CN115416026A - Coordinate conversion method and device for robot and computer readable medium - Google Patents

Abstract

The invention discloses a coordinate conversion method, device and computer-readable medium for a robot, belonging to the technical field of robot control. A specific implementation of the method includes: first obtaining the own coordinate system of the virtual robot in the simulation environment, and the coordinate value of the end of the virtual robot relative to the own coordinate system; and then reading the coordinate value of the end of the real robot relative to the system coordinate system in the real environment Coordinate value; Finally, based on the virtual robot's own coordinate system, the virtual robot's end coordinate value and the real robot's end coordinate value; determine the system coordinate system of the real robot in the real environment. Thus, converting the virtual robot's own coordinate system into the system coordinate system can accurately obtain the system coordinates of the physical robot in the real environment, so that the system coordinate system can be used as a reference without knowing the coordinate system referenced by the physical robot's operation. To effectively control the work of physical robots.

Description

Coordinate transformation method, device and computer readable medium for robot

technical field

The invention relates to the technical field of robot control, in particular to a coordinate transformation method, device and computer readable medium for a robot.

Background technique

In related technologies, in the process of controlling the work of the robot, it is often necessary to extract the working path of the designed robot. For example, when the robot performs welding or spraying work, it is necessary to pre-plan the starting point, ending point, and trajectory driving route for the working robot, so as to control the entity The robot completes the welding work or spraying work; however, when planning the working route of the robot, there is a problem that the coordinates of the physical robot and the virtual robot in the control system cannot correspond.

For this reason, the existing technology obtains the placement posture of the physical robot in the real environment, and adjusts the placement posture of the virtual robot based on the placement posture of the physical robot, so that the physical robot and the virtual robot have the same placement posture; after that, The control system controls the walking of the physical robot by controlling the virtual robot. However, there are other external structures connected to the physical robot in the actual work scene, such as external shafts, gantry frames or guide rails; the posture of the external structure will have a substantial impact on the walking of the physical robot. In addition, due to the inability to select a suitable robot reference coordinate system, there is always a path deviation when the control system controls the work of the real robot through the virtual robot, and thus cannot effectively control the work of the real robot.

Contents of the invention

The invention provides a coordinate transformation method for a robot, a device and a computer-readable medium, a device and a computer-readable medium. The method can effectively determine the reference coordinate system to control the work of the physical robot without knowing the reference coordinate system for the operation of the physical robot.

In order to achieve the above purpose, according to the first aspect of the embodiment of the present application, a coordinate conversion method for a robot is provided, the method includes: obtaining the own coordinate system of the virtual robot in the simulation environment, and the end of the virtual robot relative to the Describe the coordinate value of its own coordinate system; read the coordinate value of the end of the real robot relative to the system coordinate system in the real environment; based on the own coordinate system of the virtual robot, the end coordinate value of the virtual robot and the End coordinate value; determine the system coordinate system of the real robot in the real environment.

Optionally, the method further includes: determining the angle of the joint angle of the physical robot in the real environment to obtain the first angle; obtaining the angle of the joint angle of the external structure connected to the physical robot in the real environment to obtain the second angle ; adjusting the joint angle of the robot to be tested in the simulation environment based on the first angle to obtain a virtual robot; adjusting the joint angle of the external structure to be tested in the simulation environment based on the second angle to obtain a virtual external structure; Based on the virtual robot and the virtual external structure, a simulation environment corresponding to the real environment is constructed.

Optionally, the external structure includes one or more of external shafts, gantry frames and guide rails.

Optionally, when the self-coordinate system is the basic coordinate system of the virtual robot; the acquisition of the self-coordinate system of the virtual robot in the simulation environment, and the coordinate value of the end of the virtual robot relative to the self-coordinate system; The method includes: taking the center of the base of the virtual robot as the origin of coordinates, obtaining the basic coordinate system of the virtual robot in the simulation environment; taking the basic coordinate system as a reference, obtaining the position of the end of the virtual robot relative to the basic coordinate system coordinate value.

Optionally, when the self-coordinate system is the tool coordinate system of the virtual robot, the acquisition of the self-coordinate system of the virtual robot in the simulation environment and the coordinate values of the end of the virtual robot relative to the self-coordinate system, Including: obtaining the tool coordinate system of the virtual robot in the simulation environment; reading the end coordinate value of the real robot relative to the base coordinate system in the real environment; based on the end coordinate value of the physical robot and the tool coordinate system of the virtual robot A coordinate system, calculating coordinate values of the end of the virtual robot relative to the tool coordinate system.

Optionally, the obtaining the tool coordinate system of the virtual robot in the simulation environment includes: taking the base center of the virtual robot as the coordinate origin, obtaining the basic coordinate system of the virtual robot in the simulation environment; obtaining the mechanical coordinate system of the physical robot. The coordinate value of the tool center point (Tool Center Point, TCP for short) grasped by the arm; based on the basic coordinate system and the TCP coordinate value, determine the tool coordinate system of the virtual robot in the simulation environment.

In order to achieve the above object, according to the second aspect of the embodiment of the present application, there is provided a coordinate conversion device for a robot, the device includes: a first acquisition module, used to acquire the own coordinate system of a virtual robot in a simulation environment, and the The coordinate value of the end of the virtual robot relative to the self-coordinate system; the reading module is used to read the coordinate value of the end of the real robot relative to the system coordinate system in the real environment; the first determination module is used for based on the virtual The robot's own coordinate system, the end coordinate values of the virtual robot and the end coordinate values of the physical robot; determine the system coordinate system of the real robot in the real environment.

Optionally, the device further includes: a second determination module, configured to determine the angle of the joint angle of the entity robot in the real environment to obtain the first angle; a second acquisition module, configured to obtain the joint angle of the entity robot in the real environment The angle of the joint angle of the robot connected to the external structure is obtained to obtain a second angle; the adjustment module is configured to adjust the joint angle of the robot to be tested in the simulation environment based on the first angle and the second angle to obtain a virtual robot.

To achieve the above object, according to the third aspect of the embodiment of the present application, there is also provided an electronic device, the electronic device includes: a processor, and a memory for storing executable instructions of the processor; wherein, the processor is configured The method for coordinate conversion of a robot as described in the first aspect is performed by executing the executable instructions.

In order to achieve the above object, according to the fourth aspect of the embodiment of the present application, there is also provided a computer-readable medium, on which a computer program is stored, and when the program is executed by a processor, the coordinate system for the robot as described in the first aspect is realized. method of conversion.

Compared with the prior art, an embodiment of the present invention provides a coordinate transformation method, device, and computer-readable medium for a robot. A specific implementation of the method includes: first obtaining the own coordinate system of the virtual robot in the simulation environment, and The coordinate value of the end of the virtual robot relative to the self-coordinate system; then read the coordinate value of the end of the real robot relative to the system coordinate system in the real environment; finally, based on the self-coordinate system of the virtual robot, the virtual The end coordinate value of the robot and the end coordinate value of the physical robot; determine the system coordinate system of the physical robot in the real environment. In this embodiment, the system coordinate system of the physical robot is determined based on the coordinate values of the end of the virtual robot relative to its own coordinate system in the simulation environment and the coordinate values of the end of the physical robot relative to the system coordinate system in the real environment. The system coordinate system of the physical robot in the real environment, so as to effectively control the work of the physical robot, and solve the problem in the prior art that there is always a path deviation when the control system controls the physical robot to work due to the inability to effectively select a suitable robot reference coordinate system. The error of the physical robot in the work is further reduced, and the precision of the robot for processing the target workpiece is improved.

Description of drawings

Hereinafter, some specific embodiments of the present invention will be described in detail by way of illustration and not limitation with reference to the accompanying drawings. The same reference numerals in the drawings designate the same or similar parts or parts. Those skilled in the art will appreciate that the drawings are not necessarily drawn to scale. In the attached picture:

Fig. 1 is a schematic flow chart of a coordinate conversion method for a robot provided by an embodiment of the present invention;

Fig. 2 is a schematic flow diagram of creating a virtual robot in a simulation environment in an embodiment of the present invention;

FIG. 3 is a schematic flow diagram of obtaining the coordinate values of the end of the virtual robot relative to the base coordinate system in an embodiment of the present invention;

FIG. 4 is a schematic flow diagram of obtaining the coordinate values of the end of the virtual robot relative to the tool coordinate system in an embodiment of the present invention;

Fig. 5 is a schematic structural diagram of a coordinate conversion device for a robot provided in an embodiment of the present invention.

detailed description

In order to make the purpose, features and advantages of the present invention more obvious and understandable, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described The embodiments are only some of the embodiments of the present invention, but not all of them. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without making creative efforts belong to the protection scope of the present invention.

The present invention can be applied to various robot control systems, simulation systems, on-line control software, and off-line programming software, and the robot control by the simulation system/off-line programming software is used as an example for schematic illustration.

In order to ensure a smooth working process, this embodiment plans the robot's working trajectory, knife-entry direction, and end point in advance when controlling the physical robot to work. The robot involved in the present invention can be applied to various actual working scenes, for example, welding scene, palletizing scene, spraying scene and so on.

The robots involved in the present invention include but are not limited to: industrial robots and educational robots, which have 3-6 degrees of freedom. This embodiment uses 6 degrees of freedom for schematic illustration, corresponding to J1-J6 joints. : base, elbow, wrist, arm (mechanical arm, clamping each workpiece through tools), flange, etc. The interior of the robot includes: servo motor, conveyor belt, air outlet, etc.

As shown in FIG. 1 , it is a schematic flowchart of a coordinate transformation method for a robot provided by an embodiment of the present invention. A coordinate transformation method for a robot, said method at least comprising the following steps:

S101, acquiring the own coordinate system of the virtual robot in the simulation environment, and the coordinate value of the end of the virtual robot relative to the own coordinate system;

S102, read the coordinate value of the end of the physical robot relative to the system coordinate system in the real environment;

S103, based on the virtual robot's own coordinate system, the virtual robot's end coordinate value and the real robot's end coordinate value; determine the system coordinate system of the real robot in the real environment.

In S101, the simulated environment refers to the same ring mirror as the real environment. In the real environment, there are physical robots and external structures connected with the physical robots; similarly, in the simulation environment, there are also virtual robots with the same structure as the physical robots, and virtual external structures with the same external structures as the physical ones. The placement posture of the six joint angles of the virtual robot is the same as that of the physical robot; similarly, the placement posture of the joint angles of the virtual external structure in the simulation environment is the same as that of the physical external structure joint angles in the real environment. The posture is the same.

Here, joint angle is used to indicate the angle of the axis. Each axis has an initial position, and the initial position of the axis is used as the mechanical zero point, and the angle of the axis is relative to this zero point.

There are two kinds of self-coordinate systems of the virtual robot, one is the basic coordinate system of the virtual robot, and the other is the tool coordinate system of the virtual robot. The tools of the virtual robot are installed at the end of the virtual robot, such as welding guns, grippers, laser cutting heads, electric spindles or grinding heads, etc.

In S102, based on the teaching pendant in the real environment, the three-dimensional coordinates of the end point of the physical robot relative to the system coordinate system are read to obtain coordinate values.

Here, the solid robot end point can be the center point of the robot flange end, or the calibrated TCP end.

In S103, when determining the system coordinate system of the physical robot in the real environment, the calculation formula used is shown in the following formula (1).

M _seeking × M _input = M _loc × M _tool formula (1);

Among them, M _loc is the virtual robot's own coordinate system in the simulation environment, M _tool is the coordinate value of the end of the virtual robot relative to its own coordinate system after setting the joint angle; M _input is the robot read through the teaching device in the real environment The coordinates of the end relative to the system coordinate system; M is _the system coordinate system in the real environment.

This embodiment builds the same simulation environment as the real environment, and obtains the virtual robot's own coordinate system in the simulation environment, and the coordinate value of the end of the virtual robot relative to its own coordinate system; then reads the robot end in the real environment through the teaching pendant Coordinate values relative to the system coordinate system; finally, calculate the system coordinate system in the real environment based on the virtual robot's own coordinate system, the coordinate values of the end of the virtual robot, and the coordinate values of the end of the physical robot. Thus, the virtual robot's own coordinate system is converted into the system coordinate system, so that the system coordinate system can be used as a reference to effectively control the work of the physical robot without knowing the coordinate system referenced by the physical robot's operation. In the technology, due to the inability to effectively select a suitable robot reference coordinate system, there is always a problem of path deviation when the control system controls the physical robot to work, which further reduces the error of the physical robot during work and improves the precision of the robot's machining of the target workpiece.

It should be noted that the type of the physical robot in this embodiment is an industrial robot or an educational robot.

As shown in Figure 2, it is a schematic flow diagram of creating a virtual robot in a simulation environment in an embodiment of the present invention;

In a preferred implementation of this embodiment, creating a virtual robot in a simulation environment at least includes the following steps:

S201. Determine the angle of the joint angle of the physical robot in the real environment to obtain the first angle;

S202. Obtain the angle of the joint angle of the external structure connected with the physical robot in the real environment to obtain a second angle;

S203, adjusting the joint angle of the robot to be tested in the simulation environment based on the first angle to obtain a virtual robot;

S204, adjusting joint angles of the external structure to be measured in the simulation environment based on the second angle, to obtain a virtual external structure;

S205, constructing a simulation environment corresponding to the real environment based on the virtual robot and the virtual external structure.

Here, the solid external structure includes one or more of external shafts, gantry frames, and guide rails.

Specifically, read the first angle corresponding to the joints J1 to J6 of the physical robot through the teaching pendant in the real environment, and the second angle of the joint E1 of the external structure; then generate a virtual robot debugging interface based on user requests; where the virtual The robot debugging interface includes at least J1 joint options, J2 joint options, J3 joint options, J4 joint options, J5 joint options, J6 joint options, and external structure E1 joint options; The first angle and the second angle of the E1 joint of the external structure trigger the debugging interface to generate a virtual robot and a virtual external structure with the same posture as the real environment; then generate a simulation corresponding to the real environment based on the virtual robot and the virtual external structure environment.

Therefore, based on the placement posture of the physical robot and the placement posture of the physical external structure in the real environment, the robot to be tested and the external structure to be tested in the simulation environment can be adjusted, so that the simulation environment that is the same as the real environment can be accurately constructed, which is beneficial The control of the physical robot by the later control system reduces unnecessary errors and improves the accuracy of the target workpiece processed by the physical robot.

As shown in FIG. 3 , it is a schematic flowchart of obtaining the coordinate values of the end of the virtual robot relative to the base coordinate system in an embodiment of the present invention.

In another preferred implementation of this embodiment, when the own coordinate system is the basic coordinate system of the virtual robot; obtaining the coordinate value of the end of the virtual robot relative to the basic coordinate system; at least including the following steps:

S301, taking the center of the base of the virtual robot as the origin of coordinates, acquiring the basic coordinate system of the virtual robot in the simulation environment;

S302. Using the base coordinate system as a reference, acquire the coordinate value of the end of the virtual robot relative to the base coordinate system.

Specifically, based on the triggering of the virtual robot by the user, a coordinate system interface is generated; the coordinate system interface includes at least the basic coordinate system option; based on the user's selection of the basic coordinate system option in the coordinate system interface, the basic coordinate system is generated; After the basic coordinate system is used as the reference coordinate system, the coordinate value of the end of the virtual robot is obtained based on the user triggering the center point of the tool installed at the end of the virtual robot.

As shown in FIG. 4 , it is a schematic flowchart of obtaining the coordinate values of the end of the virtual robot relative to the tool coordinate system in an embodiment of the present invention.

In yet another preferred implementation of this embodiment, when the own coordinate system is the tool coordinate system of the virtual robot, obtaining the coordinate value of the end of the virtual robot relative to the tool coordinate system at least includes the following steps:

S401, acquiring the tool coordinate system of the virtual robot in the simulation environment;

S402, reading the end coordinate value of the physical robot relative to the base coordinate system in the real environment;

S403. Based on the end coordinate values of the physical robot and the tool coordinate system of the virtual robot, calculate the coordinate values of the end of the virtual robot relative to the tool coordinate system.

Specifically, read the end coordinate value of the physical robot relative to the tool coordinate system through the teaching pendant. Calculate the coordinate value of the end of the virtual robot relative to the tool coordinate system based on the following calculation formula, specifically as shown in formula (2).

M _{sits loc} * M _reads =M _world formula (2);

Among them, _Mloc is the coordinate value of the end of the virtual robot relative to the tool coordinate system, Mread is the _read end coordinate value of the physical robot relative to the basic coordinate system, and _Mshi is the tool coordinate system of the virtual robot.

On this basis, the reverse deduction shows that the inverse matrix of _Mloc = _Mshi × _Mread , by obtaining _the inverse matrix of Mread, the coordinate value of the end of the virtual robot relative to the tool coordinate system can be calculated.

In this embodiment, the calculated end coordinates of the virtual robot can be inversely deduced through the end coordinates of the physical robot, which can ensure that the end coordinates of the physical robot and the virtual robot naturally match, so that the virtual robot is aligned with the real robot. Improve the efficiency and accuracy of the trajectory planning of the physical robot, reduce the error rate of the physical robot during the working process, and improve the pass rate of the product quality produced by the physical robot, so as to solve the difficulty in aligning the robot coordinates in related technologies, which may easily cause the physical robot to work. Mistakes in the process, resulting in technical problems of unqualified product quality.

In yet another preferred implementation of this embodiment, determining the tool coordinate system of the virtual robot in the simulation environment at least includes the following steps:

S1, take the base center of the virtual robot as the coordinate origin, and obtain the basic coordinate system of the virtual robot in the simulation environment;

S2, obtaining the TCP coordinate value of the tool center point captured by the mechanical arm of the physical robot;

S3. Based on the basic coordinate system and the TCP coordinate value, determine the tool coordinate system of the virtual robot in the simulation environment.

Specifically, the tool coordinate system M of _the virtual robot in the simulation environment is calculated according to the following formula (3).

M _{Fl xM TCP} = M formula (3);

Among them, M _Fl is used to indicate the basic coordinate system of the virtual robot, and M _TCP is used to indicate the TCP coordinate value of the real robot.

Here, the TCP coordinate value is used to indicate the three-dimensional coordinates of the TCB.

It should be noted that the base coordinate system, the tool coordinate system and the system coordinate system of the virtual robot correspond to the base coordinate system, the tool coordinate system and the system coordinate system of the real robot respectively. The basic coordinate system of the virtual robot is also the coordinate system corresponding to the flange of the virtual robot.

Therefore, based on the TCP coordinate value of the tool center point captured by the mechanical arm of the physical robot, the basic coordinate system of the virtual robot is converted into the tool coordinate system of the virtual robot, which is beneficial to the later calculation and improves the accuracy of the calculation of the working coordinate system .

It should be understood that, in various embodiments of the present invention, the size of the sequence numbers of the above-mentioned processes does not mean the order of execution, and the execution order of each process should be determined by its functions and internal logic, and should not be used in the implementation of the present invention. The implementation of the examples constitutes no limitation.

The embodiments of the present invention will be described in detail below in conjunction with specific application scenarios.

When the self-coordinate system is the basic coordinate system of the virtual robot, a coordinate conversion method for the robot at least includes the following steps:

S11. Determine the angle of the joint angle of the physical robot in the real environment, and obtain the first angle;

S12, obtaining the angle of the joint angle of the external structure connected with the physical robot in the real environment, and obtaining a second angle;

S13, adjusting the joint angle of the robot to be tested in the simulation environment based on the first angle to obtain a virtual robot;

S14, adjusting joint angles of the external structure to be tested in the simulation environment based on the second angle, to obtain a virtual external structure;

S15, constructing a simulation environment corresponding to the real environment based on the virtual robot and the virtual external structure;

S16, taking the center of the base of the virtual robot as the origin of coordinates, obtaining the basic coordinate system of the virtual robot in the simulation environment;

S17, taking the base coordinate system as a reference, acquiring the coordinate value of the end of the virtual robot relative to the base coordinate system;

S18, reading the coordinate value of the end of the physical robot relative to the system coordinate system in the real environment;

S19, based on the virtual robot's own coordinate system, the virtual robot's end coordinate value and the real robot's end coordinate value; determine the system coordinate system of the real robot in the real environment.

When the self-coordinate system is the tool coordinate system of the virtual robot, a coordinate conversion method for the robot at least includes the following steps:

S21. Determine the angle of the joint angle of the physical robot in the real environment to obtain the first angle;

S22. Obtain the angle of the joint angle of the external structure connected with the physical robot in the real environment to obtain a second angle;

S23, adjusting the joint angle of the robot to be tested in the simulation environment based on the first angle to obtain a virtual robot;

S24, adjusting joint angles of the external structure to be tested in the simulation environment based on the second angle, to obtain a virtual external structure;

S25, constructing a simulation environment corresponding to the real environment based on the virtual robot and the virtual external structure;

S26, taking the center of the base of the virtual robot as the origin of coordinates, obtaining the basic coordinate system of the virtual robot in the simulation environment;

S27, acquiring the TCP coordinate value of the tool center point captured by the mechanical arm of the physical robot;

S28, based on the basic coordinate system and the TCP coordinate value, determine the tool coordinate system of the virtual robot in the simulation environment;

S29, reading the end coordinate value of the physical robot relative to the base coordinate system in the real environment;

S30, based on the end coordinate value of the physical robot and the tool coordinate system of the virtual robot, calculate the coordinate value of the end of the virtual robot relative to the tool coordinate system;

S31, reading the coordinate value of the end of the physical robot relative to the system coordinate system in the real environment;

S32, based on the virtual robot's own coordinate system, the virtual robot's end coordinate value and the real robot's end coordinate value; determine the system coordinate system of the real robot in the real environment.

As shown in FIG. 5 , it is a schematic structural diagram of a coordinate conversion device for a robot provided by an embodiment of the present invention. A coordinate conversion device for a robot, the device 500 includes: a first acquisition module 501, configured to acquire the own coordinate system of a virtual robot in a simulation environment, and the coordinates of the end of the virtual robot relative to the self coordinate system value; the reading module 502 is used to read the coordinate value of the end of the physical robot relative to the system coordinate system in the real environment; the first determination module 503 is used to base the virtual robot on its own coordinate system, The end coordinate value and the end coordinate value of the physical robot; determine the system coordinate system of the physical robot in the real environment.

In a preferred embodiment, the device further includes: a second determination module, configured to determine the angle of the joint angle of the physical robot in the real environment to obtain the first angle; a second acquisition module, configured to obtain the angle of the joint angle in the real environment The angle of the joint angle of the external structure connected with the physical robot to obtain a second angle; the adjustment module is used to adjust the joint angle of the robot to be tested in the simulation environment based on the first angle and the second angle, Get a virtual robot.

In a preferred embodiment, the external structure includes one or more of an external shaft, a gantry and a guide rail.

In a preferred embodiment, when the self-coordinate system is the basic coordinate system of the virtual robot; the first acquisition module includes: a first acquisition unit configured to take the base center of the virtual robot as the coordinate The origin is used to obtain the basic coordinate system of the virtual robot in the simulation environment; the second obtaining unit is configured to use the basic coordinate system as a reference to obtain the coordinate value of the end of the virtual robot relative to the basic coordinate system.

In a preferred embodiment, when the self-coordinate system is the tool coordinate system of the virtual robot, the first acquisition module includes: a third acquisition unit, which is also used to acquire the tool coordinate system of the virtual robot in the simulation environment The reading unit is used to read the end coordinate value of the real robot relative to the base coordinate system in the real environment; the calculation unit is used to read the end coordinate value of the real robot and the tool coordinate system of the virtual robot, Calculate the coordinate value of the end of the virtual robot relative to the tool coordinate system.

In a preferred embodiment, the third acquiring unit includes: a first acquiring subunit, configured to take the center of the base of the virtual robot as the origin of coordinates, and acquire the basic coordinate system of the virtual robot in the simulation environment; the second acquiring The subunit is used to obtain the TCP coordinate value of the tool center point grabbed by the mechanical arm of the physical robot; the determination subunit is used to determine the virtual robot in the simulation environment based on the basic coordinate system and the TCP coordinate value the tool coordinate system.

The above-mentioned device can execute the coordinate transformation method for robots provided by an embodiment of the present invention, and has corresponding functional modules and beneficial effects for executing the coordinate transformation method for robots. For technical details not described in detail in this embodiment, refer to the coordinate conversion method for a robot provided in the embodiment of the present invention.

The present invention also provides an electronic device, including: a processor; a memory for storing instructions executable by the processor; the processor is used for reading the executable instructions from the memory and executing the The above instructions are used to realize the coordinate conversion method for a robot described in the present invention.

In addition to the above-mentioned methods and devices, embodiments of the present application may also be computer program products, which include computer program instructions that, when executed by a processor, cause the processor to perform the above-mentioned "exemplary method" of this specification. Steps in methods according to various embodiments of the application described in section.

The computer program product can be written in any combination of one or more programming languages for executing the program codes for the operations of the embodiments of the present application, and the programming languages include object-oriented programming languages, such as Java, C++, etc. , also includes conventional procedural programming languages, such as the "C" language or similar programming languages. The program code may execute entirely on the user's computing device, partly on the user's device, as a stand-alone software package, partly on the user's computing device and partly on a remote computing device, or entirely on the remote computing device or server to execute.

In addition, the embodiments of the present application may also be a computer-readable storage medium, on which computer program instructions are stored, and when the computer program instructions are executed by a processor, the processor executes the above-mentioned "Exemplary Method" section of this specification. The steps in the method described in the following embodiments of the present application.

The computer readable storage medium may employ any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. The readable storage medium may include, but not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices, or devices, or any combination thereof. More specific examples (non-exhaustive list) of readable storage media include: electrical connection with one or more conductors, portable disk, hard disk, random access memory (RAM), read only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

The basic principles of the present application have been described above in conjunction with specific embodiments, but it should be pointed out that the advantages, advantages, effects, etc. mentioned in the application are only examples rather than limitations, and these advantages, advantages, effects, etc. Various embodiments of this application must have. In addition, the specific details disclosed above are only for the purpose of illustration and understanding, rather than limitation, and the above details do not limit the application to be implemented by using the above specific details.

The block diagrams of devices, devices, devices, and systems involved in this application are only illustrative examples and are not intended to require or imply that they must be connected, arranged, and configured in the manner shown in the block diagrams. As will be appreciated by those skilled in the art, these devices, devices, devices, systems may be connected, arranged, configured in any manner. Words such as "including", "comprising", "having" and the like are open-ended words meaning "including but not limited to" and may be used interchangeably therewith. As used herein, the words "or" and "and" refer to the word "and/or" and are used interchangeably therewith, unless the context clearly dictates otherwise. As used herein, the word "such as" refers to and is used interchangeably with the phrase "such as but not limited to".

It should also be pointed out that in the devices, equipment and methods of the present application, each component or each step can be decomposed and/or reassembled. These decompositions and/or recombinations should be considered equivalents of this application.

The above description of the disclosed aspects is provided to enable any person skilled in the art to make or use the present application. Various modifications to these aspects will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other aspects without departing from the scope of the application. Thus, the present application is not intended to be limited to the aspects shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

The foregoing description has been presented for purposes of illustration and description. Furthermore, this description is not intended to limit the embodiments of the application to the forms disclosed herein. Although a number of example aspects and embodiments have been discussed above, those skilled in the art will recognize certain variations, modifications, changes, additions and sub-combinations thereof.

In the description of this specification, descriptions with reference to the terms "one embodiment", "some embodiments", "example", "specific examples", or "some examples" mean that specific features described in connection with the embodiment or example , structure, material or feature is included in at least one embodiment or example of the present invention. Furthermore, the described specific features, structures, materials or characteristics may be combined in any suitable manner in any one or more embodiments or examples. In addition, those skilled in the art can combine and combine different embodiments or examples and features of different embodiments or examples described in this specification without conflicting with each other.

In addition, the terms "first" and "second" are used for descriptive purposes only, and cannot be interpreted as indicating or implying relative importance or implicitly specifying the quantity of indicated technical features. Thus, the features defined as "first" and "second" may explicitly or implicitly include at least one of these features. In the description of the present invention, "plurality" means two or more, unless otherwise specifically defined.

The above is only a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Anyone skilled in the art can easily think of changes or substitutions within the technical scope disclosed in the present invention. Should be covered within the protection scope of the present invention. Therefore, the protection scope of the present invention should be determined by the protection scope of the claims.

Claims (10)

1. A coordinate conversion method for a robot, characterized by comprising:

acquiring a self coordinate system of a virtual robot in a simulation environment and a coordinate value of the tail end of the virtual robot relative to the self coordinate system;

reading a coordinate value of the tail end of the physical robot relative to a system coordinate system in a real environment;

based on the self coordinate system of the virtual robot, the terminal coordinate value of the virtual robot and the terminal coordinate value of the physical robot; and determining a system coordinate system of the physical robot in the real environment.

2. The method of claim 1, further comprising:

determining the angle of the joint angle of the entity robot in a real environment to obtain a first angle;

acquiring an angle of a joint angle of an external structure connected with the entity robot in a real environment to obtain a second angle;

adjusting the joint angle of the robot to be tested in the simulation environment based on the first angle to obtain a virtual robot;

adjusting the joint angle of the external structure to be detected in the simulation environment based on the second angle to obtain a virtual external structure;

and constructing a simulation environment corresponding to the real environment based on the virtual robot and the virtual external structure.

3. The method of claim 2, wherein the external structure comprises one or more of an external shaft, a gantry, and a rail.

4. The method according to claim 1, wherein when the own coordinate system is a base coordinate system of the virtual robot; acquiring a self coordinate system of the virtual robot in the simulation environment and a coordinate value of the tail end of the virtual robot relative to the self coordinate system; the method comprises the following steps:

taking the center of the base of the virtual robot as a coordinate origin to obtain a basic coordinate system of the virtual robot in a simulation environment;

and acquiring the coordinate value of the tail end of the virtual robot relative to the basic coordinate system by referring to the basic coordinate system.

5. The method according to claim 1, wherein when the self coordinate system is a tool coordinate system of the virtual robot, the acquiring the self coordinate system of the virtual robot in the simulation environment and the coordinate values of the end of the virtual robot relative to the self coordinate system comprises:

acquiring a tool coordinate system of the virtual robot in the simulation environment;

reading a terminal coordinate value of the entity robot relative to a basic coordinate system in the real environment;

and calculating the coordinate value of the tail end of the virtual robot relative to the tool coordinate system based on the coordinate value of the tail end of the physical robot and the tool coordinate system of the virtual robot.

6. The method of claim 5, wherein said obtaining a tool coordinate system of the virtual robot in the simulated environment comprises:

taking the center of the base of the virtual robot as a coordinate origin to obtain a basic coordinate system of the virtual robot in a simulation environment;

acquiring a tool center point TCP coordinate value grabbed by a mechanical arm of the entity robot;

and determining a tool coordinate system of the virtual robot in the simulation environment based on the basic coordinate system and the TCP coordinate value.

7. A coordinate conversion apparatus for a robot, characterized by comprising:

the system comprises a first acquisition module, a second acquisition module and a control module, wherein the first acquisition module is used for acquiring a self coordinate system of the virtual robot in a simulation environment and a coordinate value of the tail end of the virtual robot relative to the self coordinate system;

the reading module is used for reading the coordinate value of the tail end of the physical robot relative to the system coordinate system in the real environment;

a first determination module, configured to determine a terminal coordinate value of the physical robot based on a self coordinate system of the virtual robot; and determining a system coordinate system of the physical robot in the real environment.

8. The apparatus of claim 7, further comprising:

the second determining module is used for determining the angle of the joint angle of the entity robot under the real environment to obtain a first angle;

the second acquisition module is used for acquiring the angle of a joint angle of an external structure connected with the entity robot under the real environment to obtain a second angle;

and the adjusting module is used for adjusting the joint angle of the robot to be measured in the simulation environment based on the first angle and the second angle to obtain the virtual robot.

9. An electronic device, comprising:

a processor, and

a memory for storing executable instructions of the processor;

wherein the processor is configured to perform the method for coordinate transformation of a robot of any of claims 1 to 6 via execution of the executable instructions.

10. A computer-readable medium, on which a computer program is stored which, when being executed by a processor, carries out the method for coordinate conversion of a robot according to any one of claims 1-6.

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