dimensional model of the target workpiece through a software tool, and then, the user can add execution points on the three-dimensional model of the target workpiece through the software tool, configure the operation process parameters of the robot for each execution point among the multiple execution points, and finally send the operation process parameters of the robot for each execution point to the robot, thus completing the configuration of the operation process parameters of the robot, saving human resources, and having higher efficiency compared with manual teaching. Description of the Drawings

[0033] In order to more clearly illustrate the technical solutions in the embodiments of this application, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the following drawings are only some embodiments of this application. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0034] Figure 1 is a flowchart of a method for configuring operation process parameters provided by the embodiments of this application;

[0035] Figure 2 is a schematic diagram of the interface of an operation process parameter configuration software provided by the embodiments of this application;

[0036] Figure 3 is a schematic diagram of the interface of an operation process parameter configuration software provided by the embodiments of this application;

[0037] Figure 4 is a schematic diagram of the interface of an operation process parameter configuration software provided by the embodiments of this application;

[0038] Figure 5 is a schematic diagram of the structure of an operation process parameter configuration device provided by the embodiments of this application;

[0039] Figure 6It is a schematic structural diagram of an electronic device provided by an embodiment of the present application. Detailed implementation manners

[0040] The method for configuring process parameters provided by an embodiment of the present application can be applied to configure the process parameters of a robot that performs process operations such as welding and gluing. This method can be implemented by an electronic device, and the electronic device can be a mobile phone, a laptop computer, a desktop computer, etc. Through this method, it is not necessary to manually teach the robot. Only by loading and displaying the three-dimensional model of the target workpiece through a software tool, and then, the user can add execution points on the three-dimensional model of the target workpiece through this software tool, configure the operation process parameters of the robot for each execution point among multiple execution points, and finally send the operation process parameters of the robot for each execution point to the robot, that is, the configuration of the operation process parameters of the robot is completed, saving human resources and having higher efficiency compared with manual teaching.

[0041] The technical solutions provided by the embodiments of the present application will be described below with reference to the accompanying drawings.

[0042] See Figure 1 , which shows the method for configuring operation process parameters provided by an embodiment of the present application. This method can be implemented by an electronic device, such as Figure 1 shown. The processing flow of this method can include the following steps:

[0043] Step 101: Load and display the three-dimensional model of the target workpiece.

[0044] In implementation, for a target workpiece that requires a robot to perform process operations such as welding and gluing, the user can generate a three-dimensional model of the target workpiece.

[0045] There are many methods for generating the three-dimensional model of the target workpiece. For example, using a three-dimensional model modeling software to model the workpiece to obtain the three-dimensional model of the target workpiece. Another example is to use a data acquisition tool to collect the point cloud of the tool, and then generate the three-dimensional model of the target workpiece. The data acquisition tool can be a lidar, etc. Then, the three-dimensional model of the target workpiece can be stored in the electronic device for subsequent configuration of operation process parameters.

[0046] When configuring the operation process parameters of a robot that performs process operations on the target workpiece, the user can open the operation process parameter configuration software installed on the electronic device, and then, the electronic device displays the main interface of the operation process parameter configuration software. See Figure 2, showing a possible main interface of the operating process parameter configuration software. The main interface includes a 3D model display area and a configuration function area. The configuration function area includes a load 3D model function option, a load execution point function option, an add execution point function option, an execution point list, etc. The execution point list includes the operating process parameters of each execution point, such as position, posture, speed, radian, acceleration, etc.

[0047] Figure 2 The main interface shown is only an example. In actual design, the above-mentioned function options can be displayed on different interfaces. Of course, in addition to the above-mentioned function options and function areas, there can be more function options, more function areas, or fewer function options. The embodiments of the present application do not limit this.

[0048] by Figure 2 Taking the main interface of the process parameter configuration software shown in the figure as an example, the user can click the load 3D model function option, and then select the storage address of the 3D model of the target workpiece, jump to the folder where the 3D model of the target workpiece is stored, and the user clicks the 3D model of the target workpiece stored in the folder to load the 3D model of the target workpiece and display it in the 3D model display area. Figure 3 As shown, in Figure 2 Based on the above, the three-dimensional model of the workpiece is displayed in the three-dimensional model display area.

[0049] Step 102: Add multiple execution points on the three-dimensional model, and set the robot's operation process parameters for each of the multiple execution points.

[0050] In practice, there are many ways to add execution points, and several of them are listed below for illustration.

[0051] Add method 1:

[0052] like Figure 2 or Figure 3 As shown, the Add Execution Point function option is displayed in the configuration function area. The user clicks the Add Execution Point function option, and then the Operation Process Parameter Configuration Software displays the Operation Process Parameter input bar. The user can enter the robot's operation process parameters for the execution point in the Operation Process Parameter input bar, which may include position, posture, speed, arc, acceleration, etc.

[0053] Among them, the position is the three-dimensional coordinates of the execution point in the workpiece coordinate system, the posture is the posture of the execution component used by the robot when performing a process operation on the execution point of the workpiece in the workpiece coordinate system, the speed refers to the moving speed of the execution component of the robot from this execution point to the next execution point when the robot performs a process operation on the workpiece, the radian refers to the moving radian of the execution component of the robot from this execution point to the next execution point when the robot performs a process operation on the workpiece, and the acceleration refers to the moving acceleration of the execution component of the robot from this execution point to the next execution point when the robot performs a process operation on the workpiece.

[0054] After the input is completed, the corresponding execution points are automatically generated and can be displayed on the three-dimensional model of the target workpiece, such as Figure 4 shown, which is based on Figure 3 and 4 execution points are added. The position of execution point 1 is S1, the posture is P1, the speed is V1, the radian is R1, and the acceleration is A1. The position of execution point 2 is S2, the posture is P2, the speed is V2, the radian is R2, and the acceleration is A2. The position of execution point 3 is S3, the posture is P3, the speed is V3, the radian is R3, and the acceleration is A3. The position of execution point 4 is S4, the posture is P4, the speed is V4, the radian is R4, and the acceleration is A4.

[0055] In the solution provided by the embodiment of the present application, the configured operation process parameters are all parameters in the workpiece coordinate system. In this way, when the robot performs a process operation on the workpiece, regardless of whether the workpiece is fixed or not, the robot can accurately find the execution point and perform the process operation according to the corresponding operation process parameters.

[0056] In addition, it should be noted that the added execution points do not necessarily have to be on the surface of the three-dimensional model of the workpiece, and can also be away from the three-dimensional model of the workpiece.

[0057] Adding method two:

[0058] The user can select a certain position on the three-dimensional model of the workpiece according to the needs by means of a mouse, touch screen, etc. This position is the execution point that the user wants to add. Then, an operation process parameter input field is displayed, and the user can input the operation process parameters of the robot for the execution point in the operation process parameter input field, which can specifically include position, posture, speed, radian, acceleration, etc. In addition, since the user selects the position first, for the position in the operation process parameters, it can be automatically input without the user having to input it a second time, and the remaining operation process parameters can be input by the user himself. After the input is completed, the corresponding execution points are automatically generated and can be displayed on the three-dimensional model of the target workpiece.

[0059] It should be noted that the two adding methods provided above are only examples. As long as it can add execution points and configure operation process parameters according to user requirements, the specific implementation method is not limited in the embodiments of the present application.

[0060] Step 103: Send the operation process parameters of the robot for each execution point among multiple execution points to the robot.

[0061] In implementation, a wired communication or wireless communication can be established between the electronic device and the robot. After configuration is completed, the electronic device can send the operation process parameters of the robot for each execution point among multiple execution points of the target workpiece to the robot through the established wired communication or wireless communication.

[0062] Alternatively, before the robot performs a process operation on the target workpiece, the robot can send an operation process parameter acquisition request to the electronic device, carrying the identifier of the target workpiece in the operation process parameter acquisition request. After receiving the operation process parameter acquisition request, the electronic device sends the operation process parameters of the robot for each execution point among multiple execution points of the target workpiece to the robot.

[0063] Before the robot performs a process operation on the target workpiece, it first needs to collect an image of the target workpiece through the vision module, then identify the target workpiece, and identify the position and posture of the target workpiece. Then, according to the position and posture of the target workpiece, calculate the transformation matrix between the workpiece coordinate system and the robot coordinate system of the target workpiece. Furthermore, based on the transformation matrix, convert the operation process parameters of each execution point of the target workpiece from the workpiece coordinate system to the robot coordinate system. Then, perform corresponding process operations on the target workpiece according to the operation process parameters of each execution point of the target workpiece in the robot coordinate system.

[0064] In addition, the robot needs to perform process operations on the execution points in a certain order, and the execution order of the execution points can be set by the user himself.

[0065] In a possible implementation, take the order in which the user adds execution points as the execution order of the robot for the execution points. Correspondingly, the electronic device can send the operation process parameters of the robot for each execution point among multiple execution points of the target workpiece to the robot in the order of the robot's execution of the execution points from first to last. In this way, the robot can take the receiving order of the operation process parameters of the execution points as the execution order of the execution points.

[0066] In a possible implementation, the operation process parameters of the execution points can be displayed in the execution point list according to the execution order of the execution points. The user can drag the order of the execution points in the list by means of a mouse, touch screen, etc. to adjust the execution order of the execution points.

[0067] The technical solution provided by the embodiments of the present application does not require manual teaching of the robot. Only by loading and displaying the 3D model of the target workpiece through a software tool, and then, the user can add execution points on the 3D model of the target workpiece through the software tool, configure the operation process parameters of the robot for each execution point among the multiple execution points, and finally send the operation process parameters of the robot for each execution point to the robot, thus completing the configuration of the operation process parameters of the robot, saving human resources and having higher efficiency compared with manual teaching. In addition, in the solution provided by the embodiments of the present application, the configured operation process parameters are all parameters in the workpiece coordinate system. In this way, when the robot performs a process operation on the workpiece, regardless of whether the workpiece is fixed or not, the robot can accurately find the execution point and perform the process operation according to the corresponding operation process parameters.

[0068] Any combination of the above all optional technical solutions can form an optional embodiment of the present application, which will not be elaborated one by one here.

[0069] The embodiments of the present application also provide a device for configuring operation process parameters. This device can be an electronic device, such as Figure 5 As shown, this device may include a display module 510, an adding module 520, and a sending module 530, where:

[0070] The display module 510 is configured to load and display the 3D model of the target workpiece;

[0071] The adding module 520 is configured to add a plurality of execution points on the 3D model and set the operation process parameters of the robot for each execution point among the plurality of execution points;

[0072] The sending module 530 is configured to send the operation process parameters of the robot for each execution point among the plurality of execution points to the robot.

[0073] In a possible implementation, the operation process parameters include at least one of position, attitude, speed, radian, and acceleration.

[0074] In a possible implementation, the sending module 530 is configured to:

[0075] Establish wireless communication with the robot;

[0076] Through the wireless communication, send the operation process parameters of the robot for each execution point among the plurality of execution points to the robot.

[0077] In a possible implementation, the sending module 530 is configured to:

[0078] Send the operation process parameters of the robot for each of the multiple execution points to the robot according to the corresponding execution order of the multiple executions.

[0079] In a possible implementation, the sending module 530 is configured to:

[0080] Send the workpiece identification of the target workpiece and the operation process parameters of the robot for each of the multiple execution points to the robot.

[0081] The technical solution provided by the embodiments of the present application does not require manual teaching of the robot. Only by loading and displaying the three-dimensional model of the target workpiece through a software tool, and then the user can add execution points on the three-dimensional model of the target workpiece through the software tool, configure the operation process parameters of the robot for each of the multiple execution points, and finally send the operation process parameters of the robot for each execution point to the robot, thus completing the configuration of the operation process parameters of the robot, saving human resources and having higher efficiency compared with manual teaching. In addition, in the solution provided by the embodiments of the present application, the configured operation process parameters are all parameters in the workpiece coordinate system. In this way, when the robot performs a process operation on the workpiece, regardless of whether the workpiece is fixed or not, the robot can accurately find the execution point and perform the process operation according to the corresponding operation process parameters.

[0082] It should be noted that when the operation process parameter configuration device provided in the above embodiment configures the operation process parameters, only the above division of each functional module is used for illustration. In actual application, the above functions can be allocated to different functional modules according to needs, that is, the internal structure of the electronic device is divided into different functional modules to complete all or part of the functions described above. In addition, the operation process parameter configuration device provided in the above embodiment and the method embodiment of the operation process parameter configuration belong to the same concept, and the specific implementation process can be seen in the method embodiment, which will not be elaborated here.

[0083] Figure 6 FIG. shows a structural block diagram of an electronic device 600 provided by an exemplary embodiment of the present application. The electronic device 600 may be a portable mobile terminal, such as: a smart phone, a tablet computer, an MP3 player (Moving Picture Experts Group Audio Layer III), an MP4 (Moving Picture Experts Group Audio Layer IV) player, a notebook computer or a desktop computer. The electronic device 600 may also be referred to by other names such as user equipment, portable terminal, laptop terminal, desktop terminal, etc.

[0084] Generally, the electronic device 600 includes a processor 601 and a memory 602.

[0085] The processor 601 may include one or more processing cores, such as a quad-core processor, an octa-core processor, etc. The processor 601 may be implemented in at least one hardware form of DSP (Digital Signal Processing), FPGA (Field-Programmable Gate Array), or PLA (Programmable Logic Array). The processor 601 may also include a main processor and a coprocessor. The main processor is a processor for processing data in the wake state, also known as the CPU (Central Processing Unit); the coprocessor is a low-power processor for processing data in the standby state. In some embodiments, the processor 601 may be integrated with a GPU (Graphics Processing Unit), and the GPU is responsible for rendering and drawing the content to be displayed on the display screen. In some embodiments, the processor 601 may further include an AI (Artificial Intelligence) processor, and the AI processor is used to process computational operations related to machine learning.

[0086] The memory 602 may include one or more computer-readable storage media, and the computer-readable storage media may be non-transitory. The memory 602 may further include high-speed random access memory and non-volatile memory, such as one or more disk storage devices and flash storage devices. In some embodiments, the non-transitory computer-readable storage media in the memory 602 is used to store at least one instruction, and the at least one instruction is used to be executed by the processor 601 to implement the configuration method of the operation process parameters provided in the method embodiments of the present application.

[0087] In some embodiments, the electronic device 600 may further optionally include a peripheral device interface 603 and at least one peripheral device. The processor 601, the memory 602, and the peripheral device interface 603 may be connected through a bus or signal lines. Each peripheral device may be connected to the peripheral device interface 603 through a bus, signal lines, or a circuit board. Specifically, the peripheral devices include at least one of a radio frequency circuit 604, a display screen 605, a camera assembly 606, an audio circuit 607, a positioning component 608, and a power supply 609.

[0088] The peripheral device interface 603 can be used to connect at least one I / O (Input / Output) related peripheral device to the processor 601 and the memory 602. In some embodiments, the processor 601, the memory 602, and the peripheral device interface 603 are integrated on the same chip or circuit board; in some other embodiments, any one or two of the processor 601, the memory 602, and the peripheral device interface 603 can be implemented on a separate chip or circuit board, and this embodiment does not limit this.

[0089] The radio frequency circuit 604 is used to receive and transmit RF (Radio Frequency) signals, also known as electromagnetic signals. The radio frequency circuit 604 communicates with the communication network and other communication devices through electromagnetic signals. The radio frequency circuit 604 converts an electrical signal into an electromagnetic signal for transmission, or converts the received electromagnetic signal into an electrical signal. Optionally, the radio frequency circuit 604 includes: an antenna system, an RF transceiver, one or more amplifiers, a tuner, an oscillator, a digital signal processor, a codec chipset, a user identity module card, and so on. The radio frequency circuit 604 can communicate with other terminals through at least one wireless communication protocol. The wireless communication protocol includes but is not limited to: the World Wide Web, a metropolitan area network, an intranet, each generation of mobile communication networks (2G, 3G, 4G, and 5G), a wireless local area network, and / or a WiFi (Wireless Fidelity) network. In some embodiments, the radio frequency circuit 604 may further include a circuit related to NFC (Near Field Communication), and this application does not limit this.

[0090] The display screen 605 is used to display the UI (User Interface). The UI may include graphics, text, icons, videos, and any combination thereof. When the display screen 605 is a touch display screen, the display screen 605 also has the ability to collect touch signals on or above the surface of the display screen 605. The touch signals can be input to the processor 601 as control signals for processing. At this time, the display screen 605 can also be used to provide virtual buttons and / or virtual keyboards, also known as soft buttons and / or soft keyboards. In some embodiments, there can be one display screen 605, which is provided on the front panel of the electronic device 600; in some other embodiments, there can be at least two display screens 605, which are respectively provided on different surfaces of the electronic device 600 or are in a foldable design; in some other embodiments, the display screen 605 can be a flexible display screen, which is provided on the curved surface or the folding surface of the electronic device 600. Even, the display screen 605 can also be set to an irregular non-rectangular shape, that is, an irregular-shaped screen. The display screen 605 can be prepared using materials such as LCD (Liquid Crystal Display) and OLED (Organic Light-Emitting Diode).

[0091] The camera module 606 is used to collect images or videos. Optionally, the camera module 606 includes a front camera and a rear camera. Generally, the front camera is provided on the front panel of the terminal, and the rear camera is provided on the back of the terminal. In some embodiments, there are at least two rear cameras, which are respectively any one of a main camera, a depth-of-field camera, a wide-angle camera, and a telephoto camera, so as to realize the function of background blurring by fusing the main camera and the depth-of-field camera, the function of panoramic shooting by fusing the main camera and the wide-angle camera, and the VR (Virtual Reality) shooting function or other fusion shooting functions. In some embodiments, the camera module 606 can also include a flash. The flash can be a single-color temperature flash or a two-color temperature flash. A two-color temperature flash refers to the combination of a warm light flash and a cold light flash, which can be used for light compensation under different color temperatures.

[0092] The audio circuit 607 may include a microphone and a speaker. The microphone is used to collect sound waves of the user and the environment, and convert the sound waves into electrical signals for input to the processor 601 for processing, or input to the radio frequency circuit 604 to achieve voice communication. For the purpose of stereo collection or noise reduction, there may be multiple microphones, which are respectively arranged at different parts of the electronic device 600. The microphone may also be an array microphone or an omnidirectional collection microphone. The speaker is used to convert the electrical signals from the processor 601 or the radio frequency circuit 604 into sound waves. The speaker may be a traditional thin film speaker or a piezoelectric ceramic speaker. When the speaker is a piezoelectric ceramic speaker, it can not only convert electrical signals into audible sound waves for humans, but also convert electrical signals into inaudible sound waves for humans for uses such as ranging. In some embodiments, the audio circuit 607 may further include a headphone jack.

[0093] The positioning component 608 is used to locate the current geographical location of the electronic device 600 to achieve navigation or LBS (Location Based Service). The positioning component 608 may be a positioning component based on the GPS (Global Positioning System) of the United States, the Beidou system of China, or the Galileo system of Russia.

[0094] The power supply 609 is used to supply power to each component in the electronic device 600. The power supply 609 may be alternating current, direct current, a disposable battery, or a rechargeable battery. When the power supply 609 includes a rechargeable battery, the rechargeable battery may be a wired rechargeable battery or a wireless rechargeable battery. A wired rechargeable battery is a battery charged through a wired line, and a wireless rechargeable battery is a battery charged through a wireless coil. The rechargeable battery can also be used to support fast charging technology.

[0095] In some embodiments, the electronic device 600 further includes one or more sensors 610. The one or more sensors 610 include but are not limited to: an acceleration sensor 611, a gyroscope sensor 612, a pressure sensor 613, a fingerprint sensor 614, an optical sensor 615, and a proximity sensor 616.

[0096] The acceleration sensor 611 can detect the magnitude of acceleration on the three coordinate axes of the coordinate system established with the electronic device 600. For example, the acceleration sensor 611 can be used to detect the components of the gravitational acceleration on the three coordinate axes. The processor 601 can control the display screen 605 to display the user interface in a landscape view or a portrait view according to the gravitational acceleration signal collected by the acceleration sensor 611. The acceleration sensor 611 can also be used for game or collection of the user's motion data.

[0097] The gyroscope sensor 612 can detect the body orientation and rotation angle of the electronic device 600. The gyroscope sensor 612 can cooperate with the acceleration sensor 611 to collect the 3D actions of the user on the electronic device 600. Based on the data collected by the gyroscope sensor 612, the processor 601 can implement the following functions: motion sensing (such as changing the UI according to the user's tilting operation), image stabilization during shooting, game control, and inertial navigation.

[0098] The pressure sensor 613 can be disposed on the side frame of the electronic device 600 and / or the lower layer of the display screen 605. When the pressure sensor 613 is disposed on the side frame of the electronic device 600, it can detect the holding signal of the user on the electronic device 600, and the processor 601 can perform left / right hand recognition or quick operation according to the holding signal collected by the pressure sensor 613. When the pressure sensor 613 is disposed on the lower layer of the display screen 605, the processor 601 can control the operable controls on the UI interface according to the pressure operation of the user on the display screen 605. The operable controls include at least one of button controls, scroll bar controls, icon controls, and menu controls.

[0099] The fingerprint sensor 614 is used to collect the fingerprints of the user. The processor 601 can identify the user's identity according to the fingerprints collected by the fingerprint sensor 614, or the fingerprint sensor 614 can identify the user's identity according to the collected fingerprints. When the identity of the user is identified as a trusted identity, the processor 601 authorizes the user to perform relevant sensitive operations, and the sensitive operations include unlocking the screen, viewing encrypted information, downloading software, making payments, and changing settings, etc. The fingerprint sensor 614 can be disposed on the front, back, or side of the electronic device 600. When there are physical buttons or manufacturer logos on the electronic device 600, the fingerprint sensor 614 can be integrated with the physical buttons or manufacturer logos.

[0100] The optical sensor 615 is used to collect the ambient light intensity. In one embodiment, the processor 601 can control the display brightness of the display screen 605 according to the ambient light intensity collected by the optical sensor 615. Specifically, when the ambient light intensity is high, the display brightness of the display screen 605 is increased; when the ambient light intensity is low, the display brightness of the display screen 605 is decreased. In another embodiment, the processor 601 can also dynamically adjust the shooting parameters of the camera module 606 according to the ambient light intensity collected by the optical sensor 615.

[0101] A proximity sensor 616, also known as a distance sensor, is typically disposed on the front panel of the electronic device 600. The proximity sensor 616 is used to collect the distance between the user and the front of the electronic device 600. In one embodiment, when the proximity sensor 616 detects that the distance between the user and the front of the electronic device 600 is gradually decreasing, the processor 601 controls the display screen 605 to switch from the lit state to the off state; when the proximity sensor 616 detects that the distance between the user and the front of the electronic device 600 is gradually increasing, the processor 601 controls the display screen 605 to switch from the off state to the lit state.

[0102] Those skilled in the art can understand that Figure 5 the structure shown in does not constitute a limitation on the electronic device 600, and may include more or fewer components than shown in the figure, or combine certain components, or adopt different component arrangements.

[0103] In an exemplary embodiment, there is also provided a computer-readable storage medium, such as a memory including instructions, and the above instructions can be executed by a processor in the terminal to complete the method for configuring the operation process parameters in the above embodiment. The computer-readable storage medium may be non-transitory. For example, the computer-readable storage medium may be a ROM (Read-Only Memory), a RAM (Random Access Memory), a CD-ROM (Compact Disc Read-Only Memory), a magnetic tape, a floppy disk, and an optical data storage device, etc.

[0104] It should be noted that the information (including but not limited to user device information, user personal information, etc.), data (including but not limited to data for analysis, stored data, displayed data, etc.), and signals (including but not limited to signals transmitted between the user terminal and other devices, etc.) involved in this application are all authorized by the user or fully authorized by all parties, and the collection, use, and processing of relevant data need to comply with the relevant laws, regulations, and standards of relevant countries and regions. For example, the workpiece images, three-dimensional models of workpieces, etc. involved in this application are all obtained under full authorization.

[0105] Those of ordinary skill in the art can understand that all or part of the steps of implementing the above embodiments can be completed by hardware, or can be completed by instructing relevant hardware through a program, and the program can be stored in a computer-readable storage medium, and the above-mentioned storage medium can be a read-only memory, a magnetic disk, or an optical disc, etc.

[0106] The foregoing are only optional embodiments of the present application and are not intended to limit the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present application shall be included within the protection scope of the present application.

Claims

1. A method for configuring operating process parameters, characterized in that, The method includes: Loading and displaying a three-dimensional model of a target workpiece; Adding a plurality of execution points to the three-dimensional model and setting operation process parameters of the robot for each of the plurality of execution points; Sending the operation process parameters of the robot for each of the plurality of execution points to the robot.

2. The method according to claim 1, wherein The operation process parameters include at least one of position, attitude, speed, radian, and acceleration.

3. The method according to claim 1 or 2, characterized in that, The sending the operation process parameters of the robot for each of the plurality of execution points to the robot includes: Establishing wireless communication with the robot; Sending, through the wireless communication, the operation process parameters of the robot for each of the plurality of execution points to the robot.

4. The method according to claim 1 or 2, characterized in that, The sending the operation process parameters of the robot for each of the plurality of execution points to the robot includes: Sending, in accordance with the execution order corresponding to the plurality of executions, the operation process parameters of the robot for each of the plurality of execution points to the robot.

5. The method according to claim 1 or 2, characterized in that, The sending the operation process parameters of the robot for each of the plurality of execution points to the robot includes: Sending the workpiece identifier of the target workpiece and the operation process parameters of the robot for each of the plurality of execution points to the robot.

6. An apparatus for configuring operating process parameters, characterized in that The device includes: A display module for loading and displaying a three-dimensional model of a target workpiece; An adding module for adding a plurality of execution points to the three-dimensional model and setting operation process parameters of the robot for each of the plurality of execution points; A sending module for sending the operation process parameters of the robot for each of the plurality of execution points to the robot.

7. The device according to claim 6, characterized in that, The operation process parameters include at least one of position, attitude, speed, radian, and acceleration.

8. The device according to claim 6 or 7, characterized in that, The sending module is configured to: Establish wireless communication with the robot; Sending, through the wireless communication, the operation process parameters of the robot for each of the plurality of execution points to the robot.

9. The device according to claim 6 or 7, characterized in that, The sending module is configured to: Sending, in accordance with the execution order corresponding to the plurality of executions, the operation process parameters of the robot for each of the plurality of execution points to the robot.

10. The method according to claim 6 or 7, characterized in that, The sending module is configured to: Sending the workpiece identifier of the target workpiece and the operation process parameters of the robot for each of the plurality of execution points to the robot.

11. An electronic device, characterized in that, The electronic device includes a processor and a memory, and at least one instruction is stored in the memory, and the instruction is loaded and executed by the processor to implement the operations performed by the configuration method of the operation process parameters according to any one of claims 1 to 5.

12. A computer-readable storage medium, characterized in that, At least one instruction is stored in the storage medium, and the instruction is loaded and executed by the processor to implement the operations performed by the configuration method of the operation process parameters according to any one of claims 1 to 5.

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