Robot control and positioning pen full connection diagram generation method and device

Abstract

The present disclosure proposes a method and apparatus for robot control and positioning pen full-connectivity graph generation, comprising: obtaining a target robot to be controlled and obtaining a full-connectivity graph between n positioning pens; in response to receiving a control request from a candidate positioning pen for the target robot, obtaining a first transformation matrix between the candidate positioning pen and the target positioning pen based on the full-connectivity graph, and obtaining a second transformation matrix between the target positioning pen and the target robot; 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 via the candidate positioning pen based on the third transformation matrix. Thus, by establishing a full-connectivity graph between the positioning pens, cross-control between unpaired robots and positioning pens can be achieved, improving the flexibility of multi-robot and multi-positioning pen control and reducing calibration workload. This method has broad application prospects in industrial automation, collaborative robotics, intelligent logistics, and other fields.

Description

Technical Field

[0001] The present disclosure relates to the fields of industrial automation and robotics, and in particular to a method, device, electronic device, and storage medium for generating a full-connection diagram of a robot control and positioning pen. Background Art

[0002] In industrial automation and robotics, precise positioning is crucial for efficient and accurate operation. This is especially true in complex scenarios where multiple robots and positioning pens are used together. The relative positions of each robot and each positioning pen require precise calibration. Traditional calibration methods typically require individual calibration for each robot-pen pair, which is time-consuming, labor-intensive, and inefficient. Therefore, developing an efficient and accurate calibration method has become a pressing technical challenge. Summary of the Invention

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

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

[0005] The second objective of the present disclosure is to propose a method for generating a fully connected graph of a positioning pen.

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

[0007] The fourth objective of the present disclosure is to propose a method for generating a fully connected graph of a positioning pen.

[0008] A fifth objective of the present disclosure is to provide an electronic device.

[0009] A sixth object of the present disclosure is to provide a non-transitory computer-readable storage medium.

[0010] A seventh object of the present disclosure is to provide a computer program product.

[0011] To achieve the above-mentioned purpose, the first aspect of the present disclosure proposes a robot control method, including: obtaining a target robot to be controlled and obtaining a fully connected graph between n positioning pens, wherein there is a target positioning pen corresponding to the target robot among the n positioning pens; in response to receiving a control application for the target robot from a candidate positioning pen, obtaining a first conversion matrix between the candidate positioning pen and the target positioning pen based on the fully connected graph, and obtaining a second conversion matrix between the target positioning pen and the target robot, wherein the candidate positioning pen is one of the remaining positioning pens among the n positioning pens except the target positioning pen; determining a third conversion matrix between 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.

[0012] According to one embodiment of the present disclosure, obtaining the first transformation matrix of 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; and generating the first transformation matrix based on the shortest path.

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

[0014] According to one 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.

[0015] To achieve the above-mentioned purpose, the second aspect embodiment of the present disclosure proposes 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 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; and generating a fully connected graph between the n positioning pens based on the fourth transformation matrix.

[0016] According to one embodiment of the present disclosure, the generating of the 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 matrix of each of the two positioning pens to be calibrated and the reference positioning pen; multiplying 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, and generating the 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-mentioned purpose, an embodiment of the third aspect of the present disclosure proposes a robot control device, including: an acquisition module, used to acquire a target robot to be controlled, and acquire a fully connected graph between n positioning pens, wherein there is a target positioning pen corresponding to the target robot among the n positioning pens; a generation module, used to obtain a first conversion matrix between the candidate positioning pen and the target positioning pen based on the fully connected graph in response to receiving a control application for the target robot from the candidate positioning pen, and acquire a second conversion matrix between the target positioning pen and the target robot, wherein the candidate positioning pen is one of the remaining positioning pens among the n positioning pens except the target positioning pen; a determination module, used to determine a third conversion matrix between the candidate positioning pen and the target robot based on the first conversion matrix and the second conversion matrix; and a control module, used to control the target robot through the candidate positioning pen based on the third conversion matrix.

[0018] To achieve the above-mentioned purpose, the fourth aspect embodiment of the present disclosure proposes a device for generating a fully connected graph of positioning pens, including: a selection module for obtaining n positioning pens to be calibrated and selecting a reference positioning pen from the n positioning pens; a calibration module for calibrating 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, and the positioning pens to be calibrated are other positioning pens among the n positioning pens except the reference positioning pen; an establishment module for generating a fully connected graph between the n positioning pens based on the fourth transformation matrix.

[0019] To achieve the above-mentioned purpose, the fifth aspect embodiment of the present disclosure proposes an electronic device, comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions that can be executed 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 first aspect embodiment of the present disclosure, or to implement the positioning pen full connection diagram generation method as described in the second aspect embodiment.

[0020] To achieve the above-mentioned purpose, the sixth aspect embodiment of the present disclosure proposes 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 first aspect embodiment of the present disclosure, or to implement the positioning pen full connection diagram generation method as described in the second aspect embodiment.

[0021] To achieve the above-mentioned purpose, the seventh aspect embodiment of the present disclosure proposes a computer program product, including a computer program, which, when executed by a processor, is used to implement the robot control method as described in the first aspect embodiment of the present disclosure, or to implement the positioning pen full connection diagram generation method as described in the second aspect embodiment.

[0022] Therefore, by establishing a full connection graph between positioning pens, cross-control of unpaired robots and positioning pens can be achieved, the flexibility of multi-robot and multi-positioning pen control can be improved, and the calibration workload can be reduced. It has broad application prospects in industrial automation, collaborative robots, intelligent logistics and other fields. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 is a schematic diagram of a robot control method according to one embodiment of the present disclosure;

[0024] Figure 2 This is a schematic diagram of a connection structure between a positioning pen and a robot according to one embodiment of the present disclosure;

[0025] Figure 3 is a schematic diagram of another robot control method according to an embodiment of the present disclosure;

[0026] Figure 4 is a schematic diagram of a fully connected graph according to one embodiment of the present disclosure;

[0027] Figure 5 is a schematic diagram of a method for generating a fully connected graph of a positioning pen according to an embodiment of the present disclosure;

[0028] Figure 6 is a schematic diagram of a robot control device according to one embodiment of the present disclosure;

[0029] Figure 7 It is a schematic diagram of a positioning pen full connection diagram generating device according to one embodiment of the present disclosure;

[0030] Figure 8 is a schematic diagram of an electronic device according to one embodiment of the present disclosure. DETAILED DESCRIPTION

[0031] The following describes in detail embodiments of the present disclosure, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present disclosure, and should not be construed as limiting the present disclosure.

[0032] The acquisition, storage, use, and processing of data in the technical solution disclosed herein are in compliance with the relevant provisions of relevant laws and regulations.

[0033] It should be noted that in the embodiments of this application, certain software, components, models and other existing solutions in the industry may be mentioned. They should be considered as exemplary. Their purpose is only to illustrate the feasibility of implementing the technical solution of this application, but it does not mean that the applicant has or will necessarily use the solution.

[0034] Figure 1 is a schematic diagram of a robot control method according to an embodiment of the present disclosure, such as Figure 1 As shown, the robot control method includes the following steps:

[0035] S101, obtaining a target robot to be controlled and obtaining a fully connected graph between n positioning pens, wherein there is a target positioning pen corresponding to the target robot among the n positioning pens.

[0036] The robot control method of the embodiment of the present application can be applied to the scenario of cross-control of multiple robots and multiple positioning pens. The executor of the robot control of the embodiment of the present application can be the robot control device of the embodiment of the present application, and the robot control device can be set on an electronic device.

[0037] In current technology, such as Figure 2 As shown, a robot and a positioning pen are connected via a fixed structure. The relative transformation between the pen's cam coordinate system and the robot's base coordinate system can be calibrated during this connection. However, due to the unstructured nature of the connection, direct calibration of the robot and positioning pen is difficult. Therefore, if m robots are used interchangeably with n positioning pens, calibrations must be performed m*n times, which is time-consuming. Furthermore, every time a new positioning pen is produced, calibrations must be performed on all existing robots, making the process cumbersome and difficult to implement.

[0038] In the embodiment of the present disclosure, the inventor proposes to solve the above problem by using a fully connected graph between n positioning pens. It should be noted that the fully connected graph between n positioning pens is the graph of n positioning pens in the following manner: Figure 2 The calibration relationship when the fixed connection position is shown, there are n positioning pens with the target robot as shown in Figure 2 The target positioning pen of the connection relationship shown.

[0039] It should be noted that the n positioning pens can have a direct calibration relationship with each other. In another possible implementation, when the number of positioning pens is large or the positioning pens cannot be directly calibrated, the n positioning pens can also have an indirect calibration relationship with each other, which is not limited here.

[0040] S102, in response to receiving a control application for a target robot from a candidate positioning pen, obtaining a first transformation matrix between the candidate positioning pen and the target positioning pen based on a fully connected graph, and obtaining a second transformation matrix between the target positioning pen and the target robot, wherein the candidate positioning pen is one of the remaining positioning pens among the n positioning pens except the target positioning pen.

[0041] It should be noted that the transformation matrix in the disclosed embodiment is the coordinate transformation relationship between two objects. The first transformation matrix can realize the coordinate transformation between the candidate positioning pen and the target positioning pen, and the second transformation matrix can realize the coordinate transformation between the target positioning pen and the target robot.

[0042] 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.

[0043] In the embodiment of the present disclosure, after the first conversion matrix and the second conversion matrix are obtained, there are many methods for generating the third conversion matrix, which are not limited here.

[0044] In one possible implementation, the first conversion matrix and the second conversion matrix can be calculated using a conversion algorithm to obtain the third conversion matrix. The conversion algorithm is pre-designed and can be modified according to actual design needs, and is not limited here.

[0045] In another possible implementation, the first and second transformation matrices may be processed by a transformation matrix generation model to generate a third transformation matrix. The transformation matrix generation model is pre-trained and can be stored in a storage space of the electronic device for easy access when needed.

[0046] S104: Control the target robot through the candidate positioning pen based on the third conversion matrix.

[0047] In the disclosed embodiment, after obtaining the third transformation matrix, the target robot can be controlled by the candidate positioning stylus based on the third transformation matrix. For example, the candidate positioning stylus can generate a control instruction, and then the coordinates in the control instruction can be converted into coordinates that the target robot can execute using the third transformation instruction, thereby achieving control of the target robot by the candidate positioning stylus.

[0048] In the disclosed embodiment, a target robot to be controlled is first obtained, and a fully connected graph between n positioning pens is obtained, wherein there is a target positioning pen corresponding to the target robot among the n positioning pens. In response to receiving a control application for the target robot from a candidate positioning pen, a first conversion matrix between the candidate positioning pen and the target positioning pen is obtained based on the fully connected graph, and a second conversion matrix between the target positioning pen and the target robot is obtained, wherein the candidate positioning pen is one of the remaining positioning pens among the n positioning pens other than the target positioning pen. Then, a third conversion matrix between the candidate positioning pen and the target robot is determined based on the first conversion matrix and the second conversion matrix. Finally, the target robot is controlled through the candidate positioning pen based on the third conversion matrix. Thus, by establishing a fully connected graph between the positioning pens, cross-control of unpaired robots and positioning pens can be achieved, the flexibility of multi-robot and multi-positioning pen control can be improved, and the calibration workload can be reduced. This has broad application prospects in industrial automation, collaborative robots, intelligent logistics and other fields.

[0049] In the above embodiment, the first transformation matrix between the candidate positioning pen and the target positioning pen is obtained based on the fully connected graph, and the first transformation matrix between the candidate positioning pen and the target positioning pen can also be obtained by Figure 3 Explaining further, the method includes:

[0050] S301 : Determine the shortest path from a first node corresponding to a candidate positioning pen to a second node corresponding to a target positioning pen based on a fully connected graph.

[0051] It should be noted that the shortest path is the path containing the least nodes.

[0052] In the embodiment of the present disclosure, the fully connected graph can be as follows Figure 4 As shown, taking node 2 to node 4 as an example, there may be multiple paths from node 2 to node 4, for example, including path 2→4, or path 2→3→4, or path 2→1→4, or path 2→1→3→4, etc. It can be seen that the shortest path from node 2 to node 4 is 2→4.

[0053] S302: Generate a first conversion matrix based on the shortest path.

[0054] In the embodiment of the present disclosure, the first conversion matrix is ​​generated based on the shortest path. First, candidate conversion matrices of adjacent nodes on the shortest path are obtained, and then all conversion matrices are multiplied to calculate and obtain the first conversion matrix.

[0055] In one possible implementation of the present disclosure, the following formula can be used for calculation:

[0056]

[0057] in, is the coordinate system of camera number 0, is the i-th positioning pen among n positioning pens, For the i-th positioning pen The coordinate matrix in the coordinate system, is the jth positioning pen among n positioning pens, 2- is the node on the shortest path between node i and node j, T represents the transformation matrix, is the positioning pen closest to the i-th point pen on the shortest path, is the qth positioning pen on the shortest path.

[0058] In an embodiment of the present disclosure, 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. The first transformation matrix and the second transformation matrix can be multiplied to calculate the third transformation matrix between the candidate positioning pen and the target robot.

[0059] Figure 5 This is a schematic diagram of a method for generating a fully connected graph of a positioning pen according to an embodiment of the present disclosure. Figure 5 As shown, the method for generating a fully connected graph of a positioning pen includes the following steps:

[0060] S501: Obtain n positioning pens to be calibrated, and select a reference positioning pen from the n positioning pens.

[0061] In the disclosed embodiment, the reference locator can be selected randomly or according to a specific rule from among the n locators, without limitation. For example, to reduce computational complexity, the locator at the center of all the locators can be selected as the reference locator.

[0062] S502: Calibrate the reference positioning pen and 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 among the n positioning pens except the reference positioning pen.

[0063] It should be noted that, through the fourth conversion matrix, coordinate conversion between the reference positioning pen and the n-1 positioning pens to be calibrated can be achieved.

[0064] S503: Generate a fully connected graph between the n positioning pens based on the fourth transformation matrix.

[0065] In the embodiment of the present disclosure, first, for any two positioning pens to be calibrated, the fourth transformation matrix of each of the two positioning pens to be calibrated and the reference positioning pen can be obtained, and then the fourth transformation matrices corresponding to the two positioning pens to be calibrated can be multiplied 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 between the n positioning pens is generated.

[0066] In the 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 in pairs, and the fourth conversion matrix or the fifth conversion matrix is ​​assigned to the edge to generate a fully connected graph.

[0067] When performing multi-machine and multi-pen positioning, we can first determine the nodes in the fully connected graph corresponding to the two positioning pens that need to be used, then determine the shortest path based on the two nodes, and then determine the assignment of the edges involved in the shortest path to generate the transformation matrix of the two positioning pens.

[0068] In the disclosed embodiment, n locators to be calibrated are first obtained, and a reference locator is selected from the n locators. The reference locator is then calibrated against n-1 locators to be calibrated, respectively, to obtain n-1 fourth transformation matrices for the reference locators and the locators to be calibrated. The locators to be calibrated are the locators other than the reference locator from the n locators. Finally, a fully connected graph between the n locators is generated based on the fourth transformation matrix. Thus, generating a fully connected graph between the n locators using the disclosed method can reduce the calibration workload, improve calibration efficiency, and provide a data foundation for subsequent multi-locator, multi-robot cross-control scenarios.

[0069] Corresponding to the robot control methods provided in the above-mentioned 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-mentioned embodiments, the implementation methods of the above-mentioned 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.

[0070] Figure 6 This is a schematic diagram of a robot control device according to an embodiment of the present disclosure. As shown in FIG6 , the robot control device 600 includes: an acquisition module 610 , a generation module 620 , a determination module 630 and a control module 640 .

[0071] The acquisition module 610 is used to acquire a target robot to be controlled and acquire 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.

[0072] A generation module 620 is used to obtain a first transformation matrix between the candidate positioning pen and the target positioning pen based on the fully connected graph in response to receiving a control application for the target robot from the candidate positioning pen, and to obtain a second transformation matrix between the target positioning pen and the target robot, wherein the candidate positioning pen is one of the remaining positioning pens among the n positioning pens except the target positioning pen.

[0073] The determination module 630 is 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.

[0074] The control module 640 is configured to control the target robot through the candidate positioning pen based on the third transformation matrix.

[0075] According to one embodiment of the present disclosure, obtaining a first transformation matrix between a candidate positioning pen and a target positioning pen based on a fully connected graph includes: determining the 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 a first transformation matrix based on the shortest path.

[0076] According to one embodiment of the present disclosure, generating a first conversion matrix based on the shortest path includes: obtaining candidate conversion matrices of adjacent nodes on the shortest path; and multiplying all conversion matrices to calculate and obtain the first conversion matrix.

[0077] According to one embodiment of the present disclosure, 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 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.

[0078] Therefore, by establishing a full connection graph between positioning pens, cross-control of unpaired robots and positioning pens can be achieved, the flexibility of multi-robot and multi-positioning pen control can be improved, and the calibration workload can be reduced. It has broad application prospects in industrial automation, collaborative robots, intelligent logistics and other fields.

[0079] Corresponding to the positioning pen full-connection diagram generation method provided in the above-mentioned embodiments, an embodiment of the present disclosure also provides a positioning pen full-connection diagram generation device. Since the positioning pen full-connection diagram generation device provided in the embodiment of the present disclosure corresponds to the positioning pen full-connection diagram generation method provided in the above-mentioned embodiments, the implementation method of the above-mentioned positioning pen full-connection diagram generation method is also applicable to the positioning pen full-connection diagram generation device provided in the embodiment of the present disclosure, and will not be described in detail in the following embodiments.

[0080] Figure 7 This is a schematic diagram of a positioning pen full connection diagram generating device according to an embodiment of the present disclosure. As shown in FIG7 , the positioning pen full connection diagram generating device 700 includes: a selection module 710 , a calibration module 720 , and an establishment module 730 .

[0081] 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.

[0082] The calibration module 720 is used to calibrate the reference positioning pen and 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 among the n positioning pens except the reference positioning pen.

[0083] A module 730 is established, configured to generate a fully connected graph between the n positioning pens based on the fourth transformation matrix.

[0084] According to one embodiment of the present disclosure, a fully connected graph between n positioning pens is generated based on the fourth transformation matrix, including: for any two positioning pens to be calibrated, obtaining the fourth transformation matrix of each of the two positioning pens to be calibrated and the reference positioning pen; 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.

[0085] Therefore, by generating a full connection graph between n positioning pens through the disclosed method, 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.

[0086] In order to implement the above embodiment, the present disclosure further provides an electronic device 800. Figure 8 is a schematic diagram of an electronic device according to an embodiment of the present disclosure, such as Figure 8 As shown, the electronic device 800 includes: a processor 801 and a memory 802 in communication with the processor, the memory 802 stores instructions that can be executed by at least one processor, and the instructions are executed by at least one processor 801 to implement the present disclosure. Figures 1-4 The robot control method of the embodiment, or the implementation as follows Figure 5 A method for generating a positioning pen fully connected graph according to an embodiment.

[0087] In order to implement the above embodiment, the present disclosure also provides a non-transitory computer-readable storage medium storing computer instructions, wherein the computer instructions are used to enable the computer to implement the above embodiment. Figures 1-4 The robot control method of the embodiment, or the implementation as follows Figure 5 A method for generating a positioning pen fully connected graph according to an embodiment.

[0088] In order to implement the above embodiments, the present disclosure also provides a computer program product, including a computer program, which implements the above embodiments when executed by a processor. Figures 1-4 The robot control method of the embodiment, or the implementation as follows Figure 5 A method for generating a positioning pen fully connected graph according to an embodiment.

[0089] It is important to note that personal information collected from users should be used for legitimate and reasonable purposes and should not be shared or sold beyond these legitimate uses. Furthermore, such collection / sharing should be conducted only after receiving the user's informed consent, including but not limited to notifying the user to read the user agreement / user notice and sign an agreement / authorization that includes the relevant user information before using the feature. Furthermore, any necessary steps must be taken to safeguard and secure access to such personal information and ensure that others with access to personal information comply with its privacy policy and procedures.

[0090] This application contemplates providing implementations that allow users to selectively block the use or access of personal information data. Specifically, this disclosure contemplates providing hardware and / or software to prevent or block access to such personal information data. Risks can be minimized by limiting data collection and deleting data once it is no longer needed. Furthermore, where applicable, such personal information can be de-identified to protect user privacy.

[0091] In the descriptions of the foregoing embodiments, the reference terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" mean that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine different embodiments or examples described in this specification and features of different embodiments or examples, unless they are mutually inconsistent.

[0092] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of such features. Throughout the description of this application, "plurality" means at least two, for example, two, three, etc., unless otherwise specifically defined.

[0093] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, segment or portion of code comprising one or more executable instructions for implementing the steps of a custom logical function or process, and the scope of the preferred embodiments of the present application includes alternative implementations in which functions may be performed out of the order shown or discussed, including performing functions in a substantially simultaneous manner or in the reverse order depending on the functions involved, which should be understood by those skilled in the art to which the embodiments of the present application belong.

[0094] The logic and / or steps represented in a flowchart or otherwise described herein, for example, can be considered a sequenced list of executable instructions for implementing the logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (e.g., a computer-based system, a system including a processor, or other system that can fetch and execute instructions from an instruction execution system, apparatus, or device). For purposes of this specification, a "computer-readable medium" can be any device that can contain, store, communicate, propagate, or transport 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 with one or more wires (electronic devices), a portable computer disk cartridge (magnetic device), random access memory (RAM), read-only memory (ROM), erasable and programmable read-only memory (EPROM or flash memory), fiber optic devices, and a portable compact disc read-only memory (CDROM). Furthermore, the computer-readable medium may even be paper or other suitable medium on which the program is printed, since the program may be obtained electronically, for example, by optically scanning the paper or other medium and then editing, interpreting or processing it in another suitable manner if necessary, and then storing it in a computer memory.

[0095] It should be understood that various parts of this 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 of the following technologies known in the art or a combination thereof can be used: a discrete logic circuit having logic gate circuits for implementing logical functions on data signals, an application-specific integrated circuit having suitable combinational logic gate circuits, a programmable gate array (PGA), a field-programmable gate array (FPGA), etc.

[0096] Those skilled in the art will understand that all or part of the steps in the method of the above embodiment can be completed by instructing related 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 embodiment.

[0097] In addition, the functional units in the various embodiments of the present application may be integrated into a processing module, or each unit may exist physically separately, or two or more units may be integrated into a module. The above-mentioned integrated module may be implemented in the form of hardware or in the form of a software functional module. If 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.

[0098] The storage medium mentioned above may be a read-only memory, a magnetic disk, or an optical disk, etc. Although the embodiments of the present application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present application. Persons skilled in the art may 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: include: Obtain a target robot to be controlled and obtain 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; In response to receiving a control request for a target robot from a candidate positioning pen, 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, wherein the candidate positioning pen is one of the remaining positioning pens of the n positioning pens excluding the target positioning pen; 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; Controlling the target robot through the candidate positioning pen based on the third conversion matrix; The fully connected graph generation method comprises: Obtaining n positioning pens to be calibrated, and selecting 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; A fully connected graph between the n positioning pens is generated based on the fourth transformation matrix.

2. The method according to claim 1, characterized in that Acquiring a first transformation matrix between 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; The first transformation matrix is ​​generated based on the shortest path.

3. The method according to claim 2, characterized in that The generating the first conversion matrix based on the shortest path includes: Obtaining candidate transformation matrices of adjacent nodes on the shortest path; All the candidate transformation matrices are multiplied 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 of a third transformation matrix between the candidate positioning pen and the target robot based on the first transformation matrix and the second transformation matrix includes: The first conversion matrix and the second conversion matrix are multiplied to calculate and obtain a third conversion matrix between the candidate positioning pen and the target robot.

5. The method according to claim 1, wherein 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 a fourth transformation matrix between each of the two positioning pens to be calibrated and the reference positioning pen; 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, and generate a fully connected graph between the n positioning pens based on the n positioning pens, the fourth transformation matrix and the fifth transformation matrix.

6. A robot control device, characterized in that: include: an acquisition module, configured to acquire a target robot to be controlled and acquire a fully connected graph between n positioning pens, wherein there is a target positioning pen corresponding to the target robot among the n positioning pens; a generating module configured to, in response to receiving a control request for a target robot from a candidate positioning pen, 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, wherein the candidate positioning pen is one of the remaining positioning pens of the n positioning pens excluding 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 conversion matrix; A selection module is used 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, to obtain n-1 fourth transformation matrices of the reference positioning pen and the positioning pens to be calibrated, wherein the positioning pens to be calibrated are other positioning pens among the n positioning pens except the reference positioning pen; A module is established, configured to generate a fully connected graph between the n positioning pens based on the fourth transformation matrix.

7. An electronic device, characterized in that: Including memory and processor; The processor reads the executable program code stored in the memory to run a program corresponding to the executable program code, so as to implement the robot control method according to any one of claims 1 to 4.

8. A computer-readable storage medium, characterized in that The computer-readable storage medium stores computer-executable instructions, which, when executed by a processor, are used to implement the robot control method according to any one of claims 1 to 4.

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