Synchronization analysis method, device and equipment of double-robot system and medium

Abstract

The invention discloses a synchronism analysis method, device and equipment of a double-robot system and a medium. Comprising the following steps: at each data acquisition time point, respectively acquiring respective photographing coding point coordinate groups of two robots under a binocular camera coordinate system; respectively calculating the offsets of the tool point of the second robot and the tool point of the first robot for the X axis, the Y axis and the Z axis of the binocular camera coordinate system at each data acquisition time point; respectively establishing a first photography coding point coordinate system and a second photography coding point coordinate system at each data acquisition time point, and calculating fixed angle values of the second photography coding point coordinate system around an X axis, a Y axis and a Z axis relative to the first photography coding point coordinate system; and respectively calculating the range and variance of each offset and each fixed angle value, and determining the synchronism level of the double-robot system according to the calculation result. By adopting the technical scheme, the real-time synchronism of the double-robot system in the whole movement process can be accurately analyzed.

Description

Technical Field

[0001] The present invention relates to the field of robot technology, and in particular to a synchronization analysis method, device, equipment and medium for a dual robot system. Background Art

[0002] A dual robot system generally consists of two robots that can perform synchronous movements. The synchronization of the robots in the dual robot system can be used as one of the important criteria for measuring the quality of the dual robot system.

[0003] In the prior art, two robots in a dual-robot system can be controlled to execute the same motion program, and the two robots can be paused at a certain moment, and then the synchronization of the dual robots can be analyzed according to the postures of the robots after the pause.

[0004] However, the existing technology for synchronization analysis can only measure the synchronization of the dual robot system at a certain moment, and cannot measure the robot synchronization in real time. In addition, the robots may not be able to pause at the same time, resulting in low measurement accuracy. Summary of the invention

[0005] The present invention provides a method, device, equipment and medium for analyzing the synchronization of a dual robot system, which can accurately analyze the real-time synchronization of the dual robot system in the whole motion process.

[0006] According to one aspect of the present invention, a method for analyzing synchronization of a dual robot system is provided, comprising:

[0007] Control two robots with the same initial posture to move around their respective tool points according to the same motion trajectory, and collect the coordinate groups of the photographic coding points of the two robots in the binocular camera coordinate system at each data collection time point; wherein a plurality of photographic coding points are arranged on the cross tool fixedly connected to each robot, and the tool point is a designated point pre-selected among the photographic coding points;

[0008] According to each photographic coding point coordinate group, the offset between the tool point of the second robot and the tool point of the first robot with respect to the X-axis, Y-axis and Z-axis of the binocular camera coordinate system is calculated at each data collection time point;

[0009] According to each photographic coding point coordinate group, at each data collection time point, a first photographic coding point coordinate system and a second photographic coding point coordinate system are respectively established, and fixed angle values ​​of the second photographic coding point coordinate system around the X axis, the Y axis, and the Z axis relative to the first photographic coding point coordinate system are respectively calculated;

[0010] The range and variance of each offset and each fixed angle value are calculated respectively, and the synchronization level of the dual robot system is determined according to the calculation results.

[0011] According to another aspect of the present invention, there is provided a synchronization analysis device for a dual-robot system, including:

[0012] A photographic coding point coordinate group acquisition module, configured to control two robots with the same initial posture to move around their respective tool points according to the same motion trajectory, and at each data acquisition time point, respectively acquire the photographic coding point coordinate groups of the two robots in the binocular camera coordinate system; wherein, a plurality of photographic coding points are provided on the cross-shaped tooling fixedly connected to each robot, and the tool point is a designated point pre-selected from the photographic coding points;

[0013] An offset calculation module, configured to calculate, according to each photographic coding point coordinate group, the offsets of the tool point of the second robot from the tool point of the first robot with respect to the X-axis, Y-axis, and Z-axis of the binocular camera coordinate system respectively at each data acquisition time point;

[0014] A fixed angle value determination module, configured to establish a first photographic coding point coordinate system and a second photographic coding point coordinate system respectively at each data acquisition time point according to each photographic coding point coordinate group, and calculate the fixed angle values of the second photographic coding point coordinate system relative to the first photographic coding point coordinate system around the X-axis, Y-axis, and Z-axis respectively;

[0015] A synchronization level determination module, configured to calculate the range and variance of each offset and each fixed angle value respectively, and determine the synchronization level of the dual-robot system according to the calculation results.

[0016] According to another aspect of the present invention, there is provided an electronic device, the electronic device includes:

[0017] At least one processor; and

[0018] A memory communicatively connected to the at least one processor; wherein,

[0019] The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the synchronization analysis method of the dual-robot system according to any embodiment of the present invention.

[0020] According to another aspect of the present invention, there is provided a computer-readable storage medium, the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the synchronization analysis method of the dual-robot system according to any embodiment of the present invention when executed.

[0021] In the technical solution of the embodiment of the present invention, by controlling two robots with the same initial posture to move around their respective tool points according to the same motion trajectory, at each data acquisition time point, the coordinate groups of the respective photographic coding points of the two robots in the binocular camera coordinate system are respectively collected. According to each coordinate group of photographic coding points, at each data acquisition time point, the offsets of the tool point of the second robot relative to the tool point of the first robot with respect to the X-axis, Y-axis, and Z-axis of the binocular camera coordinate system are calculated, as well as the fixed angular values of the second photographic coding point coordinate system relative to the first photographic coding point coordinate system around the X-axis, Y-axis, and Z-axis. Furthermore, the ranges and variances of each offset and each fixed angular value are calculated, and the synchronization level of the dual-robot system is determined according to the calculation results. This method can perform synchronization analysis on the entire motion process of the dual-robot system, and on the basis of analyzing translational synchronization, it also adds the analysis of rotational synchronization, solving the problem in the prior art that only the synchronization at a certain moment of the robot can be analyzed, enabling the analysis of the real-time synchronization of the robot and improving the accuracy of synchronization analysis.

[0022] It should be understood that the content described in this part is not intended to identify the key or important features of the embodiments of the present invention, nor is it used to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0024] Figure 1 is a flowchart of a method for analyzing the synchronization of a dual-robot system according to Embodiment 1 of the present invention;

[0025] Figure 2 is a schematic structural diagram of a robot synchronization analysis system according to an embodiment of the present invention;

[0026] Figure 3 is a flowchart of another method for analyzing the synchronization of a dual-robot system according to Embodiment 2 of the present invention;

[0027] Figure 4 is a schematic structural diagram of a device for analyzing the synchronization of a dual-robot system according to Embodiment 3 of the present invention;

[0028] Figure 5 is a schematic structural diagram of an electronic device for implementing the method for analyzing the synchronization of a dual-robot system in the embodiment of the present invention. Detailed implementation mode

[0029] In order to enable those skilled in the art to better understand the solution of the present invention, the following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0030] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and do not necessarily need to be used to describe a specific order or sequence. It should be understood that such data can be interchanged under appropriate circumstances, so that the embodiments of the present invention described here can be implemented in an order other than those illustrated or described here. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device including a series of steps or units does not necessarily have to be limited to those clearly listed steps or units, but may include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0031] Embodiment 1

[0032] Figure 1 is a flowchart of a method for analyzing the synchronization of a dual-robot system provided in Embodiment 1 of the present invention. This embodiment is applicable to the situation of analyzing the synchronization of two robots in a dual-robot system during the entire motion process. This method can be executed by a synchronization analysis device of the dual-robot system. The synchronization analysis device of the dual-robot system can be implemented in the form of hardware and / or software, and can be configured in the controller or processor of the robot synchronization analysis system. As Figure 1 shown, the method includes:

[0033] S110. Control two robots with the same initial posture to move around their respective tool points according to the same motion trajectory, and at each data acquisition time point, respectively collect the coordinate groups of the respective photographic coding points of the two robots in the binocular camera coordinate system.

[0034] Among them, a plurality of photographic coding points are arranged on the cross tooling fixedly connected to each robot, and the tool point is a designated point pre-selected from the photographic coding points.

[0035] Figure 2 is a schematic structural diagram of an optional robot synchronization analysis system. As Figure 2As shown in the figure, the robot synchronization analysis system includes a dual-robot system composed of two robots with the same structure. Taking the robotic arm as an example in the figure, it also includes a binocular camera measurement system composed of two cameras. In the robot synchronization analysis system, both the dual-robot system and the binocular camera measurement system are fixed. The present invention measures the dual-robot system through the binocular camera measurement system to determine the synchronization of the dual-robot system.

[0036] Optionally, a rigid cross tooling is fixed at the end of each robot in the dual-robot system. The cross tooling with a rigid structure can ensure that it does not deform during the movement of the robot. A plurality of photographic coding points are pasted on each cross tooling. The photographic coding points can be recognized and measured by the binocular camera measurement system, and the photographic coding points on each cross tooling are random, that is, each photographic coding point is unique.

[0037] Optionally, the tool point of the robot can be a specified photographic coding point predetermined on the cross tooling. After the photographic coding points are pasted on the two cross toolings, the photographic coding points of the two cross toolings can be calibrated respectively to obtain the positional relationship between the photographic coding points in each cross tooling.

[0038] As Figure 2 shown in the figure, a robot coordinate system is established for each robot in the dual-robot system. The robot coordinate systems of the two robots in the dual-robot system are parallel, and the two robots will not interfere with each other during the movement process. A binocular camera coordinate system is established for the binocular camera measurement system, that is, Figure 2 the camera coordinate system in the figure. The binocular camera coordinate system is parallel to the robot coordinate system. The relationship between the binocular camera coordinate system and the robot coordinate system can be calibrated in advance.

[0039] Optionally, through the binocular camera measurement system, the real-time coordinates of each photographic coding point in the dual-robot system in the binocular camera coordinate system can be measured in real time.

[0040] Optionally, the robot can perform translational and rotational movements according to the motion trajectory. The binocular camera measurement system can collect the coordinate groups of the photographic coding points of each robot in the binocular camera coordinate system at each data acquisition time point. Each coordinate group of photographic coding points can include the coordinate values of each photographic coding point on the cross tooling connected to the robot. The data acquisition time point can be a preset time point. For example, it is collected once every 1 millisecond. Here, the data acquisition time point is not specifically limited.

[0041] S120. According to each coordinate group of photographic coding points, calculate the offsets of the tool point of the second robot from the tool point of the first robot respectively for the X-axis, Y-axis, and Z-axis of the binocular camera coordinate system at each data acquisition time point.

[0042] Optionally, the first robot and the second robot are only used to distinguish between the two robots in the dual-robot system. The first robot can be any robot in the dual-robot system, and the second robot is the other robot in the dual-robot system.

[0043] Optionally, after obtaining the coordinate groups of the photographic coding points of the two robots at each data acquisition time point, according to the positional relationship between the tool points and other photographic coding points on the same cross tooling, the coordinate values of each tool point at each data acquisition time point can be determined.

[0044] Furthermore, by subtracting the X-axis coordinate value of the tool point of the first robot from the X-axis coordinate value of the tool point of the second robot, the offset of the tool point of the second robot from the tool point of the first robot along the X-axis of the binocular camera coordinate system can be obtained.

[0045] Similarly, the difference in coordinate values along the Y-axis and Z-axis can be calculated using the same method, so as to obtain the offset of the tool point of the second robot from the tool point of the first robot along the Y-axis and Z-axis of the binocular camera coordinate system.

[0046] In an optional example, at each data acquisition time point, the coordinate group S1 of the photographic coding points of the first robot and the coordinate group S2 of the photographic coding points of the second robot can be collected, and according to the positional relationship between the tool points and other photographic coding points, the coordinate values TCP1(x1, y1, z1) of the tool point of the first robot and the coordinate values TCP2(x2, y2, z2) of the tool point of the second robot at each data acquisition time point can be determined. Then, by subtracting the X-axis coordinate of TCP1 from the X-axis coordinate of TCP2 at each data acquisition time point, that is, x2 - x1, the offset of the tool point of the second robot from the tool point of the first robot along the X-axis of the binocular camera coordinate system can be obtained.

[0047] S130. According to each coordinate group of the photographic coding points, at each data acquisition time point, the first photographic coding point coordinate system and the second photographic coding point coordinate system are respectively established, and the fixed angular values of the second photographic coding point coordinate system relative to the first photographic coding point coordinate system around the X-axis, Y-axis, and Z-axis are calculated.

[0048] Optionally, after obtaining the coordinate group of the photographic coding points of the first robot and the coordinate group of the photographic coding points of the second robot at each data acquisition time point, with the tool points of each robot as the origin, the direction of any photographic coding point on the cross tooling as the X-axis, and the Y-axis direction perpendicular to the X-axis on the cross tooling plane determined, and the normal direction of the cross tooling as the Z-axis, the photographic coding point coordinate systems of the two robots are respectively established.

[0049] Continuing with the previous example, the tool center point TCP1 of the first robot can be used as the origin of the first photographic coding point coordinate system C1. The direction of any photographic coding point on the cross tooling of the first robot can be used as the X-axis direction, and the Y-axis direction of C1 can be determined on the cross tooling plane. The normal direction of the cross tooling of the first robot is used as the Z-axis direction of C1, thereby generating the first photographic coding point coordinate system C1 that matches the first robot. Similarly, the second photographic coding point coordinate system C2 of the second robot can also be established by a similar method.

[0050] Optionally, at each data acquisition time point, after establishing the first photographic coding point coordinate system and the second photographic coding point coordinate system, the second photographic coding point coordinate system can be rotated around the X-axis, Y-axis, and Z-axis of the first photographic coding point coordinate system in sequence, thereby determining the rotation matrix of the second photographic coding point coordinate system relative to the first photographic coding point coordinate system, and determining the fixed angular values of the second photographic coding point coordinate system relative to the first photographic coding point coordinate system around the X-axis, Y-axis, and Z-axis respectively according to the rotation matrix.

[0051] Optionally, the fixed angular values of the second photographic coding point coordinate system relative to the first photographic coding point coordinate system around the X-axis, Y-axis, and Z-axis respectively can be understood as follows: after the second photographic coding point coordinate system rotates around the X-axis by a fixed angular value that matches the X-axis, then rotates around the Y-axis by a fixed angular value that matches the Y-axis, and finally rotates around the Z-axis by a fixed angular value that matches the Z-axis, the second photographic coding point coordinate system can be parallel to the X-axis, Y-axis, and Z-axis of the first photographic coding point coordinate system respectively.

[0052] Optionally, during the rotation of the second photographic coding point coordinate system, it can also be rotated in accordance with other coordinate axis rotation sequences, but it is necessary to ensure that the rotation sequence is consistent each time during the synchronization analysis of the entire dual-robot system.

[0053] S140: Calculate the range and variance of each offset and each fixed angular value respectively, and determine the synchronization level of the dual-robot system according to the calculation results.

[0054] In an optional example, the offsets of the tool center point of the second robot relative to the tool center point of the first robot for the X-axis, Y-axis, and Z-axis of the binocular camera coordinate system can be stored in the SX, SY, and SZ arrays respectively. The fixed angular values of the second photographic coding point coordinate system relative to the first photographic coding point coordinate system around the X-axis, Y-axis, and Z-axis can be stored in the FRX, FRY, and FRZ arrays respectively. The data in the arrays are stored in sequence according to the time acquisition order.

[0055] Furthermore, based on the data stored in each array, the offsets and the ranges and variances of the fixed angle values at the current moment can be calculated, so as to judge the synchronization of the dual-robot system according to the ranges and variances.

[0056] The advantage of this setting is that: the currently stored data in the array can be all the data before any moment when synchronization analysis is required. That is, at any moment when synchronization analysis is required, the current data in the array can be directly analyzed, enabling real-time synchronization analysis and solving the drawback in the prior art that the robot needs to be paused and then the posture is analyzed.

[0057] Optionally, the range can be calculated by the formula S 极差 = S max - S min where S max is the maximum value in the array, and S min is the minimum value in the array. The variance can be calculated by the formula where n is the number of current data in the array, x is the average value of the array, and xi is each data value in the array.

[0058] It can be understood that when the synchronization of the two robots in the dual-robot system is good, the coordinate differences between the two tool points at each data acquisition time point should be close to the coordinate difference at the previous moment. Only in this way can the two robots be regarded as relatively synchronized robots. Therefore, the offsets and the ranges and variances of the fixed angle values should all be relatively small values.

[0059] Optionally, the synchronization level of the robot can be determined by presetting reference values. For example, a range reference value and a variance reference value can be preset, and both the range reference value and the variance reference value are relatively small values. If the ranges of the offsets and the fixed angle values are all less than the range reference value, and the variances of the offsets and the fixed angle values are all less than the variance reference value, it is determined that the synchronization of the robot is high; otherwise, the synchronization level of the robot is low.

[0060] In the technical solution of the embodiment of the present invention, by controlling two robots with the same initial posture to move around their respective tool points according to the same motion trajectory, at each data acquisition time point, the coordinate groups of the respective photographic coding points of the two robots in the binocular camera coordinate system are respectively collected. According to each coordinate group of the photographic coding points, at each data acquisition time point, the offsets of the tool point of the second robot relative to the tool point of the first robot with respect to the X-axis, Y-axis, and Z-axis of the binocular camera coordinate system are calculated, as well as the fixed angular values of the second photographic coding point coordinate system relative to the first photographic coding point coordinate system around the X-axis, Y-axis, and Z-axis. Furthermore, the ranges and variances of each offset and each fixed angular value are calculated, and the synchronization level of the dual-robot system is determined according to the calculation results. In this way, the synchronization analysis of the entire motion process of the dual-robot system can be carried out, and on the basis of analyzing the translational synchronization, the analysis of the rotational synchronization is also added, solving the problem in the prior art that only the synchronization at a certain moment of the robot can be analyzed, realizing the analysis of the real-time synchronization of the robot, and improving the accuracy of the synchronization analysis.

[0061] Embodiment 2

[0062] Figure 3 It is a flowchart of a method for analyzing the synchronization of a dual-robot system provided by Embodiment 2 of the present invention. On the basis of the above embodiment, the method for generating the motion trajectory, the method for calculating each offset, and the method for calculating each fixed angular value are specifically described. As Figure 3 shown, the method includes:

[0063] S210. Calibrate the positional relationships between the respective photographic coding points on each cross-shaped tool.

[0064] Optionally, the respective photographic coding points on each cross-shaped tool can be measured by a binocular camera measurement system to obtain the three-dimensional coordinates of each photographic coding point in the binocular camera measurement system, thereby completing the calibration of the positional relationships between the respective photographic coding points in each cross-shaped tool.

[0065] S220. Collect the initial coordinates of the tool points of the first robot and the second robot respectively through the binocular camera.

[0066] Optionally, the initial coordinates of the tool point can refer to the coordinates obtained when the tool point is first measured by the binocular camera.

[0067] S230. Control the first robot and the second robot to perform multiple posture transformations so that the tool point coordinates of each robot are the same as their initial coordinates after each posture transformation.

[0068] S240. Calibrate each robot and its respective tool point according to the posture transformation data.

[0069] Optionally, under the condition of obtaining the calibration relationship between the robot coordinate system and the binocular camera coordinate system, the coordinates of the tool point are collected by the binocular camera, and then the calibration relationship between the tool point and the robot can be determined.

[0070] Optionally, the calibration method between the robot coordinate system and the binocular camera coordinate system may include: controlling the end of the robot to move along the X-axis, Y-axis, and Z-axis of the robot coordinate system respectively, and collecting the coordinates of the photographic coding points at the end of the robot through the binocular camera coordinate system. According to the coordinate collection results, any point in the binocular camera measurement system is selected as the origin, and the X-axis, Y-axis, and Z-axis trajectories of the photographic coding points are used as the X-axis, Y-axis, and Z-axis of the binocular camera coordinate system, so as to establish a binocular camera coordinate system parallel to the robot coordinate system and complete the calibration between the robot coordinate system and the binocular camera coordinate system.

[0071] S250. Adjust each robot to the same initial pose, and generate a motion trajectory according to the calibration relationship between each robot and its respective tool point and the initial pose of each robot.

[0072] S260. Control two robots with the same initial pose to move around their respective tool points according to the same motion trajectory, and at each data collection time point, collect the coordinate groups of their respective photographic coding points of the two robots in the binocular camera coordinate system respectively.

[0073] S270. According to each coordinate group of photographic coding points and the positional relationship between the tool point on each cross tooling and other photographic coding points, determine the coordinate values of the tool point of the first robot and the tool point of the second robot in the binocular camera coordinate system at each data collection time point respectively.

[0074] S280. According to the coordinate values of the tool point of the first robot and the tool point of the second robot in the binocular camera coordinate system at each data collection time point, calculate the offsets of the tool point of the second robot from the tool point of the first robot with respect to the X-axis, Y-axis, and Z-axis of the binocular camera coordinate system at each data collection time point respectively.

[0075] S290. At each data collection time point, take the tool point of each robot as the origin of each photographic coding point coordinate system, take the direction pointing to each target photographic coding point as the X-axis direction of each photographic coding point coordinate system, determine the Y-axis direction on the cross tooling plane according to the X-axis direction, and determine the normal direction of the cross tooling plane as the Z-axis direction, and establish the first photographic coding point coordinate system and the second photographic coding point coordinate system respectively.

[0076] S2100. Determine the rotation matrix of the second photographic coding point coordinate system relative to the first photographic coding point coordinate system according to the first photographic coding point coordinate system and the second photographic coding point coordinate system established at each data acquisition time point.

[0077] S2110. Calculate the fixed angular values of the second photographic coding point coordinate system relative to the first photographic coding point coordinate system around the X-axis, Y-axis, and Z-axis respectively according to the rotation matrix of the second photographic coding point coordinate system relative to the first photographic coding point coordinate system.

[0078] S2120. Calculate the range and variance of each offset and each fixed angular value respectively, and determine the synchronization level of the dual-robot system according to the calculation results.

[0079] In the technical solution of the embodiment of the present invention, two robots with the same initial posture are controlled to move around their respective tool points according to the same motion trajectory. At each data acquisition time point, the photographic coding point coordinate groups of the two robots in the binocular camera coordinate system are respectively collected. According to each photographic coding point coordinate group, at each data acquisition time point, the offsets of the tool point of the second robot relative to the tool point of the first robot for the X-axis, Y-axis, and Z-axis of the binocular camera coordinate system respectively, and the fixed angular values of the second photographic coding point coordinate system relative to the first photographic coding point coordinate system around the X-axis, Y-axis, and Z-axis are calculated. Furthermore, the range and variance of each offset and each fixed angular value are calculated, and the synchronization level of the dual-robot system is determined according to the calculation results. In this way, the synchronization analysis of the entire motion process of the dual-robot system can be carried out, and on the basis of analyzing the translational synchronization, the analysis of the rotational synchronization is also added, solving the problem in the prior art that only the synchronization at a certain moment of the robot can be analyzed, realizing the analysis of the real-time synchronization of the robot, and improving the accuracy of the synchronization analysis.

[0080] Embodiment III

[0081] Figure 4 It is a schematic structural diagram of a synchronization analysis device for a dual-robot system provided in Embodiment III of the present invention. As Figure 4 shown, the device includes: a photographic coding point coordinate group acquisition module 310, an offset calculation module 320, a fixed angular value determination module 330, and a synchronization level determination module 340.

[0082] The photographic coding point coordinate group acquisition module 310 is configured to control two robots with the same initial posture to move around their respective tool points according to the same motion trajectory, and respectively collect the photographic coding point coordinate groups of the two robots in the binocular camera coordinate system at each data acquisition time point.

[0083] Among them, a plurality of photographic coding points are arranged on the cross tool fixedly connected to each robot, and the tool point is a designated point preselected from the photographic coding points.

[0084] The offset calculation module 320 is configured to calculate, according to each group of photographic coding point coordinates, the offsets of the tool point of the second robot and the tool point of the first robot with respect to the X-axis, Y-axis, and Z-axis of the binocular camera coordinate system respectively at each data acquisition time point.

[0085] The fixed angle value determination module 330 is configured to establish a first photographic coding point coordinate system and a second photographic coding point coordinate system respectively at each data acquisition time point according to each group of photographic coding point coordinates, and calculate the fixed angle values of the second photographic coding point coordinate system relative to the first photographic coding point coordinate system respectively around the X-axis, Y-axis, and Z-axis.

[0086] The synchronization level determination module 340 is configured to calculate the range and variance of each offset and each fixed angle value respectively, and determine the synchronization level of the dual-robot system according to the calculation results.

[0087] The technical solution of the embodiment of the present invention controls two robots with the same initial posture to move around their respective tool points according to the same motion trajectory. At each data acquisition time point, the coordinate groups of the respective photographic coding points of the two robots in the binocular camera coordinate system are respectively collected. According to each group of photographic coding point coordinates, at each data acquisition time point, the offsets of the tool point of the second robot and the tool point of the first robot with respect to the X-axis, Y-axis, and Z-axis of the binocular camera coordinate system are calculated respectively, and the fixed angle values of the second photographic coding point coordinate system relative to the first photographic coding point coordinate system respectively around the X-axis, Y-axis, and Z-axis are calculated. Furthermore, the range and variance of each offset and each fixed angle value are calculated, and the synchronization level of the dual-robot system is determined according to the calculation results. In this way, the synchronization analysis of the entire motion process of the dual-robot system can be performed, and on the basis of analyzing the translational synchronization, the analysis of the rotational synchronization is also added, solving the problem in the prior art that only the synchronization at a certain moment of the robot can be analyzed, realizing the analysis of the real-time synchronization of the robot, and improving the accuracy of the synchronization analysis.

[0088] On the basis of the above embodiments, a photographic coding point calibration module may further be included, which is used for: before controlling two robots with the same initial posture to move around their respective tool points according to the same motion trajectory

[0089] Calibrating the positional relationship between each photographic coding point on each cross tool respectively.

[0090] On the basis of the above embodiments, the offset calculation module 320 may specifically be used for:

[0091] Based on the coordinate groups of each photographic coding point and the positional relationships between the tool points on each cross-shaped tooling and other photographic coding points, determine the coordinate values of the tool point of the first robot and the tool point of the second robot respectively in the binocular camera coordinate system at each data acquisition time point;

[0092] Based on the coordinate values of the tool point of the first robot and the tool point of the second robot respectively in the binocular camera coordinate system at each data acquisition time point, calculate the offsets of the tool point of the second robot relative to the tool point of the first robot respectively for the X-axis, Y-axis, and Z-axis of the binocular camera coordinate system at each data acquisition time point.

[0093] Based on the above embodiments, the fixed angle value determination module 330 may include a coordinate system establishment unit and a fixed angle value calculation unit;

[0094] The coordinate system establishment unit may be specifically configured to:

[0095] At each data acquisition time point, use the tool points of each robot as the origin of the coordinate system of each photographic coding point, use the direction pointing to each target photographic coding point as the X-axis direction of the coordinate system of each photographic coding point, determine the Y-axis direction on the cross-shaped tooling plane according to the X-axis direction, and determine the normal direction of the cross-shaped tooling plane as the Z-axis direction, and establish the first photographic coding point coordinate system and the second photographic coding point coordinate system respectively;

[0096] The fixed angle value calculation unit may be specifically configured to:

[0097] Based on the first photographic coding point coordinate system and the second photographic coding point coordinate system established at each data acquisition time point, determine the rotation matrix of the second photographic coding point coordinate system relative to the first photographic coding point coordinate system;

[0098] Based on the rotation matrix of the second photographic coding point coordinate system relative to the first photographic coding point coordinate system, calculate the fixed angle values of the second photographic coding point coordinate system relative to the first photographic coding point coordinate system respectively around the X-axis, Y-axis, and Z-axis.

[0099] Based on the above embodiments, it may further include a tool point calibration module, which is used for: before two robots with the same initial posture move around their respective tool points according to the same motion trajectory,

[0100] Collect the initial coordinates of the tool points of the first robot and the second robot respectively through the binocular camera;

[0101] Control the first robot and the second robot to perform multiple posture transformations so that the tool point coordinates of each robot after each posture transformation are the same as their initial coordinates;

[0102] Calibrate each robot and its respective tool point according to the pose transformation data.

[0103] Based on the above embodiments, a trajectory generation module may further be included. After calibrating each robot and its respective tool point according to the pose transformation data, it is used for:

[0104] Adjust each robot to the same initial pose, and generate a motion trajectory according to the calibration relationship between each robot and its respective tool point and the initial pose of each robot.

[0105] The synchronization analysis device of the dual-robot system provided by the embodiments of the present invention can execute the synchronization analysis method of the dual-robot system provided by any embodiment of the present invention, and has the corresponding functional modules and beneficial effects for executing the method.

[0106] Embodiment Four

[0107] Figure 5 FIG. shows a schematic structural diagram of an electronic device 10 that can be used to implement the embodiments of the present invention. The electronic device is intended to represent various forms of digital computers, such as, laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as, personal digital processing, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or claimed herein.

[0108] As Figure 5 shown, the electronic device 10 includes at least one processor 11, and a memory communicatively connected to at least one processor 11, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc. Among them, the memory stores a computer program executable by at least one processor. The processor 11 can execute various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 into the random access memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other through a bus 14. The input / output (I / O) interface 15 is also connected to the bus 14.

[0109] Multiple components in the electronic device 10 are connected to the I / O interface 15, including: an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a magnetic disk, an optical disc, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0110] The processor 11 can be various general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. The processor 11 executes the various methods and processes described above, such as the synchronization analysis method of the dual-robot system as described in the embodiments of the present invention. That is:

[0111] Two robots with the same initial posture are controlled to move around their respective tool points according to the same motion trajectory, and at each data acquisition time point, the coordinate groups of the respective photographic coding points of the two robots in the binocular camera coordinate system are respectively acquired; wherein, a plurality of photographic coding points are provided on the cross tooling fixedly connected to each robot, and the tool point is a designated point preselected from the photographic coding points;

[0112] According to the coordinate groups of the respective photographic coding points, the offsets of the tool point of the second robot from the tool point of the first robot with respect to the X-axis, Y-axis, and Z-axis of the binocular camera coordinate system are respectively calculated at each data acquisition time point;

[0113] According to the coordinate groups of the respective photographic coding points, at each data acquisition time point, a first photographic coding point coordinate system and a second photographic coding point coordinate system are respectively established, and the fixed angular values of the second photographic coding point coordinate system relative to the first photographic coding point coordinate system around the X-axis, Y-axis, and Z-axis are calculated;

[0114] The ranges and variances of the respective offsets and the respective fixed angular values are respectively calculated, and the synchronization level of the dual-robot system is determined according to the calculation results.

[0115] In some embodiments, the synchronization analysis method of the dual-robot system can be implemented as a computer program tangibly embodied in a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program can be loaded and / or installed onto the electronic device 10 via the ROM 12 and / or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the synchronization analysis method of the dual-robot system described above can be performed. Alternatively, in other embodiments, the processor 11 can be configured to execute the synchronization analysis method of the dual-robot system by any other suitable means (e.g., by means of firmware).

[0116] The various embodiments of the systems and techniques described above in this document can be implemented in digital electronic circuitry, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-chip (SOCs), complex programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special-purpose or general-purpose programmable processor that receives data and instructions from a storage system, at least one input device, and at least one output device, and transmits the data and instructions to the storage system, the at least one input device, and the at least one output device.

[0117] The computer programs for implementing the methods of the present invention can be written in any combination of one or more programming languages. These computer programs can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing apparatus, such that the computer programs, when executed by the processor, cause the functions / operations specified in the flowcharts and / or block diagrams to be implemented. The computer programs can be executed entirely on the machine, partly on the machine, as a stand-alone software package partly on the machine and partly on a remote machine, or entirely on the remote machine or server.

[0118] In the context of the present invention, a computer-readable storage medium can be a tangible medium that can contain or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. The computer-readable storage medium can include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. Alternatively, the computer-readable storage medium can be a machine-readable signal medium. More specific examples of the machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0119] In order to provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or a trackball) by which the user can provide input to the electronic device. Other kinds of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic input, speech input, or tactile input).

[0120] The systems and techniques described herein can be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer having a graphical user interface or a web browser through which the user can interact with an implementation of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system can be interconnected to each other by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local area network (LAN), wide area network (WAN), blockchain network, and the Internet.

[0121] A computing system may include a client and a server. The client and the server are generally far from each other and usually interact via a communication network. The relationship between the client and the server is created by computer programs running on respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or a cloud host, which is a host product in the cloud computing service system, and solves the defects of difficult management and weak business scalability existing in traditional physical hosts and VPS services.

[0122] It should be understood that various forms of the processes shown above can be used, steps can be reordered, added or deleted. For example, the steps described in the present invention can be executed in parallel, sequentially or in a different order, as long as the desired results of the technical solution of the present invention can be achieved, and no limitation is made herein.

[0123] The above specific embodiments do not constitute a limitation on the protection scope of the present invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A method for analyzing the synchronization of a dual-robot system, characterized in that, Including: Controlling two robots with the same initial posture to move around their respective tool points according to the same motion trajectory, and at each data acquisition time point, respectively collecting the coordinate groups of the respective photographic coding points of the two robots in the binocular camera coordinate system; wherein, a plurality of photographic coding points are arranged on the cross-shaped tooling fixedly connected to each robot, and the tool point is a specified point pre-selected from the photographic coding points. According to each coordinate group of the photographic coding points, respectively calculating the offsets of the tool point of the second robot from the tool point of the first robot with respect to the X-axis, Y-axis, and Z-axis of the binocular camera coordinate system at each data acquisition time point. According to each coordinate group of the photographic coding points, at each data acquisition time point, respectively establishing a first photographic coding point coordinate system and a second photographic coding point coordinate system, and calculating the fixed angular values of the second photographic coding point coordinate system relative to the first photographic coding point coordinate system around the X-axis, Y-axis, and Z-axis respectively. Respectively calculating the ranges and variances of each offset and each fixed angular value, and determining the synchronization level of the dual-robot system according to the calculation results.

2. The method according to claim 1, characterized in that Before controlling two robots with the same initial posture to move around their respective tool points according to the same motion trajectory, it further includes: Respectively calibrating the positional relationships between the photographic coding points on each cross-shaped tooling.

3. The method according to claim 2, wherein According to each coordinate group of the photographic coding points, respectively calculating the offsets of the tool point of the second robot from the tool point of the first robot with respect to the X-axis, Y-axis, and Z-axis of the binocular camera coordinate system at each data acquisition time point, including: According to each coordinate group of the photographic coding points and the positional relationships between the tool point and other photographic coding points on each cross-shaped tooling, determining the coordinate values of the tool point of the first robot and the tool point of the second robot in the binocular camera coordinate system at each data acquisition time point. According to the coordinate values of the tool point of the first robot and the tool point of the second robot in the binocular camera coordinate system at each data acquisition time point, calculating the offsets of the tool point of the second robot from the tool point of the first robot with respect to the X-axis, Y-axis, and Z-axis of the binocular camera coordinate system at each data acquisition time point.

4. The method according to claim 3, characterized in that, According to each coordinate group of the photographic coding points, at each data acquisition time point, respectively establishing a first photographic coding point coordinate system and a second photographic coding point coordinate system, including: At each data acquisition time point, taking the tool point of each robot as the origin of each photographic coding point coordinate system, taking the direction pointing to each target photographic coding point as the X-axis direction of each photographic coding point coordinate system, determining the Y-axis direction on the cross-shaped tooling plane according to the X-axis direction, and determining the normal direction of the cross-shaped tooling plane as the Z-axis direction, respectively establishing a first photographic coding point coordinate system and a second photographic coding point coordinate system.

5. The method according to claim 4, wherein Calculating the fixed angular values of the second photographic coding point coordinate system relative to the first photographic coding point coordinate system around the X-axis, Y-axis, and Z-axis respectively, including: According to the first photographic coding point coordinate system and the second photographic coding point coordinate system established at each data acquisition time point, determining the rotation matrix of the second photographic coding point coordinate system relative to the first photographic coding point coordinate system. Based on the rotation matrix of the second photographic coding point coordinate system relative to the first photographic coding point coordinate system, the fixed angular values of the second photographic coding point coordinate system relative to the first photographic coding point coordinate system about the X-axis, Y-axis, and Z-axis are calculated respectively.

6. The method according to any one of claims 1-5, characterized in that, Before two robots with the same initial posture move around their respective tool points according to the same motion trajectory, it further includes: Collecting the initial coordinates of the tool points of the first robot and the second robot respectively through a binocular camera; Controlling the first robot and the second robot to perform multiple posture transformations so that the tool point coordinates of each robot are the same as its initial coordinates after each posture transformation; Calibrating each robot and its respective tool point according to the posture transformation data.

7. The method according to claim 6, wherein After calibrating each robot and its respective tool point according to the posture transformation data, it further includes: Adjusting each robot to the same initial posture, and generating a motion trajectory according to the calibration relationship between each robot and its respective tool point and the initial posture of each robot.

8. A synchronization analysis device for a dual-robot system, characterized in that, It includes: A photographic coding point coordinate group acquisition module, configured to control two robots with the same initial posture to move around their respective tool points according to the same motion trajectory, and respectively collect the photographic coding point coordinate groups of the two robots in the binocular camera coordinate system at each data acquisition time point; wherein, a plurality of photographic coding points are provided on a cross-shaped tool fixedly connected to each robot, and the tool point is a specified point pre-selected from the photographic coding points; An offset calculation module, configured to calculate the offsets of the tool point of the second robot and the tool point of the first robot with respect to the X-axis, Y-axis, and Z-axis of the binocular camera coordinate system respectively at each data acquisition time point according to each photographic coding point coordinate group; A fixed angular value determination module, configured to establish a first photographic coding point coordinate system and a second photographic coding point coordinate system respectively at each data acquisition time point according to each photographic coding point coordinate group, and calculate the fixed angular values of the second photographic coding point coordinate system relative to the first photographic coding point coordinate system about the X-axis, Y-axis, and Z-axis respectively; A synchronization level determination module, configured to calculate the range and variance of each offset and each fixed angular value respectively, and determine the synchronization level of the dual-robot system according to the calculation results.

9. An electronic device, characterized in that, The electronic device includes: At least one processor; and A memory communicatively connected to the at least one processor; wherein, The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the synchronization analysis method of the dual-robot system according to any one of claims 1-7 of the present invention.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions for causing a processor to execute the synchronization analysis method of the dual-robot system according to any one of claims 1-7 when executed.

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