Combination pairing method and related apparatus

Abstract

This application provides a combination pairing method and related apparatus, relating to the field of control technology. The method includes: determining an offset unit vector between adjacent pick-up and place-down points; offsetting the base coordinates based on the offset unit vector to obtain the coordinates of the target pick-up and place-down point; the base coordinates are coordinates determined by teaching preset pick-up and place-down points. This method can quickly generate the coordinates of all pick-up and place-down points by teaching only a small number of base coordinates and coordinate offsets, eliminating the need for teaching all positions and significantly reducing manual operation intensity.

Description

Technical Field

[0001] This application relates to the field of control technology, and in particular to a combination pairing method and related apparatus. Background Technology

[0002] In automated production lines for new energy batteries, electronic components, and automotive parts, robotic arms are widely used for material handling, transportation, and sorting.

[0003] Currently, there are two main methods for path planning of robotic arms: one is to teach each pick-and-place position individually and set a separate path program for each position; the other is to identify the material position through a machine vision system and combine it with an algorithm to dynamically plan the gripping path of the robotic arm.

[0004] However, the above methods have the problems of heavy workload or high difficulty and cost in implementation. Summary of the Invention

[0005] This application provides a combination pairing method and related apparatus to reduce the cost of combination pairing and improve the efficiency of combination pairing.

[0006] In a first aspect, embodiments of this application provide a combination pairing method, including:

[0007] Determine the offset unit vector between adjacent pick-up and drop-off points;

[0008] The coordinates of the target pick-up and place point are obtained by offsetting the base coordinates based on the offset unit vector; the base coordinates are the coordinates determined by teaching the preset pick-up and place point.

[0009] In some embodiments, the step of offsetting the base coordinates based on the offset unit vector to obtain the coordinates of the target pick-up and drop-off point includes:

[0010] Obtain the coordinates of the first target object; the first target object includes a first object and a second object to be paired.

[0011] The offset number is determined based on the coordinates of the first target object; the offset number is used to indicate the interval between the target pick-up / placement point coordinates and the base coordinates.

[0012] The coordinates of the target pick-up and drop-off point are obtained by offsetting the base coordinates based on the offset number and the offset unit vector.

[0013] In some embodiments, determining the offset number based on the coordinates of the first target object includes:

[0014] Determine the first pairing capacity of the pairing mechanism corresponding to the first object;

[0015] The offset number is determined based on the first pairing capacity, the coordinates of the first object, and the coordinates of the second object.

[0016] In some embodiments, the step of offsetting the base coordinates according to the offset number and the offset unit vector to obtain the coordinates of the target pick-up and drop-off point includes:

[0017] The offset unit vector is processed according to the offset number to obtain the offset vector;

[0018] The coordinates of the target pick-up and drop-off point are obtained by offsetting the base coordinates according to the offset vector.

[0019] In some embodiments, the method further includes:

[0020] Determine the second pairing capacity of the pairing platform corresponding to the second object;

[0021] The preset pick-up and drop-off point is determined based on the number of the second object in the second pairing capacity.

[0022] In some embodiments, a pairing traversal is performed on the third object in the pairing mechanism and the fourth object in the pairing platform to determine the second target object;

[0023] When performing a task based on the first target object, a task is also performed based on the second target object.

[0024] In some embodiments, the method further includes:

[0025] Obtain the positional deviation of the first object when it moves to the position of the second object;

[0026] The base coordinates are corrected based on the positional deviation.

[0027] Secondly, embodiments of this application provide a combination pairing device, comprising:

[0028] The determination module is used to determine the offset unit vector between adjacent pick-up and drop-off points;

[0029] The processing module is used to offset the base coordinates based on the offset unit vector to obtain the coordinates of the target pick-up and place-down point; the base coordinates are the coordinates determined by teaching the preset pick-up and place-down point.

[0030] Thirdly, embodiments of this application provide an electronic device, including a processor, a transceiver, and a memory; the processor is communicatively connected to both the transceiver and the memory.

[0031] The memory stores computer-executed instructions;

[0032] The transceiver communicates and interacts with external devices.

[0033] The processor executes computer execution instructions stored in the memory, causing the processor to perform the first aspect and / or various possible implementations of the first aspect as described above.

[0034] Fourthly, embodiments of this application provide a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, are used to implement the first aspect and / or various possible implementations of the first aspect.

[0035] Fifthly, embodiments of this application provide a computer program product, including a computer program that, when executed by a processor, implements the first aspect and / or various possible implementations of the first aspect.

[0036] The combination pairing method and related apparatus provided in this application determine the offset unit vector between adjacent pick-up and place-down points; based on the offset unit vector, the base coordinates are offset to obtain the coordinates of the target pick-up and place-down point; the base coordinates are coordinates determined by teaching preset pick-up and place-down points. This method can quickly generate the coordinates of all pick-up and place-down points by teaching only a small number of base coordinates and coordinate offsets, eliminating the need for teaching all positions and significantly reducing the intensity of manual operation. Furthermore, the generated coordinates are uniform, avoiding the risk of positioning deviations caused by human error, thereby improving the deployment efficiency and operational stability of the robotic arm in complex production line scenarios. Attached Figure Description

[0037] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0038] Figure 1 A scenario diagram provided for an embodiment of this application;

[0039] Figure 2 A flowchart illustrating a combination pairing method provided in this embodiment of the application. Figure 1 ;

[0040] Figure 3 A flowchart illustrating a combination pairing method provided in this embodiment of the application. Figure 2 ;

[0041] Figure 4 This is a schematic diagram of a robotic arm traversing a path, as provided in this embodiment of the application.

[0042] Figure 5 This is a schematic diagram of the structure of a vehicle assembly pairing device provided in this application;

[0043] Figure 6 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application.

[0044] The accompanying drawings illustrate specific embodiments of this application, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the concept in any way, but rather to illustrate the concept of this application to those skilled in the art through reference to particular embodiments. Detailed Implementation

[0045] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0046] In the embodiments of this application, the terms "first" and "second" are used to distinguish identical or similar items with essentially the same function and effect, without limiting their order. Those skilled in the art will understand that the terms "first" and "second" do not limit the quantity or execution order, and that the terms "first" and "second" do not necessarily imply that they are different.

[0047] It should be noted that, in the embodiments of this application, the terms "exemplary" or "for example" are used to indicate examples, illustrations, or descriptions. Any embodiment or design scheme described as "exemplary" or "for example" in this application should not be construed as being more preferred or advantageous than other embodiments or design schemes. Specifically, the use of terms such as "exemplary" or "for example" is intended to present the relevant concepts in a specific manner.

[0048] To facilitate understanding, a brief introduction to the technical terms used in this application will be provided first:

[0049] Teaching: The process of identifying and saving the coordinates of the current position of the robotic arm.

[0050] Base coordinates: A fixed reference coordinate system used in the fields of robotics, astronomy and engineering to describe the position and motion of an object. In this application, the base coordinates are usually defined as the coordinates of a position near a number of regularly arranged pick-up and drop points.

[0051] Offset base point: In this application, it is defined as the coordinate of any one of the pick-up and place-up points in a base coordinate system, which is usually the first or last point in the pick-up and place-up points in the regular arrangement.

[0052] Offset unit vector: In this application, it is defined as the smallest offset vector of a number of regularly arranged pick-up and put-down points relative to the offset base point, and has direction and length.

[0053] Pairing capacity: Defined in this application as the maximum number of pairings in a single transaction for the main participating institutions.

[0054] Platform capacity: Defined in this application as the maximum number of storage units on the platforms participating in the pairing.

[0055] As robotic arms are commonly used equipment in modern automated production lines, their application scenarios are becoming more complex with the iterative upgrades of these lines. At the same time, there is a growing demand for more efficient and economical solutions for their use.

[0056] Taking current automated production lines for new energy batteries as an example, such as Figure 1 As shown, various types of defective batteries emerge during the battery production process. Some of these defective batteries can be reworked into good products, while others must be scrapped due to process issues. Still others require separate processing or data analysis. Meanwhile, good batteries also need to be trayed to facilitate subsequent processes. Therefore, a robotic arm is needed to assemble the good batteries from the material tray into a full-good-product tray and classify the defective batteries. To achieve the robotic arm's classification and traying functions, it needs to be able to combine and pair batteries on the material tray and the battery buffer platform.

[0057] Currently, there are two common methods for achieving combination and pairing of robotic arms. One method is to teach each pick-up and place position individually and set a path program for each position to pick up or place materials at that fixed position. This is usually used in scenarios where there are few fixed positions and teaching points for robotic arm pick-up and place. The other method is to use a vision sensor to identify materials in a certain area and then pick them up. This is usually used in scenarios where there are many random positions in a fixed area.

[0058] However, in some scenarios, there are hundreds of fixed positions that need to be picked up and placed by the robotic arm, and these positions are arranged in a regular pattern. In this case, using the first method will result in a heavy teaching workload, while using the second method will result in increased costs and increased difficulty in program design.

[0059] To address the aforementioned issues, this application provides a combination and pairing method and related apparatus. In scenarios where the pick-up and place positions of a robotic arm are equally spaced, a base coordinate system for the robotic arm is established by teaching a small number of base points. By utilizing the offset relationship between the regularly arranged pick-up and place points, combined with offset unit vectors and dynamic calculation logic, the traditional teaching operation is transformed into mathematical calculation based on base coordinates. This eliminates the need for manual teaching of all pick-up and place points or reliance on visual sensors, enabling efficient combination and pairing of robotic arms in complex production line scenarios.

[0060] The technical solution of this application and how the technical solution of this application solves the above-mentioned technical problems are described in detail below with specific embodiments. These specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments. The embodiments of this application will now be described with reference to the accompanying drawings.

[0061] Figure 2 A flowchart illustrating a combination pairing method provided in this application embodiment. Figure 1 ,like Figure 2 As shown, it includes:

[0062] S201. Determine the offset unit vector between adjacent pick-up and drop-off points.

[0063] In some embodiments, the implementing entity of this application may be a control system or controller of a robotic arm.

[0064] The offset unit vector between adjacent pick-up and place-up points can be represented by the minimum displacement vector between adjacent pick-up and place-up points, containing direction and distance information. For example, in a matrix of pick-up and place-up points arranged at equal intervals, the offset unit vector can be represented as (row spacing, column spacing, 0).

[0065] In some embodiments, the offset unit vector between adjacent pick-up and drop-off points can be obtained based on the coordinate difference between adjacent pick-up and drop-off points.

[0066] For example, for adjacent pick-up and drop-off points A and B, the coordinates of A are (X1, Y1, Z1) and the coordinates of B are (X2, Y2, Z2), then the offset unit vector can be (X1-X2, Y1-Y2, Z1-Z2).

[0067] In some embodiments, the controller can obtain the coordinates of adjacent pick-up and drop-down points from an external source, such as coordinates of adjacent pick-up and drop-down points input by the user.

[0068] S202. Offset the base coordinates based on the offset unit vector to obtain the coordinates of the target pick-up and place-down point; the base coordinates are the coordinates determined by teaching the preset pick-up and place-down point.

[0069] In some embodiments, the preset pick-up and place point (also known as the offset base point) can be the first pick-up and place point, the last pick-up and place point, or a pick-up and place point in the middle of a list of pick-up and place points arranged at equal intervals. It should be understood that the preset pick-up and place point can be set according to actual needs, and the embodiments of this application do not limit the specific preset pick-up and place point.

[0070] For example, taking the first pick-up and place point in a set of equally spaced pick-up and place points as an example, the base coordinates determined by teaching the preset pick-up and place point are A( , , The determined offset unit vector is B ( , , The coordinates of each pick-up and place-up point obtained by offsetting the pick-up and place-up points after shifting the base coordinates A using the unit vector are shown below:

[0071] The coordinates of the first point after the preset pick-up and drop-off points are A1( + , + , + The coordinates of the second point are A2 ( +2 , +2 , +2 The coordinates of the third point are A3 ( +3 , +3 , +3 The fourth point's coordinates are A4. +4 , +4 , +4 ), and so on.

[0072] In some embodiments, to reduce the accumulation of errors such as those generated during coordinate establishment and errors in equipment installation and processing, multiple offset base points can be taught, and offset can be performed using the nearest offset base point (base coordinate) to ensure that the offset coordinate position has a small error compared with the actual position.

[0073] For example, for a production line with 24 pick-and-place points, the 1st, 10th, and 24th pick-and-place points can be taught as offset base points. When offsetting the 2nd to 8th pick-and-place points, the offset can be based on the coordinates of the 1st pick-and-place point; when offsetting the 9th and 11th to 16th pick-and-place points, the offset can be based on the coordinates of the 10th pick-and-place point; and when offsetting the 17th to 23rd pick-and-place points, the offset can be based on the coordinates of the 24th pick-and-place point.

[0074] It should be understood that during offsetting, for pick-up and drop-off points whose index is less than the offset base point's index, their offset coordinates are the coordinates of the offset base point minus the offset unit vector. For example, for the coordinates of the 9th pick-up and drop-off point, when offsetting using the coordinates of 10 pick-up and drop-off points, the resulting offset coordinates are A9 (…). - , - , - ).

[0075] The combination pairing method provided in this application determines the offset unit vector between adjacent pick-up and place-down points; based on the offset unit vector, the base coordinates are offset to obtain the coordinates of the target pick-up and place-down point; the base coordinates are coordinates determined by teaching preset pick-up and place-down points. This method can quickly generate the coordinates of all pick-up and place-down points by teaching only a small number of base coordinates and coordinate offsets, eliminating the need for teaching all positions and significantly reducing the intensity of manual operation. Furthermore, the generated coordinates are uniform, avoiding the risk of positioning deviations caused by human error, thereby improving the deployment efficiency and operational stability of the robotic arm in complex production line scenarios.

[0076] Based on the above embodiments, the following is combined with Figure 3 The combination pairing method provided in the embodiments of this application will be further described.

[0077] Figure 3 A flowchart illustrating a combination pairing method provided in this application embodiment. Figure 2 ,like Figure 3 As shown, it includes:

[0078] S301. Based on the task to be executed, obtain the coordinates of the first target object.

[0079] In some embodiments, the first target object includes a first object and a second object to be paired, and correspondingly, the coordinates of the first target object include the coordinates of the first object and the coordinates of the second object.

[0080] In some embodiments, the first object may refer to the first object to be acted in the pairing mechanism (executor) that performs the current task, and the second object may refer to the first object to be paired that the pairing platform is looking for.

[0081] For example, the first object can refer to a gripper of the robotic arm performing the current task, and the second object can refer to the object being gripped by that gripper, such as a battery at a certain location in the battery cache platform.

[0082] After identifying the first object and the second object, the coordinates of the first object can be determined based on its serial number in the actuator, and the coordinates of the second object can be determined based on its serial number in the pairing platform.

[0083] For example, when the current task requires the robotic arm to grab a good battery on the buffer platform, the first object to be moved is the 5th gripper, that is, the coordinate of the first object is 5 (X=5). The pairing platform is a 24-bit buffer platform, and the first object to be paired is the 4th battery, that is, the coordinate of the second object is 4 (Y=4).

[0084] S302. Determine the offset number based on the coordinates of the first target object.

[0085] In some embodiments, the offset number is used to indicate the interval between the target pick-up / placement point coordinates and the base coordinates.

[0086] For example, after determining the coordinates of the first object and the second object, the offset number can be determined based on the coordinates of the first object, the coordinates of the second object, and the first pairing capacity of the pairing mechanism corresponding to the first object.

[0087] The first pairing capacity can refer to the maximum number of pairs that the pairing mechanism can pair at one time. For example, when the pairing mechanism is a 6-jaw robot, the first pairing capacity M=6.

[0088] For example, the offset can be determined based on the following formula:

[0089] Δ=(Y-1)+(MX)

[0090] Where Δ is the offset number, Y is the coordinate of the second object, M is the first pairing capacity, and X is the coordinate of the first object.

[0091] In some embodiments, since the spacing between objects in the pairing mechanism is the same as the spacing between the pairing platforms—for example, the coordinate deviation between the first and second claws of the robotic arm is the same as the coordinate deviation between the first and second positions on the battery platform—if the first claw of the robotic arm grasps the battery in the first position on the battery platform, the second claw can also simultaneously grasp the battery in the second position on the battery platform. Therefore, to improve grasping efficiency, after determining the offset number, a pairing traversal can be performed on the third object in the pairing mechanism and the fourth object in the pairing platform to determine whether there is a second target object that can be paired.

[0092] The third object can refer to any object in the pairing organization other than the first object, and the fourth object can refer to any object in the pairing platform other than the second object.

[0093] For example, taking the robotic arm grasping a battery on a battery platform as an example, refer to... Figure 4 It can iterate through the state of the robotic gripper and the corresponding battery to determine whether there is a matching second target object.

[0094] For example, if the first object is gripper #1 grasping a good battery at position 10 on the battery platform, then when starting the traversal, first determine if gripper #2 is empty and if the battery at position 11 on the battery platform is a good battery. If gripper #2 is empty and the battery at position 11 is a good battery, then gripper #2 is considered a match for position 11, and gripper #2 is recorded as capable of movement. Next, determine if gripper #3 is empty and if the battery at position 12 on the battery platform is a good battery. If gripper #3 is not empty, or if the battery at position 12 is not a good battery, then gripper #3 is considered a mismatch for position 12, and gripper #3 is recorded as not moving. This process continues until all grippers or the entire battery platform has been traversed, resulting in a set of grippers that can move simultaneously.

[0095] S303. Offset the base coordinates according to the offset number and the offset unit vector to obtain the coordinates of the target pick-up and drop-off point.

[0096] In some embodiments, the offset unit vector can be processed according to the offset number to obtain the offset vector; the base coordinates can be offset according to the offset vector to obtain the coordinates of the target pick-up and drop-off point.

[0097] For example, the offset number is Δ, and the offset unit vector is B( , , The corresponding offset vector C can be the product of the offset number and the offset vector. That is, (Δ , Δ ).

[0098] After determining the offset vector, the offset vector can be added to the base coordinates to offset the base coordinates and obtain the coordinates of the target pick-up and drop-off point.

[0099] For example, the base coordinates are A( , , Then the coordinates of the target pick-up and drop-off points are: ( +Δ , +Δ , +Δ ).

[0100] In some embodiments, in order to reduce the error between the coordinate position obtained by offset and the actual position, the corresponding base coordinates can be selected according to the position of the target pick-up and drop-off point.

[0101] For example, determine the second pairing capacity of the pairing platform corresponding to the second object; determine the base coordinates (coordinates of the preset pick-up and drop-off point) based on the number of the second object in the second pairing capacity.

[0102] For example, for a production line with 24 pick-and-place points, the 1st, 10th, and 24th pick-and-place points can be taught as base coordinates. If the target pick-and-place point belongs to the 2nd-8th pick-and-place points, the offset can be made based on the base coordinates corresponding to the 1st pick-and-place point; if the target pick-and-place point belongs to the 9th or 11th-16th pick-and-place points, the offset can be made based on the base coordinates corresponding to the 10th pick-and-place point; and if the target pick-and-place point belongs to the 17th-23rd pick-and-place points, the offset can be made based on the base coordinates corresponding to the 24th pick-and-place point.

[0103] In some embodiments, after determining the coordinates of the target pick-up and drop-off point, the pairing mechanism (such as a robotic arm) can be controlled to move to the target pick-up and drop-off point and perform the task corresponding to the first target object, while simultaneously performing the task corresponding to the second target object.

[0104] For example, control the third gripper of the robotic arm to grab the battery at position 5 on the battery platform (the task corresponding to the first target object), and at the same time, control the fifth gripper of the robotic arm to grab the battery at position 7 on the battery platform and the sixth gripper to grab the battery at position 8 on the battery platform (the task corresponding to the second target object).

[0105] In one embodiment, after completing the current task, it can be determined whether the combination and pairing can continue under the current task. For example, based on the current state of each robot arm and the state of each battery on the latest received battery platform, it can be determined whether the grasping of good batteries can continue. If so, the process of calculating the offset number and moving and grasping based on the offset number is repeated. If the combination and pairing cannot continue, it returns to the origin and waits for the next task.

[0106] In some embodiments, to further improve the accuracy of the target pick-up and drop-off point coordinates obtained by offset and reduce the probability of grabbing failure, the position deviation of the first object moving to the position of the second object can also be obtained; the base coordinates are corrected according to the position deviation.

[0107] For example, sensors (such as laser rangefinders) positioned at the robotic arm or target pick-and-place point collect deviation data between the gripper's position and the target pick-and-place point. The base coordinates are then compensated and corrected based on this deviation data. For instance, if a 2mm deviation in the x-axis direction is detected, the base coordinates are adjusted from (X, Y, Z) to (X+2, Y, Z). This compensation and correction mechanism achieves long-term stability of coordinate generation through adaptive calibration of the base coordinates. For example, after long-term operation, if slight displacement of the robotic arm occurs due to equipment wear, the sensors can detect the deviation in real time and adjust the base coordinates to ensure that the dynamically generated coordinates are always aligned with the actual pick-and-place point. This method eliminates the need for periodic manual calibration, significantly improving the operational stability of the robotic arm in complex production line scenarios and reducing the risk of production line downtime due to equipment errors.

[0108] In summary, the combination pairing method provided in this application avoids teaching all pick-up and place-up points one by one by teaching a small number of base points and calculating the coordinates of the remaining points, thus significantly reducing the intensity of manual operation; it does not require writing a separate path program for each pick-up and place-up point, but only needs to dynamically generate the path based on the offset number, reducing program redundancy and development difficulty; by calculating the offset number and traversing judgment logic in real time, the robot can quickly adapt to dynamically changing task requirements; it does not require additional configuration of a vision system, but only relies on the robot's base coordinate system and calculation logic, reducing hardware costs and improving operational stability.

[0109] Based on the above embodiments, this application also provides a combination pairing device.

[0110] Figure 5 This is a schematic diagram of the structure of the combination pairing device 50 provided in the embodiments of this application, as shown below. Figure 5 As shown, it includes:

[0111] The determination module 501 is used to determine the offset unit vector between adjacent pick-up and drop-off points.

[0112] The processing module 502 is used to offset the base coordinates based on the offset unit vector to obtain the coordinates of the target pick-up and place-down point; the base coordinates are the coordinates determined by teaching the preset pick-up and place-down point.

[0113] In some embodiments, the processing module 502 is used to obtain the coordinates of a first target object; the target object includes a first object and a second object to be paired; determine an offset number based on the coordinates of the first target object; the offset number is used to indicate the interval between the target pick-up and drop point coordinates and the base coordinates; offset the base coordinates based on the offset number and the offset unit vector to obtain the coordinates of the target pick-up and drop point.

[0114] In some embodiments, the processing module 502 is configured to determine the first pairing capacity of the pairing mechanism corresponding to the first object; and determine the offset number based on the first pairing capacity, the coordinates of the first object, and the coordinates of the second object.

[0115] In some embodiments, the processing module 502 is used to process the offset unit vector according to the offset number to obtain the offset vector; and to offset the base coordinates according to the offset vector to obtain the coordinates of the target pick-up and drop-off point.

[0116] In some embodiments, the processing module 502 is configured to determine the second pairing capacity of the pairing platform corresponding to the second object; and determine a preset pick-up and drop-off point according to the number of the second object in the second pairing capacity.

[0117] In some embodiments, the processing module 502 is used to perform pairing traversal on the third object in the pairing mechanism and the fourth object in the pairing platform to determine the second target object; when performing a task based on the first target object, a task is also performed based on the second target object.

[0118] In some embodiments, the processing module 502 is used to obtain the position deviation of the first object moving to the position of the second object; and to correct the base coordinates according to the position deviation.

[0119] The combination pairing device provided in this embodiment can execute the technical solution provided in any of the combination pairing method embodiments shown above. Its implementation principle and technical effect are similar, and will not be described in detail here.

[0120] This application also provides an electronic device.

[0121] Figure 6 This is a schematic diagram of the structure of the electronic device 60 provided in the embodiments of this application. The electronic device 60 can be a controller as shown in any of the above embodiments, such as... Figure 6 As shown, the electronic device may include: a transceiver 601, a processor 602, and a memory 603.

[0122] The processor 602 executes computer execution instructions stored in the memory, causing the processor 602 to perform the scheme in the above embodiments. The processor 602 can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components.

[0123] The memory 603 is connected to the processor 602 via the system bus and completes communication between them. The memory 603 is used to store computer program instructions.

[0124] Transceiver 601 can perform the functions of receiving and sending data and instructions.

[0125] Optionally, the electronic device 60 may also include a communication interface for communicating and interacting with external or internal devices, such as client devices (e.g., mobile phones, tablets). In specific implementations, if the communication interface, memory 603, and processor 602 are implemented independently, they can be interconnected via a bus to complete communication with each other.

[0126] The system bus can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. The system bus can be divided into address bus, data bus, control bus, etc. For ease of representation, only one thick line is used in the diagram, but this does not indicate that there is only one bus or one type of bus. Transceivers are used to enable communication between database access devices and other computers (e.g., clients, read-write libraries, and read-only libraries). Memory may include random access memory (RAM) and may also include non-volatile memory.

[0127] Optionally, in a specific implementation, if the communication interface, memory 603, and processor 602 are integrated on a single chip, then the communication interface, memory 603, and processor 602 can communicate through an internal interface.

[0128] This application also provides a chip for executing instructions, which is used to execute the technical solutions in the above embodiments.

[0129] This application also provides a computer-readable storage medium storing a computer program thereon. When the computer program is executed by a processor, it implements the technical solutions of the above embodiments. The implementation principle and technical effects are similar, and will not be repeated here.

[0130] In one possible implementation, a computer-readable medium may include random access memory (RAM), read-only memory (ROM), compact discread-only memory (CD-ROM) or other optical disc storage, disk storage or other magnetic storage devices, or any other medium targeted to carry or to store the required program code in the form of instructions or data structures, and accessible by a computer. Furthermore, any connection is appropriately referred to as a computer-readable medium. For example, if software is transmitted from a website, server, or other remote source using coaxial cable, fiber optic cable, twisted pair, Digital Subscriber Line (DSL), or wireless technologies such as infrared, radio, and microwave, then coaxial cable, fiber optic cable, twisted pair, DSL, or wireless technologies such as infrared, radio, and microwave are included in the definition of medium. As used herein, disks and optical discs include optical discs, laser discs, optical discs, Digital Versatile Discs (DVDs), floppy disks, and Blu-ray discs, where disks typically reproduce data magnetically, while optical discs optically reproduce data using lasers. Combinations of the above should also be included within the scope of computer-readable media.

[0131] This application also provides a computer program product, including a computer program that, when executed by a processor, implements the technical solutions of the above embodiments. Its implementation principle and technical effects are similar, and will not be repeated here.

[0132] In the specific implementation of the aforementioned terminal device or server, it should be understood that the processor can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), etc. A general-purpose processor can be a microprocessor or any conventional processor. The steps of the method disclosed in the embodiments of this application can be directly manifested as execution by a hardware processor, or execution by a combination of hardware and software modules within the processor.

[0133] Those skilled in the art will understand that all or part of the steps in any of the above method embodiments can be implemented by hardware associated with program instructions. The aforementioned program can be stored in a computer-readable storage medium, and when the program is executed, all or part of the steps in the above method embodiments are performed.

[0134] If the technical solution of this application is implemented in software form and sold or used as a product, it can be stored in a computer-readable storage medium. Based on this understanding, all or part of the technical solution of this application can be embodied in the form of a software product, which is stored in a storage medium and includes a computer program or several instructions. This computer software product enables a computer device (which may be a personal computer, server, network device, or similar electronic device) to execute all or part of the steps of the methods in the embodiments of this application.

[0135] It should be noted that, for the sake of simplicity, the foregoing method embodiments are all described as a series of actions. However, those skilled in the art should understand that this application is not limited to the described order of actions, as some steps may be performed in other orders or simultaneously according to this application. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are all optional embodiments, and the actions and modules involved are not necessarily essential to this application.

[0136] It should be further noted that although the steps in the flowchart are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowchart may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the sub-steps or stages of other steps.

[0137] It should be understood that the above-described device embodiments are merely illustrative, and the device of this application can also be implemented in other ways. For example, the division of units / modules in the above embodiments is only a logical functional division, and there may be other division methods in actual implementation. For example, multiple units, modules, or components may be combined, or integrated into another system, or some features may be ignored or not executed.

[0138] Furthermore, unless otherwise specified, the functional units / modules in the various embodiments of this application can be integrated into one unit / module, or each unit / module can exist physically separately, or two or more units / modules can be integrated together. The integrated units / modules described above can be implemented in hardware or as software program modules.

[0139] When integrated units / modules are implemented in hardware, the hardware can be digital circuits, analog circuits, etc. The physical implementation of the hardware structure includes, but is not limited to, transistors, memristors, etc. Unless otherwise specified, the processor can be any suitable hardware processor, such as a CPU, GPU, FPGA, DSP, and ASIC, etc. Unless otherwise specified, the storage unit can be any suitable magnetic or magneto-optical storage medium, such as Resistive Random Access Memory (RRAM), Dynamic Random Access Memory (DRAM), Static Random Access Memory (SRAM), Enhanced Dynamic Random Access Memory (EDRAM), High-Bandwidth Memory (HBM), Hybrid Memory Cube (HMC), etc.

[0140] If the integrated unit / module is implemented as a software program module and sold or used as an independent product, it can be stored in a computer-readable storage device (CMD). Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a memory and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of this application. The aforementioned memory includes various media capable of storing program code, such as a USB flash drive, read-only memory (ROM), random access memory (RAM), portable hard drive, magnetic disk, or optical disk.

[0141] In the above embodiments, the descriptions of each embodiment have their own emphasis. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments. The technical features of the above embodiments can be combined arbitrarily. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as the combination of these technical features does not contradict each other, it should be considered within the scope of this specification.

[0142] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

Claims

1. A combination pairing method, characterized in that, include: Determine the offset unit vector between adjacent pick-up and drop-off points; The coordinates of the target pick-up and drop-off point are obtained by offsetting the base coordinates based on the offset unit vector; The base coordinates are the coordinates determined by teaching the preset pick-up and put-down points.

2. The method according to claim 1, characterized in that, The step of offsetting the base coordinates based on the offset unit vector to obtain the coordinates of the target pick-up and drop-off point includes: Obtain the coordinates of the first target object; the first target object includes a first object and a second object to be paired. The offset number is determined based on the coordinates of the first target object; the offset number is used to indicate the interval between the coordinates of the target pick-up and drop point and the base coordinates; The coordinates of the target pick-up and drop-off point are obtained by offsetting the base coordinates based on the offset number and the offset unit vector.

3. The method according to claim 2, characterized in that, Determining the offset number based on the coordinates of the first target object includes: Determine the first pairing capacity of the pairing mechanism corresponding to the first object; The offset number is determined based on the first pairing capacity, the coordinates of the first object, and the coordinates of the second object.

4. The method according to claim 3, characterized in that, The step of offsetting the base coordinates according to the offset number and the offset unit vector to obtain the coordinates of the target pick-up and drop-off point includes: The offset unit vector is processed according to the offset number to obtain the offset vector; The coordinates of the target pick-up and drop-off point are obtained by offsetting the base coordinates according to the offset vector.

5. The method according to any one of claims 1-4, characterized in that, The method further includes: Determine the second pairing capacity of the pairing platform corresponding to the second object; The preset pick-up and drop-off point is determined based on the number of the second object in the second pairing capacity.

6. The method according to claim 5, characterized in that, The method further includes: The pairing process is performed on the third object in the pairing mechanism and the fourth object in the pairing platform to determine the second target object. When performing a task based on the first target object, a task is also performed based on the second target object.

7. The method according to claim 6, characterized in that, The method further includes: Obtain the positional deviation of the first object when it moves to the position of the second object; The base coordinates are corrected based on the positional deviation.

8. An electronic device, characterized in that, include: The processor, transceiver, and memory are provided; the processor is communicatively connected to both the transceiver and the memory. The memory stores computer-executed instructions; The transceiver communicates and interacts with external devices. The processor executes computer execution instructions stored in the memory to implement the method as described in any one of claims 1-7.

9. 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 method as described in any one of claims 1-7.

10. A computer program product, characterized in that, Includes a computer program that, when executed by a processor, implements the method described in any one of claims 1-7.

Images