Disclosure of Invention
The application provides an intelligent teaching method based on a mechanical arm, a positioning method and related products, which can improve teaching efficiency.
In a first aspect, the present application provides an intelligent teaching method based on a mechanical arm, including:
Acquiring a first pose conversion relation between a tool end effector and a first actual end effector, wherein the first pose conversion relation is obtained by determining pose of the tool end effector and the first actual end effector based on the same mechanical arm base coordinate system;
acquiring the working pose of the tool end effector at a target working point;
And determining the working pose of the first actual end effector according to the working pose of the tool end effector at the target working point and the first pose conversion relation.
Optionally, the acquiring the first pose conversion relationship between the tool end effector and the first actual end effector includes:
Acquiring a first mechanical arm pose and a second mechanical arm pose, wherein the first mechanical arm pose is a pose of the tool end effector under the mechanical arm base coordinate system when the mechanical arm drives the tool end effector to interact with a first physical medium, and the second mechanical arm pose is a pose of the first actual end effector under the mechanical arm base coordinate system when the mechanical arm drives the first actual end effector to interact with a second physical medium;
And determining a first pose conversion relation between the first actual end effector and the tool end effector according to the first mechanical arm pose and the second mechanical arm pose.
Optionally, the first physical medium and the second physical medium are different media;
the method further comprises the steps of: acquiring the position relation between the first physical medium and the second physical medium;
The determining, according to the first and second robot pose, a first pose conversion relationship between the first actual end effector and the tooling end effector includes:
And determining a first pose conversion relationship between the first actual end effector and the tool end effector according to the position relationship between the first physical medium and the second physical medium, the first mechanical arm pose and the second mechanical arm pose.
Optionally, the method further comprises:
Acquiring a second pose conversion relation between the tool end effector and a second actual end effector, wherein the second pose conversion relation is obtained by determining pose of the tool end effector and the second actual end effector based on the mechanical arm base coordinate system;
And determining the working pose of the second practical end effector according to the working pose of the tool end effector at the target working point and the second pose conversion relation.
Optionally, the acquiring the second pose conversion relationship between the tool end effector and the second actual end effector includes:
Acquiring a first mechanical arm pose and a third mechanical arm pose, wherein the first mechanical arm pose is a pose of the tool end effector under the mechanical arm base coordinate system when the mechanical arm drives the tool end effector to interact with a first physical medium, and the third mechanical arm pose is a pose of the second actual end effector under the mechanical arm base coordinate system when the mechanical arm drives the second actual end effector to interact with a third physical medium;
and determining a second pose conversion relationship between the second actual end effector and the tool end effector according to the first mechanical arm pose and the third mechanical arm pose.
Optionally, the first physical medium and the third physical medium are different mediums;
the method further comprises the steps of: acquiring the position relationship between the first physical medium and the third physical medium;
The determining, according to the first and third robot pose, a second pose conversion relationship between the second actual end effector and the tooling end effector includes:
And determining a second pose conversion relationship between the second actual end effector and the tool end effector according to the position relationship between the first physical medium and the third physical medium, the first mechanical arm pose and the third mechanical arm pose.
Optionally, the second actual end effector and the first actual end effector are different types of tool jaws.
Optionally, the determining, according to the first pose of the mechanical arm and the second pose of the mechanical arm, a first pose conversion relationship between the first actual end effector and the tool end effector includes:
performing matrix inversion operation on one of the first mechanical arm pose and the second mechanical arm pose to obtain an inverse matrix;
And according to the other of the first mechanical arm pose and the second mechanical arm pose and the inverse matrix, obtaining a conversion matrix of the first actual end effector and the tooling end effector in a three-dimensional space, and determining the conversion matrix as a first pose conversion relation.
In a second aspect, the present application provides a positioning method based on a mechanical arm, including:
Obtaining the working pose of the target actual end effector by using any intelligent teaching method based on the mechanical arm;
And based on the working pose, driving the target actual end effector to perform positioning operation by using the mechanical arm.
In a third aspect, the present application provides an intelligent teaching device based on a mechanical arm, including:
The first acquisition module is used for acquiring a first pose conversion relation between the tool end effector and a first practical end effector, wherein the first pose conversion relation is obtained by determining pose of the tool end effector and the first practical end effector based on the same mechanical arm base coordinate system;
the second acquisition module is used for acquiring the working pose of the tool end effector at the target working point;
And the determining module is used for determining the working pose of the first actual end effector according to the working pose of the tool end effector at the target working point and the first pose conversion relation.
In a fourth aspect, the present application provides a positioning device based on a mechanical arm, including:
The acquisition module is used for acquiring the working pose of the target actual end effector by using the intelligent teaching method based on the mechanical arm;
and the control module is used for controlling the mechanical arm to drive the target actual end effector to perform positioning operation based on the working pose.
In a fifth aspect, the application provides an electronic device comprising a memory and a processor, the memory having executable code stored thereon which, when processed by the processor, causes the processor to perform the method of any of the claims.
In a sixth aspect, the present application provides a computer readable storage medium storing executable code which, when executed by a processor of an electronic device, causes the electronic device to perform the method of any one of the above.
In the embodiment of the application, after the first pose conversion relation between the tool end effector and the actual end effector is obtained, when the working pose of the tool end effector at the target working point is obtained, the pose of the desired actual end effector at the interaction of the target working point and the medium can be obtained through the first pose conversion relation; compared with the traditional method that the actual end effector needs to be manually taught on each working point, the intelligent teaching method reduces the first pose conversion relation obtained by one-time calibration, and the intelligent teaching is carried out on the working pose of each working point through the tool end effector, so that the workload of the manual teaching can be reduced, the teaching efficiency is improved, the influence caused by the manual teaching error is reduced, and the accuracy is improved.
Detailed Description
Embodiments of the present application will be described in more detail below with reference to the accompanying drawings. While embodiments of the present application are illustrated in the drawings, it should be understood that the present application may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the application to those skilled in the art.
The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in this specification and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used herein refers to and encompasses any or all possible combinations of one or more of the associated listed items.
It should be understood that although the terms "first," "second," "third," etc. may be used herein to describe various information, these information should not be limited by these terms. These terms are only used to distinguish one type of information from another. For example, first information may also be referred to as second information, and similarly, second information may also be referred to as first information, without departing from the scope of the application. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present application, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.
As shown in fig. 1, fig. 1 is a schematic diagram of one embodiment of the intelligent teaching method based on the mechanical arm of the present application. The method comprises the following steps:
step S101, a first pose conversion relation between a tool end effector and a first actual end effector is obtained.
The first pose conversion relation is obtained by determining the pose of the tool end effector and the first actual end effector based on the same mechanical arm base coordinate system. Optionally, the first pose conversion relationship may be obtained after real-time calibration, or may be stored after the first pose conversion relationship is obtained after the first calibration, and then the first pose conversion relationship is obtained by reading at the storage location.
In one example, a method for acquiring a first pose conversion relationship through calibration includes: and acquiring a first mechanical arm pose and a second mechanical arm pose, and determining a first pose conversion relation between the first actual end effector and the tool end effector according to the first mechanical arm pose and the second mechanical arm pose. The first mechanical arm pose is a pose of the tool end effector under the mechanical arm base coordinate system when the mechanical arm drives the tool end effector to interact with a first physical medium, and the second mechanical arm pose is a pose of the first actual end effector under the mechanical arm base coordinate system when the mechanical arm drives the first actual end effector to interact with a second physical medium.
Wherein the tool end effector is used for teaching, such as a tool claw. The first actual end effector is for use in actual operations, such as a tool jaw. Optionally, the mechanical arm base coordinate system is a coordinate system established by taking the center of a fixed base of the mechanical arm as an origin.
The first physical medium and the second physical medium may be the same medium, or may be different mediums, for example, different mediums having a fixed positional relationship. When the first physical medium and the second physical medium are different mediums, when determining a first pose conversion relationship between the first actual end effector and the tool end effector according to the pose of the first mechanical arm and the pose of the second mechanical arm, the position relationship between the first physical medium and the second physical medium needs to be acquired, and the first pose conversion relationship between the first actual end effector and the tool end effector is determined according to the pose of the first mechanical arm and the pose of the second mechanical arm and the position relationship between the first physical medium and the second physical medium.
For example, the first physical medium is a container tray and the second physical medium is a container on the container tray. The tool end effector is driven to interact with the container tray through the mechanical arm, and the first mechanical arm pose of the tool end effector under the mechanical arm base coordinate system during interaction is obtained; and driving the first actual end effector to interact with the container through the mechanical arm to obtain the pose of the second mechanical arm of the first actual end effector under the mechanical arm base coordinate system during interaction. And through the position relations among the first mechanical arm pose, the second mechanical arm pose and the container tray and the container, the first pose conversion relation between the first actual end effector and the tool end effector can be calculated.
Optionally, the first pose conversion relationship between the tool end effector and the first actual end effector, specifically, the three-dimensional space conversion relationship between the tool end effector and the first actual end effector, for example, a rotational translation matrix.
In one example, when determining a first pose conversion relationship between the first actual end effector and the tooling end effector according to the first mechanical arm pose and the second mechanical arm pose, specifically, performing an inversion operation on one of the first mechanical arm pose and the second mechanical arm pose, and according to the other one of the first mechanical arm pose and the second mechanical arm pose and the result of the inversion operation, obtaining a conversion matrix of the first actual end effector and the tooling end effector in a three-dimensional space, and determining the conversion matrix as a first pose conversion relationship. For example, the tool end effector is denoted as tool. Std, and the first robot pose is denoted as
tool.stdTbase The pose of the tool std with the format of T in a base coordinate system, wherein the base coordinate system is a mechanical arm base coordinate system; the first actual end effector is denoted tool.obj1 and similarly the second robot pose is denotedtool.obj1Tbase. When the first pose conversion relation is acquired,tool.obj1Tbase can be firstly inverted to obtain an inverse matrixbaseTtool.obj1; according to
tool.stdTbase·baseTtool.obj1＝tool.stdTtool.obj1 The conversion matrixtool.stdTtool.obj1 is calculated as the first pose conversion relationship, ortool.stdTtool.obj1 is inverted to obtaintool.obj1Ttool.std as the first pose conversion relationship.
Alternatively,tool.stdTbase may be inverted to obtain the inverse matrixbaseTtool.std, and then the conversion matrixtool.obj1Ttool.std may be calculated according totool.obj1Tbase·baseTtool.std＝tool.obj1Ttool.std to serve as the first pose conversion relationship. Ortool.obj1Ttool.std may be inverted to obtain the conversion matrixtool.stdTtool.obj1 as the first pose conversion relationship.
In one example, the first and second robot pose are in a first format, and the pose-to-format is in a second format recognizable by the computer when using software for coordinate calculation. Therefore, when the first pose conversion relation is obtained, the first pose conversion relation is calculated by using the first pose of the mechanical arm and the second pose of the mechanical arm under the second format after the first pose of the mechanical arm and the second pose of the mechanical arm are converted under the second format. For example, the first format is denotedaPB, representing the pose of point a in the B coordinate system in the format P, for example, [ x, y, z, rx, ry, rz ]. The second format is denotedaTB, representing the pose of point a in the B coordinate system in the format T, the representation of the pose being in matrix format.aTB AndaPB may be switched between each other. WhereinaPB is a coordinate form that can be recognized by the robot arm, andaTB is a coordinate form that can be recognized by the computer.
For example, first converting the first robot pose fromtool.stdPbase totool.stdTbase and the second robot pose fromtool.obj1Pbase totool.obj1Tbase; and then calculating a first pose conversion relation according totool.stdTbase andtool.obj1Tbase.
Step S102, acquiring the working pose of the tool end effector at a target working point.
Optionally, the working pose of the tool end effector at the target working point can be obtained according to manual teaching or a hole searching mode. In one example, the working pose of the tool end effector at the target working point is represented in a first format, denotedtool.std_workPbase, and the working pose represented in the first format is converted to a second format, denotedtool.std_workTbase, because the pose is recognizable by the computer as being in the second format when the background software is used for coordinate calculation.
Step S103, determining the working pose of the first actual end effector according to the working pose of the tool end effector at the target working point and the first pose conversion relation.
For example, the working pose of the tool end effector at the target working point istool.std_workTbase, the first pose conversion relationship istool.obj1Ttool.std, and the working posetool.obj1Tbase of the first actual end effector is obtained according totool.obj1Ttool.std·tool.std_workTbase＝tool.obj1Tbase.
In the embodiment of the application, after the first pose conversion relation between the tool end effector and the actual end effector is obtained, the pose of the tool end effector when the actual end effector interacts with the medium can be obtained through the first pose conversion relation after the working pose of the tool end effector at the target working point is obtained; compared with the traditional method that manual teaching is required for an actual end effector on each working point, the intelligent teaching method reduces the first pose conversion relation obtained by one-time calibration, and intelligent teaching is performed on the working pose of each working point through the tool end effector, so that the workload of manual teaching can be reduced, the teaching efficiency is improved, the influence caused by teaching errors is reduced, and the accuracy is improved.
In one example, the same tool end effector may be used for intelligent teaching of different actual end effectors, e.g., the tool end effector described above may be used for intelligent teaching of a second actual end effector in addition to the first actual end effector. Alternatively, the second real end effector may be intelligently taught while the first real end effector is left undetached, or the first real end effector may be replaced with the second real end effector after being detached, without limitation. Optionally, the intelligent teaching method based on the mechanical arm in the application further comprises the following steps:
Step S104, obtaining a second pose conversion relation between the tool end effector and a second actual end effector.
The second pose conversion relation is obtained by determining the pose of the tool end effector and the second actual end effector based on the same mechanical arm base coordinate system. Optionally, the second pose conversion relationship may be obtained after real-time calibration, or may be stored after the second pose conversion relationship is obtained after the first calibration, and then the second pose conversion relationship is obtained by reading at the storage location. The calibration operation of the same tool end effector and a plurality of actual end effectors can be completed, so that the pose conversion relation between the tool end effector and each actual end effector is obtained.
In one example, a method for obtaining a second pose conversion relationship through calibration includes: acquiring the first mechanical arm pose and the third mechanical arm pose, wherein the first mechanical arm pose is a pose of the tool end effector under the mechanical arm base coordinate system when the mechanical arm drives the tool end effector to interact with a first physical medium, and the third mechanical arm pose is a pose of the second actual end effector under the mechanical arm base coordinate system when the mechanical arm drives the second actual end effector to interact with a third physical medium; and determining a second pose conversion relationship between the second actual end effector and the tool end effector according to the first mechanical arm pose and the third mechanical arm pose.
The first physical medium and the third physical medium may be the same medium, or may be different mediums, for example, different mediums having a fixed positional relationship. When the first physical medium and the third physical medium are different mediums, acquiring a second position and posture conversion relation between the tool end effector and a second actual end effector, and acquiring the position relation between the first physical medium and the third physical medium; and determining a second pose conversion relationship between the second actual end effector and the tool end effector according to the position relationship between the first physical medium and the third physical medium, the first mechanical arm pose and the third mechanical arm pose.
The method for obtaining the second pose conversion relationship may refer to the description of obtaining the first pose conversion relationship, which is not described herein.
Optionally, the second actual end effector and the first actual end effector are different types of tool jaws. For example, the tool end effector may be a pallet tool jaw, the first and second actual end effectors may be different tool jaws, respectively, e.g., the first actual end effector may be a pallet tool jaw, the second actual end effector may be a test tube tool jaw, etc.
Alternatively, the second physical medium that the first actual end effector interacts with and the third physical medium that the second actual end effector interacts with may be the same medium or different media. Considering that even the same type of actual end effector with the same function has possible process difference between the two end effectors, the two actual end effectors with the same type are respectively calibrated with the tooling end effector, so that the experimental accuracy is improved, and experimental deviation caused by the process difference is avoided.
Optionally, when the first actual end effector and the second actual end effector are of different types, the second pose conversion relationship between the second actual end effector and the tool end effector may be obtained according to the positional relationship between the second physical medium and the third physical medium and the first pose conversion relationship between the first actual end effector and the tool end effector.
Step S105, determining a working pose of the second actual end effector according to the working pose of the tool end effector at the target working point and the second pose conversion relationship.
For example, the working pose of the tool end effector at the target working point istool.std_workTbase, the second pose conversion relationship istool.obj2Ttool.std, and the working posetool.obj2Tbase of the second actual end effector is obtained according totool.obj2Ttool.std·tool.std_workTbase＝tool.obj2Tbase.
In this example, same frock end effector can carry out intelligent teaching to different actual end effectors, only need do once mark when changing or increasing actual end effector and obtain frock end effector and the actual end effector position appearance conversion relation after changing or increasing can carry out follow-up intelligent teaching, and convenient and fast more can improve performance and reduce cost for it is more convenient to use.
The application further provides a positioning method based on the mechanical arm. As shown in fig. 2, fig. 2 is a schematic diagram of one embodiment of the robot-based positioning method of the present application. The method comprises the following steps:
Step S201, the working pose of the target actual end effector is obtained by using an intelligent teaching method based on a mechanical arm.
The target actual end effector may be the first actual end effector or the second actual end effector. The intelligent teaching method based on the mechanical arm can be any of the intelligent teaching methods based on the mechanical arm, and will not be described herein.
Step S202, based on the working pose, the mechanical arm is utilized to drive the target actual end effector to perform positioning operation.
After the working pose of the target actual end effector is determined, the mechanical arm is controlled at the working point to drive the target actual end effector to perform positioning operation according to the working pose.
The application further provides an intelligent teaching device based on the mechanical arm. As shown in fig. 3, fig. 3 is a schematic diagram of one embodiment of the intelligent teaching device based on the mechanical arm of the present application. The apparatus 300 includes:
The first obtaining module 301 is configured to obtain a first pose conversion relationship between a tool end effector and a first actual end effector, where the first pose conversion relationship is determined by the tool end effector and the first actual end effector based on poses under the same mechanical arm base coordinate system;
A second obtaining module 302, configured to obtain a working pose of the tool end effector at a target working point;
And the determining module 303 is configured to determine a working pose of the first actual end effector according to a working pose of the tool end effector at the target working point and the first pose conversion relationship.
Optionally, the first obtaining module 301 is specifically configured to, when obtaining the first pose conversion relationship between the tool end effector and the first actual end effector:
Acquiring a first mechanical arm pose and a second mechanical arm pose, wherein the first mechanical arm pose is a pose of the tool end effector under the mechanical arm base coordinate system when the mechanical arm drives the tool end effector to interact with a first physical medium, and the second mechanical arm pose is a pose of the first actual end effector under the mechanical arm base coordinate system when the mechanical arm drives the first actual end effector to interact with a second physical medium;
And determining a first pose conversion relation between the first actual end effector and the tool end effector according to the first mechanical arm pose and the second mechanical arm pose.
Optionally, the first physical medium and the second physical medium are different media;
the first obtaining module 301 is further configured to obtain a positional relationship between the first physical medium and the second physical medium before obtaining a first pose conversion relationship between the tooling end effector and the first actual end effector;
The determining, according to the first and second robot pose, a first pose conversion relationship between the first actual end effector and the tooling end effector includes:
And determining a first pose conversion relationship between the first actual end effector and the tool end effector according to the position relationship between the first physical medium and the second physical medium, the first mechanical arm pose and the second mechanical arm pose.
Optionally, the apparatus further comprises:
The third acquisition module is used for acquiring a second pose conversion relation between the tool end effector and a second actual end effector, wherein the second pose conversion relation is obtained by determining pose of the tool end effector and the second actual end effector under the same mechanical arm base coordinate system;
the determining module 303 is further configured to determine a working pose of the second actual end effector according to a working pose of the tool end effector at the target working point and the second pose conversion relationship.
Optionally, the third obtaining module is specifically configured to, when obtaining the second pose conversion relationship between the tool end effector and the second actual end effector:
Acquiring a first mechanical arm pose and a third mechanical arm pose, wherein the first mechanical arm pose is a pose of the tool end effector under the mechanical arm base coordinate system when the mechanical arm drives the tool end effector to interact with a first physical medium, and the third mechanical arm pose is a pose of the second actual end effector under the mechanical arm base coordinate system when the mechanical arm drives the second actual end effector to interact with a third physical medium;
and determining a second pose conversion relationship between the second actual end effector and the tool end effector according to the first mechanical arm pose and the third mechanical arm pose.
Optionally, the first physical medium and the third physical medium are different mediums;
the third obtaining module is further configured to obtain a positional relationship between the first physical medium and the third physical medium before obtaining a second pose conversion relationship between the tooling end effector and the second actual end effector;
the third obtaining module is specifically configured to, when determining a second pose conversion relationship between the second actual end effector and the tool end effector according to the pose of the first mechanical arm and the pose of the third mechanical arm:
And determining a second pose conversion relationship between the second actual end effector and the tool end effector according to the position relationship between the first physical medium and the third physical medium, the first mechanical arm pose and the third mechanical arm pose.
Optionally, the second actual end effector and the first actual end effector are different types of tool jaws.
Optionally, the first obtaining module 301 determines, according to the first and second robot pose, a first pose conversion relationship between the first actual end effector and the tool end effector, including:
performing matrix inversion operation on one of the first mechanical arm pose and the second mechanical arm pose to obtain an inverse matrix;
And according to the other of the first mechanical arm pose and the second mechanical arm pose and the inverse matrix, obtaining a conversion matrix of the first actual end effector and the tooling end effector in a three-dimensional space, and determining the conversion matrix as a first pose conversion relation.
The application further provides a positioning device based on the mechanical arm. As shown in fig. 4, fig. 4 is a schematic view of one embodiment of the robotic arm-based positioning device of the present application. The apparatus 400 includes:
An obtaining module 401, configured to obtain a working pose of a target actual end effector by using the method described in any one of the above;
and the control module 402 is used for controlling the mechanical arm to drive the target actual end effector to perform positioning operation based on the working pose.
The application further provides an electronic device, as shown in fig. 5, and fig. 5 is a schematic diagram of an embodiment of the electronic device of the application. The electronic device 500 includes a memory 501 and a processor 502, where the memory 501 stores executable code, and when the executable code is processed by the processor 502, the processor 502 can execute the intelligent teaching method based on the mechanical arm or the positioning method based on the mechanical arm.
Furthermore, the method according to the application may also be implemented as a computer program or computer program product comprising computer program code instructions for performing part or all of the steps of the above-described method of the application.
Or the application may also be embodied as a computer-readable storage medium (or non-transitory machine-readable storage medium or machine-readable storage medium) having stored thereon executable code (or a computer program or computer instruction code) which, when executed by a processor of an electronic device (or server, etc.), causes the processor to perform some or all of the steps of the above-described method according to the application.
The foregoing description of embodiments of the application has been presented for purposes of illustration and description, and is not intended to be exhaustive or limited to the embodiments disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the various embodiments described. The terminology used herein was chosen in order to best explain the principles of the embodiments, the practical application, or the improvement of technology in the marketplace, or to enable others of ordinary skill in the art to understand the embodiments disclosed herein.