Robot control and positioning pen full-connection graph generation method and device

Abstract

The invention provides a robot control and positioning pen full connection diagram generation method and device, and the method comprises the steps: obtaining a to-be-controlled target robot, and obtaining a full connection diagram between n positioning pens; in response to a received control application of the candidate positioning pen to the target robot, obtaining a first conversion matrix between the candidate positioning pen and the target positioning pen based on the full connection graph, and obtaining a second conversion matrix between the target positioning pen and the target robot; determining a third conversion matrix of the candidate positioning pen and the target robot based on the first conversion matrix and the second conversion matrix; and controlling the target robot through the candidate positioning pen based on the third conversion matrix. Therefore, by establishing the full connection diagram between the positioning pens, cross control over the non-paired robots and the positioning pens can be achieved, the flexibility of multi-robot and multi-positioning-pen control is improved, the calibration workload is reduced, and the method has wide application prospects in the fields of industrial automation, collaborative robots, intelligent logistics and the like.

Description

Technical Field

[0001] The present disclosure relates to the field of industrial automation and robotics, and particularly to a method, apparatus, electronic device, and storage medium for generating a full connection diagram of robot control and positioning pens. Background Art

[0002] In industrial automation and robotics, precise positioning is the key to achieving efficient and accurate operations. Especially in complex scenarios where multiple robots and multiple positioning pens are used in combination, the relative position relationships between each robot and each positioning pen need to be accurately calibrated. Traditional calibration methods usually require individual calibration for each pair of robots and positioning pens, which is not only time-consuming and laborious but also inefficient. Therefore, how to provide an efficient and accurate calibration method has become an urgent technical problem to be solved. Summary of the Invention

[0003] The present disclosure aims to solve at least one of the technical problems in the related art to some extent.

[0004] To this end, one objective of the present disclosure is to propose a robot control method.

[0005] The second objective of the present disclosure is to propose a method for generating a full connection diagram of positioning pens.

[0006] The third objective of the present disclosure is to propose a robot control device.

[0007] The fourth objective of the present disclosure is to propose a method for generating a full connection diagram of positioning pens.

[0008] The fifth objective of the present disclosure is to propose an electronic device.

[0009] The sixth objective of the present disclosure is to propose a non-transitory computer-readable storage medium.

[0010] The seventh objective of the present disclosure is to propose a computer program product.

[0011] To achieve the above object, an embodiment of the first aspect of the present disclosure provides a robot control method, including: obtaining a target robot to be controlled, and obtaining a fully connected graph among n positioning pens, where one of the n positioning pens is a target positioning pen corresponding to the target robot; in response to receiving a control application of a candidate positioning pen to the target robot, obtaining a first transformation matrix between the candidate positioning pen and the target positioning pen based on the fully connected graph, and obtaining a second transformation matrix between the target positioning pen and the target robot, where the candidate positioning pen is one of the remaining positioning pens other than the target positioning pen among the n positioning pens; determining a third transformation matrix between the candidate positioning pen and the target robot based on the first transformation matrix and the second transformation matrix; and controlling the target robot by the candidate positioning pen based on the third transformation matrix.

[0012] According to an embodiment of the present disclosure, the obtaining the first transformation matrix between the candidate positioning pen and the target positioning pen based on the fully connected graph includes: determining a shortest path from a first node corresponding to the candidate positioning pen to a second node corresponding to the target positioning pen based on the fully connected graph; and generating the first transformation matrix based on the shortest path.

[0013] According to an embodiment of the present disclosure, the generating the first transformation matrix based on the shortest path includes: obtaining candidate transformation matrices of adjacent nodes on the shortest path; and multiplying all the transformation matrices to calculate and obtain the first transformation matrix.

[0014] According to an embodiment of the present disclosure, the determining the third transformation matrix between the candidate positioning pen and the target robot based on the first transformation matrix and the second transformation matrix includes: multiplying the first transformation matrix and the second transformation matrix to calculate and obtain the third transformation matrix between the candidate positioning pen and the target robot.

[0015] To achieve the above object, an embodiment of the second aspect of the present disclosure provides a method for generating a fully connected graph of positioning pens, including: obtaining n positioning pens to be calibrated, and selecting a reference positioning pen from the n positioning pens; calibrating the reference positioning pen with n - 1 positioning pens to be calibrated respectively to obtain n - 1 fourth transformation matrices between the reference positioning pen and the positioning pens to be calibrated, where the positioning pens to be calibrated are other positioning pens other than the reference positioning pen among the n positioning pens; and generating a fully connected graph among the n positioning pens based on the fourth transformation matrices.

[0016] According to an embodiment of the present disclosure, generating a fully connected graph between the n positioning pens based on the fourth transformation matrix includes: for any two positioning pens to be calibrated, obtaining the fourth transformation matrices of the two positioning pens to be calibrated with respect to the reference positioning pen respectively; multiplying the fourth transformation matrices corresponding to the two positioning pens to be calibrated to generate a fifth transformation matrix of the two positioning pens to be calibrated, and generating a fully connected graph between the n positioning pens based on the n positioning pens, the fourth transformation matrix, and the fifth transformation matrix.

[0017] To achieve the above object, an embodiment of the third aspect of the present disclosure provides a robot control device, including: an acquisition module, configured to acquire a target robot to be controlled and a fully connected graph between n positioning pens, where there is a target positioning pen corresponding to the target robot among the n positioning pens; a generation module, configured to, in response to receiving a control application of a candidate positioning pen to the target robot, obtain a first transformation matrix between the candidate positioning pen and the target positioning pen based on the fully connected graph, and obtain a second transformation matrix between the target positioning pen and the target robot, where the candidate positioning pen is one of the remaining positioning pens except the target positioning pen among the n positioning pens; a determination module, configured to determine a third transformation matrix of the candidate positioning pen and the target robot based on the first transformation matrix and the second transformation matrix; and a control module, configured to control the target robot through the candidate positioning pen based on the third transformation matrix.

[0018] To achieve the above object, an embodiment of the fourth aspect of the present disclosure provides a positioning pen fully connected graph generation device, including: a selection module, configured to acquire n positioning pens to be calibrated and select a reference positioning pen from the n positioning pens; a calibration module, configured to calibrate the reference positioning pen with n - 1 positioning pens to be calibrated respectively to obtain n - 1 fourth transformation matrices of the reference positioning pen and the positioning pens to be calibrated, where the positioning pens to be calibrated are other positioning pens except the reference positioning pen among the n positioning pens; and an establishment module, configured to generate a fully connected graph between the n positioning pens based on the fourth transformation matrix.

[0019] To achieve the above object, an embodiment of the fifth aspect of the present disclosure provides an electronic device, including: at least one processor; and a memory communicatively connected to the at least one processor; where the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to implement the robot control method as described in the embodiment of the first aspect of the present disclosure, or to implement the positioning pen fully connected graph generation method as described in the embodiment of the second aspect of the present disclosure.

[0020] To achieve the above object, an embodiment of the sixth aspect of the present disclosure provides a non-transitory computer-readable storage medium storing computer instructions, wherein the computer instructions are used to implement the robot control method as described in the embodiment of the first aspect of the present disclosure, or to implement the full connection graph generation method of the positioning pen as described in the embodiment of the second aspect of the present disclosure.

[0021] To achieve the above object, an embodiment of the seventh aspect of the present disclosure provides a computer program product, including a computer program, where the computer program is used to implement the robot control method as described in the embodiment of the first aspect of the present disclosure, or to implement the full connection graph generation method of the positioning pen as described in the embodiment of the second aspect of the present disclosure when executed by a processor.

[0022] Thus, by establishing a full connection graph between the positioning pens, cross-control of unpaired robots and positioning pens can be achieved, improving the flexibility of multi-robot and multi-positioning pen control, reducing the calibration workload, and having broad application prospects in the fields of industrial automation, collaborative robots, intelligent logistics, etc. Description of the Drawings

[0023] Figure 1 is a schematic diagram of a robot control method according to an embodiment of the present disclosure; Figure 2 is a schematic diagram of a connection structure between a positioning pen and a robot according to an embodiment of the present disclosure; Figure 3 is a schematic diagram of another robot control method according to an embodiment of the present disclosure; Figure 4 is a schematic diagram of a full connection graph according to an embodiment of the present disclosure; Figure 5 is a schematic diagram of a full connection graph generation method of a positioning pen according to an embodiment of the present disclosure; Figure 6 is a schematic diagram of a robot control device according to an embodiment of the present disclosure; Figure 7 is a schematic diagram of a full connection graph generation device of a positioning pen according to an embodiment of the present disclosure; Figure 8 is a schematic diagram of an electronic device according to an embodiment of the present disclosure. Detailed Embodiments

[0024] The embodiments of the present disclosure will be described in detail below. The examples of the embodiments are shown in the drawings, where the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions from beginning to end. The embodiments described below with reference to the drawings are exemplary and are intended to explain the present disclosure, and should not be construed as a limitation to the present disclosure.

[0025] In the technical solution of the present disclosure, the acquisition, storage, use, processing, etc. of data all comply with the relevant regulations of relevant laws and regulations.

[0026] It should be noted that in the embodiments of the present application, some existing solutions in the industry such as certain software, components, models, etc. may be mentioned. They should be regarded as exemplary. The purpose is only to illustrate the feasibility in the implementation of the technical solution of the present application, but it does not mean that the applicant has already or necessarily used this solution.

[0027] Figure 1 It is a schematic diagram of a robot control method according to an embodiment of the present disclosure. As Figure 1 shown, the robot control method includes the following steps: S101, obtain the target robot to be controlled, and obtain the full connection graph among n positioning pens. There is a target positioning pen corresponding to the target robot among the n positioning pens.

[0028] The robot control method of the embodiments of the present application can be applied to the scenario of cross-control of multiple robots and multiple positioning pens. The execution subject of the robot control in the embodiments of the present application can be the robot control device of the embodiments of the present application. This robot control device can be set on an electronic device.

[0029] In the current technology, as Figure 2 shown, a robot and a positioning pen are fixedly connected through a fixed structure, and the relative transformation between the cam coordinate system of the positioning pen and the base coordinate system of the robot can be calibrated when they are fixedly connected. Due to the unstructured characteristics of the fixed connection structure, it is difficult to directly calibrate the robot and the positioning pen. In this way, if m robots and n positioning pens need to be used crosswise, m*n calibrations are required, which takes a long time. And after a new positioning pen is produced, all the past robots also need to be calibrated, and the process is cumbersome and difficult to implement.

[0030] In the embodiments of the present disclosure, the inventor proposes to solve the above problems through the full connection graph among n positioning pens. It should be noted that the full connection graph among n positioning pens is the calibration relationship when the n positioning pens are at the fixed connection positions as Figure 2 shown. There is a target positioning pen among the n positioning pens with a connection relationship with the target robot as Figure 2 shown.

[0031] It should be noted that a calibration relationship may directly exist among the n positioning pens. In another possible implementation, when the number of positioning pens is large, or the positioning pens cannot be directly calibrated, a calibration relationship may also indirectly exist among the n positioning pens, and no limitation is made here.

[0032] S102. In response to receiving a control application from a candidate positioning pen for a target robot, obtain a first transformation matrix between the candidate positioning pen and the target positioning pen based on a fully connected graph, and obtain a second transformation matrix between the target positioning pen and the target robot, where the candidate positioning pen is one of the remaining positioning pens among the n positioning pens other than the target positioning pen.

[0033] It should be noted that the transformation matrix in the embodiments of the present disclosure is the coordinate transformation relationship between two objects. Through the first transformation matrix, the coordinate transformation between the candidate positioning pen and the target positioning pen can be realized, and through the second transformation matrix, the coordinate transformation between the target positioning pen and the target robot can be realized.

[0034] S103. Determine a third transformation matrix between the candidate positioning pen and the target robot based on the first transformation matrix and the second transformation matrix.

[0035] In the embodiments of the present disclosure, after obtaining the first transformation matrix and the second transformation matrix, there can be various methods for generating the third transformation matrix, and no specific limitation is made here.

[0036] In a possible implementation manner, the first transformation matrix and the second transformation matrix can be calculated through a transformation algorithm to calculate and obtain the third transformation matrix. The transformation algorithm is designed in advance and can be changed according to actual design needs, and no specific limitation is made here.

[0037] In another possible implementation manner, the first transformation matrix and the second transformation matrix can also be processed through a transformation matrix generation model to generate the third transformation matrix. The transformation matrix generation model is pre-trained and can be stored in the storage space of an electronic device for convenient retrieval and use when needed.

[0038] S104. Control the target robot with the candidate positioning pen based on the third transformation matrix.

[0039] In the embodiments of the present disclosure, after obtaining the third transformation matrix, the target robot can be controlled with the candidate positioning pen based on the third transformation matrix. For example, a control instruction can be generated with the candidate positioning pen, and then the coordinates in the control instruction are converted into coordinates that the target robot can execute through the third transformation instruction, so as to realize the control of the target robot with the candidate positioning pen.

[0040] In the embodiments of the present disclosure, first, a target robot to be controlled is acquired, and a complete connection graph among n positioning pens is obtained. There is a target positioning pen corresponding to the target robot among the n positioning pens. In response to receiving a control application of a candidate positioning pen to the target robot, a first transformation matrix between the candidate positioning pen and the target positioning pen is obtained based on the complete connection graph, and a second transformation matrix between the target positioning pen and the target robot is obtained. Wherein, the candidate positioning pen is one of the remaining positioning pens except the target positioning pen among the n positioning pens. Then, a third transformation matrix between the candidate positioning pen and the target robot is determined based on the first transformation matrix and the second transformation matrix. Finally, the target robot is controlled by the candidate positioning pen based on the third transformation matrix. Thus, by establishing a complete connection graph among the positioning pens, cross-control of unpaired robots and positioning pens can be realized, the flexibility of multi-robot and multi-positioning pen control can be improved, and the calibration workload can be reduced, which has broad application prospects in the fields of industrial automation, collaborative robots, intelligent logistics, etc.

[0041] In the above embodiments, based on the complete connection graph, the first transformation matrix between the candidate positioning pen and the target positioning pen is obtained, and it can also be obtained through Figure 3 For further explanation, the method includes: S301, determining the shortest path from the first node corresponding to the candidate positioning pen to the second node corresponding to the target positioning pen based on the complete connection graph.

[0042] It should be noted that the shortest path is the path with the fewest nodes.

[0043] In the embodiments of the present disclosure, the complete connection graph can be as Figure 4 shown. Taking the path from node 2 to node 4 as an example, there can be multiple paths from node 2 to node 4. For example, it can include the path 2→4, or the path 2→3→4, or the path 2→1→4, or the path 2→1→3→4, etc. It can be seen that the shortest path from node 2 to node 4 is 2→4.

[0044] S302, generating the first transformation matrix based on the shortest path.

[0045] In the embodiments of the present disclosure, to generate the first transformation matrix based on the shortest path, the candidate transformation matrices of adjacent nodes on the shortest path can be obtained first, and then all the transformation matrices are multiplied to calculate and obtain the first transformation matrix.

[0046] In a possible implementation manner of the present disclosure, it can be calculated and obtained through the following formula:

[0047] Wherein, is the coordinate system of the camera numbered 0, is the i-th positioning pen among the n positioning pens, is the coordinate matrix of the i-th positioning pen in the coordinate system, is the j-th positioning pen among n positioning pens, 2 - is the node passed through on the shortest path between node i and node j, T represents the transformation matrix, is the positioning pen closest to the i-th positioning pen on the shortest path, is the q-th positioning pen on the shortest path.

[0048] In the embodiment of the present disclosure, based on the first transformation matrix and the second transformation matrix, the third transformation matrix between the candidate positioning pen and the target robot is determined. The first transformation matrix and the second transformation matrix can be multiplied to calculate and obtain the third transformation matrix between the candidate positioning pen and the target robot.

[0049] Figure 5 is a schematic diagram of a method for generating a fully connected graph of positioning pens according to an embodiment of the present disclosure. As Figure 5 shown, the method for generating a fully connected graph of positioning pens includes the following steps: S501, Obtain n positioning pens to be calibrated, and select a reference positioning pen from the n positioning pens.

[0050] In the embodiment of the present disclosure, selecting a reference positioning pen from the n positioning pens can be random selection, or can be selected according to certain rules, and no limitation is made here. For example, in order to reduce the calculation amount, the positioning pen at the most central position among all positioning pens can be selected as the reference positioning pen.

[0051] S502, Calibrate the reference positioning pen with n - 1 positioning pens to be calibrated respectively to obtain n - 1 fourth transformation matrices of the reference positioning pen and the positioning pens to be calibrated. The positioning pens to be calibrated are the other positioning pens except the reference positioning pen among the n positioning pens.

[0052] It should be noted that through the fourth transformation matrix, the coordinate transformation between the reference positioning pen and n - 1 positioning pens to be calibrated can be realized.

[0053] S503, Generate a fully connected graph among the n positioning pens based on the fourth transformation matrix.

[0054] In the embodiment of the present disclosure, first, for any two positioning pens to be calibrated, obtain the fourth transformation matrices of the two positioning pens to be calibrated with the reference positioning pen respectively, and then multiply the fourth transformation matrices corresponding to the two positioning pens to be calibrated to generate the fifth transformation matrix of the two positioning pens to be calibrated. Based on the n positioning pens, the fourth transformation matrix and the fifth transformation matrix, a fully connected graph among the n positioning pens is generated.

[0055] In an embodiment of the present disclosure, n positioning pens can be used as nodes in a fully connected graph, and then the nodes in the fully connected graph are connected pairwise, and the fourth transformation matrix or the fifth transformation matrix is assigned to the edges to generate a fully connected graph.

[0056] When performing multi-machine and multi-pen positioning, two positioning pens to be used can be first determined corresponding to the nodes in the fully connected graph, then the shortest path is determined based on the two nodes, and then the assignment of the edges involved in the shortest path is determined to generate the transformation matrix of the two positioning pens.

[0057] In an embodiment of the present disclosure, first, n positioning pens to be calibrated are obtained, and a reference positioning pen is selected from the n positioning pens. Then, the reference positioning pen is calibrated with n - 1 positioning pens to be calibrated respectively to obtain n - 1 fourth transformation matrices of the reference positioning pen and the positioning pens to be calibrated. The positioning pens to be calibrated are the other positioning pens except the reference positioning pen among the n positioning pens. Finally, a fully connected graph among the n positioning pens is generated based on the fourth transformation matrices. Thus, by generating the fully connected graph among the n positioning pens through the method of the present disclosure, the calibration workload can be reduced, the calibration efficiency can be improved, and a data basis can be provided for subsequent multi-positioning pen and multi-robot cross-control scenarios.

[0058] Corresponding to the robot control methods provided in the above several embodiments, an embodiment of the present disclosure also provides a robot control device. Since the robot control device provided in the embodiment of the present disclosure corresponds to the robot control methods provided in the above several embodiments, the implementation manners of the above robot control methods are also applicable to the robot control device provided in the embodiment of the present disclosure and will not be described in detail in the following embodiments.

[0059] Figure 6 It is a schematic diagram of a robot control device according to an embodiment of the present disclosure. As shown in FIG. 6, the robot control device 600 includes: an acquisition module 610, a generation module 620, a determination module 630, and a control module 640.

[0060] The acquisition module 610 is configured to acquire a target robot to be controlled and acquire a fully connected graph among n positioning pens, and there is a target positioning pen corresponding to the target robot among the n positioning pens.

[0061] The generation module 620 is configured to, in response to receiving a control application of a candidate positioning pen to the target robot, obtain a first transformation matrix between the candidate positioning pen and the target positioning pen based on the fully connected graph, and obtain a second transformation matrix between the target positioning pen and the target robot, where the candidate positioning pen is one of the remaining positioning pens except the target positioning pen among the n positioning pens.

[0062] A determination module 630, configured to determine a third transformation matrix between a candidate positioning pen and a target robot based on a first transformation matrix and a second transformation matrix.

[0063] A control module 640, configured to control the target robot through the candidate positioning pen based on the third transformation matrix.

[0064] According to an embodiment of the present disclosure, obtaining the first transformation matrix between the candidate positioning pen and the target positioning pen based on the fully connected graph includes: determining the shortest path from the first node corresponding to the candidate positioning pen to the second node corresponding to the target positioning pen based on the fully connected graph; generating the first transformation matrix based on the shortest path.

[0065] According to an embodiment of the present disclosure, generating the first transformation matrix based on the shortest path includes: obtaining the candidate transformation matrices of adjacent nodes on the shortest path; multiplying all the transformation matrices to calculate and obtain the first transformation matrix.

[0066] According to an embodiment of the present disclosure, determining the third transformation matrix between the candidate positioning pen and the target robot based on the first transformation matrix and the second transformation matrix includes: multiplying the first transformation matrix and the second transformation matrix to calculate and obtain the third transformation matrix between the candidate positioning pen and the target robot.

[0067] Thus, by establishing a fully connected graph between the positioning pens, cross-control of unpaired robots and positioning pens can be realized, the flexibility of multi-robot and multi-positioning pen control can be improved, the calibration workload can be reduced, and it has broad application prospects in the fields of industrial automation, collaborative robots, intelligent logistics, etc.

[0068] Corresponding to the positioning pen fully connected graph generation methods provided in the above several embodiments, an embodiment of the present disclosure also provides a positioning pen fully connected graph generation device. Since the positioning pen fully connected graph generation device provided in the embodiment of the present disclosure corresponds to the positioning pen fully connected graph generation methods provided in the above several embodiments, the implementation manners of the above positioning pen fully connected graph generation methods are also applicable to the positioning pen fully connected graph generation device provided in the embodiment of the present disclosure and will not be described in detail in the following embodiments.

[0069] Figure 7 It is a schematic diagram of a positioning pen fully connected graph generation device according to an embodiment of the present disclosure. As shown in FIG. 7, the positioning pen fully connected graph generation device 700 includes: a selection module 710, a calibration module 720, and an establishment module 730.

[0070] The selection module 710 is configured to obtain n positioning pens to be calibrated and select a reference positioning pen from the n positioning pens.

[0071] A calibration module 720 is configured to calibrate a reference positioning pen with n - 1 positioning pens to be calibrated respectively, so as to obtain n - 1 fourth transformation matrices of the reference positioning pen and the positioning pens to be calibrated, where the positioning pens to be calibrated are the other positioning pens except the reference positioning pen among the n positioning pens.

[0072] A building module 730 is configured to generate a fully connected graph among the n positioning pens based on the fourth transformation matrices.

[0073] According to an embodiment of the present disclosure, generating a fully connected graph among the n positioning pens based on the fourth transformation matrices includes: for any two positioning pens to be calibrated, obtaining the fourth transformation matrices of the two positioning pens to be calibrated with the reference positioning pen respectively; multiplying the fourth transformation matrices corresponding to the two positioning pens to be calibrated to generate a fifth transformation matrix of the two positioning pens to be calibrated, and generating a fully connected graph among the n positioning pens based on the n positioning pens, the fourth transformation matrices and the fifth transformation matrix.

[0074] Thus, by generating a fully connected graph among the n positioning pens through the method of the present disclosure, the calibration workload can be reduced, the calibration efficiency can be improved, and a data basis can be provided for subsequent multi - positioning - pen and multi - robot cross - control scenarios.

[0075] To implement the above - mentioned embodiments, an electronic device 800 is further proposed in an embodiment of the present disclosure. Figure 8 It is a schematic diagram of an electronic device according to an embodiment of the present disclosure. As Figure 8 shown, the electronic device 800 includes: a processor 801 and a memory 802 communicatively connected to the processor. The memory 802 stores instructions executable by at least one processor. The instructions are executed by at least one processor 801 to implement the robot control method as in the embodiments of the present disclosure, Figures 1-4 or to implement the method for generating a fully connected graph of positioning pens as in Figure 5 the embodiments.

[0076] To implement the above - mentioned embodiments, a non - transitory computer - readable storage medium storing computer instructions is further proposed in an embodiment of the present disclosure, where the computer instructions are used to cause a computer to implement the robot control method as in the embodiments of the present disclosure, Figures 1-4 or to implement the method for generating a fully connected graph of positioning pens as in Figure 5 the embodiments.

[0077] To implement the above - mentioned embodiments, a computer program product is further proposed in an embodiment of the present disclosure, including a computer program, where the computer program, when executed by a processor, implements the robot control method as in the embodiments of the present disclosure, Figures 1-4 or to implement the method for generating a fully connected graph of positioning pens as in Figure 5 the embodiments.

[0078] It should be noted that personal information from users should be collected for legal and reasonable purposes and not shared or sold outside of these legitimate uses. Additionally, such collection / sharing should be carried out after obtaining the informed consent of the users, including but not limited to notifying the users to read the user agreement / user notice and sign an agreement / authorization including authorizing relevant user information before the users use the function. Moreover, any necessary steps should be taken to safeguard and protect access to such personal information data and ensure that others with access to the personal information data comply with their privacy policies and procedures.

[0079] This application is expected to provide embodiments where users can selectively block the use or access of personal information data. That is, this disclosure is expected to provide hardware and / or software to prevent or block access to such personal information data. Once the personal information data is no longer needed, the risks can be minimized by restricting data collection and deleting the data. Additionally, when applicable, personal identifiers are removed from such personal information to protect the privacy of the users.

[0080] In the descriptions of the foregoing embodiments, the descriptions referring to terms such as "one embodiment", "some embodiments", "example", "specific example", or "some examples" mean that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of this application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. Additionally, without contradiction, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.

[0081] Furthermore, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" can explicitly or implicitly include at least one of such features. In the description of this application, the meaning of "a plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0082] Any process or method description shown in the flowchart or described in other ways herein can be understood as representing a module, segment, or part of code including one or more executable instructions for implementing a customized logical function or process, and the scope of the preferred embodiments of this application includes additional implementations where the functions can be executed in a manner not shown or discussed, including in a substantially simultaneous manner or in a reverse order according to the functions involved, which should be understood by those skilled in the art to which the embodiments of this application belong.

[0083] The logic and / or steps represented in the flowchart or otherwise described herein can, for example, be considered as a definable sequence list of executable instructions for implementing logical functions, which can be specifically implemented in any computer-readable medium for use by an instruction execution system, apparatus, or device (such as a computer-based system, a system including a processor, or other systems that can fetch and execute instructions from the instruction execution system, apparatus, or device), or in conjunction with these instruction execution systems, apparatuses, or devices. For the purposes of this specification, a "computer-readable medium" can be any device that contains, stores, communicates, propagates, or transports a program for use by or in conjunction with an instruction execution system, apparatus, or device. More specific examples (non-exhaustive list) of computer-readable media include the following: an electrical connection portion having one or more wirings (electronic device), a portable computer diskette (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium can even be paper or other suitable media on which the program can be printed, because the program can be obtained electronically, for example, by optically scanning the paper or other media, followed by editing, interpretation, or other suitable processing as necessary, and then storing it in a computer memory.

[0084] It should be understood that various parts of the present application can be implemented using hardware, software, firmware, or a combination thereof. In the above-described embodiments, multiple steps or methods can be implemented using software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented using hardware, as in another embodiment, any one or a combination of the following techniques well known in the art can be used: discrete logic circuits having logic gate circuits for implementing logical functions on data signals, application-specific integrated circuits having suitable combinational logic gate circuits, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0085] Those of ordinary skill in the art of this technology can understand that all or part of the steps carried by the methods of the above embodiments can be completed by instructing relevant hardware through a program, and the program can be stored in a computer-readable storage medium. When the program is executed, it includes one or a combination of the steps of the method embodiments.

[0086] In addition, each functional unit in various embodiments of the present application may be integrated into a processing module, or each unit may exist physically alone, or two or more units may be integrated into one module. The above-mentioned integrated module may be implemented in the form of hardware or in the form of a software functional module. When the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it may also be stored in a computer-readable storage medium.

[0087] The above-mentioned storage medium may be a read-only memory, a magnetic disk or an optical disc, etc. Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limiting the present application. Those of ordinary skill in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present application.

Claims

1. A robot control method, characterized in that, Including: Obtain a target robot to be controlled, and obtain a fully connected graph among n positioning pens, where there is a target positioning pen corresponding to the target robot among the n positioning pens; In response to receiving a control application of a candidate positioning pen to the target robot, obtain a first transformation matrix between the candidate positioning pen and the target positioning pen based on the fully connected graph, and obtain a second transformation matrix between the target positioning pen and the target robot, where the candidate positioning pen is one of the remaining positioning pens among the n positioning pens except the target positioning pen; Determine a third transformation matrix of the candidate positioning pen and the target robot based on the first transformation matrix and the second transformation matrix; Control the target robot through the candidate positioning pen based on the third transformation matrix.

2. The method according to claim 1, wherein The obtaining the first transformation matrix of the candidate positioning pen and the target positioning pen based on the fully connected graph includes: Determine the shortest path from the first node corresponding to the candidate positioning pen to the second node corresponding to the target positioning pen based on the fully connected graph; Generate the first transformation matrix based on the shortest path.

3. The method according to claim 2, wherein The generating the first transformation matrix based on the shortest path includes: Obtain candidate transformation matrices of adjacent nodes on the shortest path; Multiply all the transformation matrices to calculate and obtain the first transformation matrix.

4. The method according to any one of claims 1 to 3, characterized in that, The determining the third transformation matrix of the candidate positioning pen and the target robot based on the first transformation matrix and the second transformation matrix includes: Multiply the first transformation matrix and the second transformation matrix to calculate and obtain the third transformation matrix of the candidate positioning pen and the target robot.

5. A method for generating a full connection diagram of a positioning pen, characterized in that, Including: Obtain n positioning pens to be calibrated, and select a reference positioning pen from the n positioning pens; Calibrate the reference positioning pen with n - 1 positioning pens to be calibrated respectively to obtain n - 1 fourth transformation matrices of the reference positioning pen and the positioning pens to be calibrated, where the positioning pens to be calibrated are other positioning pens among the n positioning pens except the reference positioning pen; Generate a fully connected graph among the n positioning pens based on the fourth transformation matrix.

6. The method according to claim 5, characterized in that, The generating the fully connected graph among the n positioning pens based on the fourth transformation matrix includes: For any two positioning pens to be calibrated, obtain the fourth transformation matrices of the two positioning pens to be calibrated and the reference positioning pen respectively; Multiply the fourth transformation matrices corresponding to the two positioning pens to be calibrated to generate a fifth transformation matrix of the two positioning pens to be calibrated, and generate a fully connected graph among the n positioning pens based on the n positioning pens, the fourth transformation matrix and the fifth transformation matrix.

7. A robot control device, characterized in that, Including: An obtaining module, configured to obtain a target robot to be controlled, and obtain a fully connected graph among n positioning pens, where there is a target positioning pen corresponding to the target robot among the n positioning pens; A generation module, configured to, in response to receiving a control application of a candidate positioning pen to a target robot, obtain a first transformation matrix between the candidate positioning pen and the target positioning pen based on the fully-connected graph, and obtain a second transformation matrix between the target positioning pen and the target robot, where the candidate positioning pen is one of the remaining positioning pens among the n positioning pens except the target positioning pen; A determination module, configured to determine a third transformation matrix between the candidate positioning pen and the target robot based on the first transformation matrix and the second transformation matrix; A control module, configured to control the target robot through the candidate positioning pen based on the third transformation matrix.

8. A positioning pen full-connection graph generation device, characterized in that Comprising: A selection module, configured to obtain n positioning pens to be calibrated, and select a reference positioning pen from the n positioning pens; A calibration module, configured to calibrate the reference positioning pen with n - 1 positioning pens to be calibrated respectively, so as to obtain n - 1 fourth transformation matrices between the reference positioning pen and the positioning pens to be calibrated, where the positioning pens to be calibrated are the other positioning pens among the n positioning pens except the reference positioning pen; An establishment module, configured to generate a fully-connected graph between the n positioning pens based on the fourth transformation matrices.

9. An electronic device, characterized in that, Comprising a memory and a processor; Wherein, the processor runs a program corresponding to the executable program code by reading the executable program code stored in the memory, so as to implement the robot control method according to any one of claims 1 - 4, or the method for generating a fully-connected graph of positioning pens according to claim 5 or 6.

10. A computer-readable storage medium, characterized in that, Computer-executable instructions are stored in the computer-readable storage medium, and when the computer-executable instructions are executed by the processor, they are used to implement the robot control method according to any one of claims 1 - 4, or the method for generating a fully-connected graph of positioning pens according to claim 5 or 6.

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