WO2018120210A1 - Method and device for determining position information about stacking point, and robot - Google Patents

Abstract

Disclosed are a method and device for determining position information about a stacking point, and a robot. The method comprises: determining a first transformation matrix between an original stacking coordinate system bound with a pallet, and a world coordinate system of a robot (S100); according to position information about a taught stacking point under the original stacking coordinate system, and a position relationship between the first transformation matrix and the world coordinate system, obtaining first position information about the taught stacking point under the world coordinate system, and determining first position information about other stacking points on the pallet (S110); determining a new stacking coordinate system of the moved pallet, and determining a second transformation matrix between the new stacking coordinate system and the world coordinate system (S120); and obtaining, according to the first transformation matrix and the second transformation matrix, a third transformation matrix, and using the third transformation matrix to obtain position information about a moved stacking point under the world coordinate system (S130). When a pallet moves, it is unnecessary to teach a stacking point again, so a large amount of time can be saved, and the efficiency of a stacking production line can be improved.

Description

Method, device and robot for determining position information of code point Technical field

The present invention relates to the field of intelligent machine technologies, and in particular, to a method, device and robot for determining position information of a code point.

Background technique

With the rapid development of the economy, robots are increasingly used in palletizing. The palletizing is to place the items neatly on the tray according to a certain rule, or to remove the items from the tray and place them on a conveyor belt or other equipment, as shown in Fig. 1. The palletizing process depends on the stacking form of the disc (three-dimensional matrix, row R, column C, layer L consisting of a three-dimensional matrix), and the trajectory along which the robot places the article or removes the item. The definition of the pallet is in the disc mode, which determines how the objects in the disc are placed.

At present, the industrial palletizing application has more requirements on the disc mode, not only the common regular square (as shown in Fig. 2), but also some irregular disc patterns (as shown in Fig. 3). At present, when the robot is palletizing, it is necessary to teach some information of the code points according to the different modes of the disk. Among them, for the irregular disk mode, it can often meet some complicated requirements of the industrial site, but in order to realize this complicated form. The pallet requires more information on the pallet position information to be taught before the pallet; for example, only the teaching code 垛3 (1,1,1), (numR,1,1), (1) is required in Fig. 2 , numC, 1) and (1, 1, numL) four points of information, but Figure 3 needs to teach all the points on the first layer as position information, and then teach (1,1, numL) points Position information, when the disk is large, that is, when the number of rows and columns is large, the number of points that need to be taught is also large, and the time spent is also large.

The information of all points taught on the prior art disk matrix is referred to the world coordinate system. For the common disk mode that is common in practical applications, only the entire disk is moved, that is, when moving each time. At the disc position, all the teaching point information cannot be saved, and all the information previously taught must be re-teached. The situation of moving the disk often occurs, which is very inconvenient, wastes a lot of time, and delays the efficiency of the production line. Therefore, how to improve the efficiency of the palletizing line in the case of moving the pallet is a technical problem that a person skilled in the art needs to solve.

Summary of the invention

An object of the present invention is to provide a method, a device and a robot for determining position information of a code point. When the disk is moved, it is only necessary to know the conversion relationship between the code coordinate system and the world coordinate system, and it is not necessary to re-code. Point teaching can save a lot of time and improve the efficiency of the palletizing line.

To solve the above technical problem, the present invention provides a method for determining location information of a code point, including:

Determining a first transformation matrix between the original coded coordinate system bound to the disk and the world coordinate system of the robot;

Obtaining the teaching code point in the world according to the position information of the teaching code point in the original code coordinate system and the positional relationship between the first transformation matrix and the world coordinate system First position information in a coordinate system, and determining first position information of the other code points on the disk in the world coordinate system;

Determining a new palletizing coordinate system of the disc after the movement, and determining a second transformation matrix between the new palletizing coordinate system and the world coordinate system;

Calculating a third transformation matrix according to the first transformation matrix and the second transformation matrix, and updating, by using the third transformation matrix, first position information of each code point on the disk to obtain the moved state The position information of the disc is located in the world coordinate system.

Optionally, the determining a new code coordinate system of the disk after the moving comprises:

Obtaining a unit vector with respect to the world coordinate system on three coordinate axes in the original coordinate system of the moved disc, and determining a new palletizing coordinate system of the disc after moving according to the unit vector; or ,

Obtaining coordinate point information of a coordinate origin of the original coordinate system of the moved disc relative to the world coordinate system and coordinate point information of any point on any one of the coordinate axes with respect to the world coordinate system, according to the acquired The coordinate point information determines a unit vector of the three coordinate axes, and determines a new pallet coordinate system of the disk after the movement based on the unit vector.

Alternatively, the third transformation matrix is particularly C1 * C2 ^-1; wherein, a first transformation matrix is a C1, C2 ^-1 as a second transformation matrix inverse matrix C2.

Optionally, the obtained point of the stacking pallets after the movement position information in the _Pliocene pos world coordinate system as: pos _Pliocene = C1 * C2 ^-1 * (pos _{original World);} wherein , C1 is a first transformation matrix, C2 ^-1 as a second transformation matrix of the inverse matrix C2, pos _{world original} first position information of each point on the stacking pallets.

Alternatively, when an irregular pattern pallets pallets mode, the pallets on the first position information of each stacking pos _{original world} points is:

Where pos(array.x,array.y,1) is the row of the three-dimensional lattice point on the disk is array.x and the column is array.y, the layer is the coordinate point information of the teaching code point of 1, pos( 1,1,numL) is the coordinate point information of the teaching code point of the numL in the first row and the first column of the disk, and pos(1,1,1) is the first row of the first row of the first row of the disk. Location information, array.z is the number of layers is z.

The present invention also provides an apparatus for determining location information of a code point, comprising:

a first transformation matrix module, configured to determine a first transformation matrix between the original coded coordinate system of the disk binding and the world coordinate system of the robot;

a first location information module, configured to obtain the indication according to position information of the teaching code point in the original code coordinate system, and a positional relationship between the first transformation matrix and the world coordinate system The teaching code points the first position information in the world coordinate system, and determines the first position information of the other code points on the disk in the world coordinate system;

a second transformation matrix module, configured to determine a new pallet coordinate system of the disc after the movement, and determine a second transformation matrix between the new pallet coordinate system and the world coordinate system;

Updating the location information module, configured to calculate a third transformation matrix according to the first transformation matrix and the second transformation matrix, and use the third transformation matrix to update first location information of each code point on the disk, Obtaining position information of the pallet of the moving disc in the world coordinate system.

Optionally, the second transformation matrix module includes:

a first new code coordinate system acquiring unit, configured to acquire a unit vector with respect to the world coordinate system on three coordinate axes in the original coordinate system of the moved disk, and according to the unit direction The quantity determines the new palletizing coordinate system of the disc after the movement; or

a second new code coordinate system acquiring unit, configured to acquire coordinate point information of a coordinate origin of the original coordinate system of the moved disk relative to the world coordinate system, and any point on any one of the coordinate axes relative to the The coordinate point information of the world coordinate system is determined, the unit vector of the three coordinate axes is determined according to the acquired coordinate point information, and the new code coordinate system of the disk after the movement is determined according to the unit vector.

Optionally, the updated location information module includes:

a third transform matrix unit, configured to calculate a third transform matrix C1*C2 ^-1 according to the first transform matrix C1 and the second transform matrix C2; wherein C2 ^-1 is an inverse matrix of the second transform matrix C2.

Optionally, the updated location information module includes:

Point position information after the movement palletizing unit for calculating the movement of the palletizing point in the world coordinate system of the new coordinate system of palletising using Equation _Pliocene pos = C1 * C2 ^-1 * (pos _{original World)} pos _Pliocene position information; wherein, C1 is a first transformation matrix, C2 ^-1 as a second transformation matrix of the inverse matrix C2, pos _{world original} first position information of each point on the stacking pallets.

Optionally, the first location information module is specifically configured to use a formula when the disk mode is an irregular disk mode.

Calculating first position information of each code point on the disk;

Where pos(array.x,array.y,1) is the row of the three-dimensional lattice point on the disk is array.x and the column is array.y, the layer is the coordinate point information of the teaching code point of 1, pos( 1,1,numL) is the coordinate point information of the teaching code point of the numL in the first row and the first column of the disk, and pos(1,1,1) is the first row of the first row of the first row of the disk. Location information, array.z is the number of layers is z.

The invention also provides a robot comprising:

a communication component, configured to acquire position information according to the teaching code point in the original code coordinate system;

a processor, configured to determine a first transformation matrix between the original coded coordinate system of the disk binding and the world coordinate system of the robot; and a positional letter in the original coded coordinate system according to the teaching code Information, and a positional relationship between the first transformation matrix and the world coordinate system, acquiring first position information of the teaching code point in the world coordinate system, and determining other First code information of each code point in the world coordinate system; determining a new code frame coordinate system of the disk after moving, and determining a number between the new code frame coordinate system and the world coordinate system a second transformation matrix; calculating a third transformation matrix according to the first transformation matrix and the second transformation matrix, and updating the first position information of each code point on the disk by using the third transformation matrix The position of the pallet of the disc is in the world coordinate system.

Optionally, the processor is configured to obtain a unit vector with respect to the world coordinate system on three coordinate axes in the original coordinate system of the moved disk, and determine the movement after the moving according to the unit vector. a new palletizing coordinate system of the disc; or obtaining coordinate point information of a coordinate origin of the original coordinate system of the moved disc relative to the world coordinate system and any point on any one of the coordinate axes relative to the world The coordinate point information of the coordinate system determines a unit vector of the three coordinate axes according to the acquired coordinate point information, and determines a new code coordinate system of the disk after the movement according to the unit vector.

Optionally, the processor is configured to calculate a third transform matrix C1*C2 ^-1 according to the first transform matrix C1 and the second transform matrix C2; wherein C2 ^-1 is an inverse matrix of the second transform matrix C2.

Optionally, the processor is configured using the formula _Pliocene pos = C1 * C2 ^-1 * (pos _{original World)} Palletizing point after the mobile computing position information of the world coordinate system in the coordinate system of the new palletizing Pos _{new life} ; wherein C1 is the first transformation matrix, C2 ^-1 is the inverse matrix of the second transformation matrix C2, and pos _primitive is the first position information of each code point on the disk.

Optionally, the processor is configured to use a formula when the disk mode is an irregular disk mode

Calculating first position information of each code point on the disk;

Where pos(array.x,array.y,1) is the row of the three-dimensional lattice point on the disk is array.x and the column is array.y, the layer is the coordinate point information of the teaching code point of 1, pos( 1,1,numL) is the coordinate point information of the teaching code point of the numL in the first row and the first column of the disk, and pos(1,1,1) is the first row of the first row of the first row of the disk. Location information, array.z is the number of layers is z.

The invention provides a method for determining position information of a code point, wherein the method teaches a code coordinate system for each disk, and the code coordinate system is bound to the disk, that is, the code in the disk The relative position of the defect point and the code coordinate system is fixed, so that each time the disk moves, only the conversion relationship of the code coordinate system with respect to the world coordinate system needs to be known, and the teaching code is not required. Re-teaching can save a lot of time and improve the efficiency of the palletizing line; the invention also provides an apparatus and a robot for determining the position information of the palletizing point, which have the above-mentioned beneficial effects, and are not described herein again.

DRAWINGS

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the description of the prior art will be briefly described below. Obviously, the drawings in the following description are only It is an embodiment of the present invention, and those skilled in the art can obtain other drawings according to the provided drawings without any creative work.

FIG. 1 is a schematic diagram of a robot palletizing application according to an embodiment of the present invention; FIG.

2 is a schematic diagram of a rule disk mode according to an embodiment of the present invention;

FIG. 3 is a schematic diagram of an irregular disk mode according to an embodiment of the present invention; FIG.

4 is a schematic flowchart of a method for determining location information of a code point according to an embodiment of the present invention;

FIG. 5 is a schematic structural diagram of an apparatus for determining location information of a code point according to an embodiment of the present invention;

FIG. 6 is a schematic structural diagram of a robot according to an embodiment of the present invention.

detailed description

The core of the present invention is to provide a method, a device and a robot for determining position information of a code point. When the disk is moved, it is only necessary to know the conversion relationship between the code coordinate system and the world coordinate system, and there is no need to re-code. Point teaching can save a lot of time and improve the efficiency of the palletizing line.

The technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the drawings in the embodiments of the present invention. It is a partial embodiment of the invention, and not all of the embodiments. Based on the embodiments of the present invention, those skilled in the art are not making creative labors. All other embodiments obtained below are within the scope of the invention.

At present, when the robot is palletizing, it is necessary to teach some information about the code points according to the mode of the disk, and according to the information and some necessary parameters (the most commonly used, for example, the arrangement mode of the row and column direction, the arrangement mode generally has two Species, arranged in a straight line, the items are evenly arranged in a straight line between the first and the last, only the teaching start and end code point position information; freely arranged, the arrangement of the items is irregular, all the information needs to be taught) To determine the positional information of points on all other three-dimensional matrices. If the direction of the row and column layers are arranged in a straight line, the final shape of the disk is as shown in Fig. 2. At this time, only (1,1,1), (numR,1,1) on the three-dimensional matrix of the teaching code is required. The information of four points (1, numC, 1) and (1, 1, numL) can obtain information of all other points on the three-dimensional matrix. The position information of any point can be obtained by the following formula:

For the more complicated two directions, the irregular disc mode is an example of an irregular disc pattern in both directions. The final disc shape can be as shown in Figure 3. All points on the layer are positional information, and then the information of the (1,1,numL) point is taught. The position information of any other point can be obtained by the following formula:

Wherein, the number of rows is numR, the number of columns is numC, and the number of layers is numL; when rows, columns, and layers are aligned, the unit vectors of the three directions in the world coordinate system are respectively [u _x , u _y , u _z ],[v _x ,v _y ,v _z ],[w _x ,w _y ,w _z ]; coded three-dimensional matrix points are represented by [array.x,array.y,array.z]; coordinates of any point The information is represented by [pos _.x , pos _.y , pos _.z ]; pos(1,1,1) _w represents the position of the (1,1,1) point of the code matrix in the world coordinate system.

It can be seen from the above description that for the more complicated two-direction disc mode, that is, the irregular disc mode, the number of points to be taught is numR*numC+1, when the disc is compared Large, that is, when there are a large number of rows and columns, there are many points of information to be taught, and it takes a lot of time. In the prior art, in the case where only the disk is moved and the disk mode is not changed, it is necessary to re-teaching the code point information, which wastes a lot of time. Therefore, the method for determining the position information of the code point in the embodiment does not need to re-teach the code point that has been taught, and saves a lot of time. For the specific method, please refer to FIG. 4 , 4 is a flowchart of a method for determining location information of a code point according to an embodiment of the present invention; the method may include:

S100. Determine a first transformation matrix between a source code coordinate system bound to the disk and a world coordinate system of the robot;

Specifically, since the relative position of the code point relative to the disk is fixed, in order to re-teach the code point position information after the disk is moved, it is necessary to use the code point relative to The relative position of the disc is fixed. This feature binds a pallet coordinate system to the disc. The above-mentioned original coded coordinate system refers to the coded coordinate system bound to the disk when the teaching code is first calculated. At this time, it is also necessary to obtain a first transformation matrix between the original code coordinate system and the world coordinate system, which is used to represent the positional relationship between the original code coordinate system and the world coordinate system, and then indicates the position information of the code point and the world. The positional relationship between the coordinate systems.

其中，

表示stack1坐标系相对于world的旋转矩阵，[q_x,q_y,q_z]表示stack1坐标系原点在world坐标系下的位置。即垛盘中建立好原始码垛坐标系后，即该原始码垛坐标系的坐标原点即可确定，且机器人对应的世界坐标系也是确定不变的。因此可以知道一个确定的原始码垛坐标系的坐标原点在机器人对应的世界坐标系中的坐标即[q_x,q_y,q_z]。在两个坐标系都确定的情况下可以根据两个坐标系的单位向量得到两个坐标系之间的旋转矩阵即

将该旋转矩阵用齐次坐标表示即为

For example, if the world coordinate system is world(W) and the source code coordinate system is stack1 (Ts1), then the first transformation matrix is

among them,

Represents the rotation matrix of the stack1 coordinate system relative to the world, and [q _x , q _y , q _z ] represents the position of the origin of the stack1 coordinate system in the world coordinate system. That is, after the original code coordinate system is established in the disk, the coordinate origin of the original code coordinate system can be determined, and the corresponding world coordinate system of the robot is also determined to be unchanged. Therefore, it can be known that the coordinate origin of a certain original code coordinate system is the coordinate in the corresponding world coordinate system of the robot, that is, [q _x , q _y , q _z ]. In the case where both coordinate systems are determined, the rotation matrix between the two coordinate systems can be obtained from the unit vectors of the two coordinate systems.

The rotation matrix is represented by homogeneous coordinates.

S110. Obtain position information of the teaching code point in the world coordinate system according to the position information of the teaching code point in the original code coordinate system and the positional relationship between the first transformation matrix and the world coordinate system. And determining the first position information of the other code points on the disk in the world coordinate system;

Specifically, the step obtains the position information of the teaching code point relative to the original code frame coordinate system according to the pallet form of the disk, and obtains each code according to the position information of the teaching code 垛 relative to the original code frame coordinate system.垛 Point relative to the position information in the original pallet coordinate system, use the source code to sit The positional relationship between the taxonomy and the world coordinate system, that is, the first transformation matrix obtains the first position information of the respective code points on the disk in the original code coordinate system with respect to the world coordinate system. This embodiment does not limit the specific calculation form, and only needs to replace the position information of the directly acquired code point relative to the world coordinate system in the prior art to use the first transformation matrix to compare the code point with respect to the original code coordinate system. The position information is converted into the first position information of the world coordinate system.

The disk mode here can be any form (for example, a regular disk mode or an irregular disk mode, etc.).

When there is a disk coordinate system, for the more complicated two directions, there is an irregular disk mode, and the disk mode in both directions is an example. It is necessary to teach all the layers on the first layer. The point is the position information, and then the information of the (1,1,numL) point is taught. Optionally, when the disk mode is the irregular disk mode, the first position information of each code point on the disk is pos. _{The original world} can be:

Where pos(array.x,array.y,1) is the row of the three-dimensional lattice point on the disk is array.x and the column is array.y, the layer is the coordinate point information of the teaching code point of 1, pos( 1,1,numL) is the coordinate point information of the teaching code point of the numL in the first row and the first column of the disk, and pos(1,1,1) is the first row of the first row of the first row of the disk. Location information, array.z is the number of layers is z.

It should be noted that the formula here is based on the irregular pattern of the row and column directions; the first position information formula of the rule disc mode or other forms of irregular disc mode can be modified accordingly.

S120. Determine a new code coordinate system of the moving disk, and determine a second transformation matrix between the new code coordinate system and the world coordinate system;

Specifically, here to determine the new palletizing coordinate system of the moved disc, firstly, it is necessary to determine whether the disc is moved, that is, whether to move the disc before the palletizing is performed; whether it can pass the mobile input or not after receiving the user input The new position information of the bound code coordinate system, or whether the disk has been moved or not.

After determining the movement of the disk, if the disk mode of the disk does not change, it is necessary to determine the new frame coordinate system of the disk according to the position after the disk is moved, and then obtain the method in the above S100. A second transformation matrix between the new pallet coordinate system and the world coordinate system.

Here, it is determined that the new pallet coordinate system of the disc after the movement may be various. Optionally, the new pallet coordinate system for determining the disc after the movement may include:

Obtaining a unit vector relative to the world coordinate system on three coordinate axes in the original coordinate system of the moved disk, and determining a new code coordinate system of the moved disk according to the unit vector; or

Obtaining the coordinate point information of the coordinate origin of the original coordinate system of the moved disk relative to the coordinate system of the world coordinate system and the coordinate point information of any point on any one of the coordinate axes with respect to the world coordinate system, and determining three according to the acquired coordinate point information The unit vector of the coordinate axis, and the new code coordinate system of the moving disk after the movement is determined according to the unit vector.

Specifically, the new code coordinate system of the disk may be determined according to the unit vector on the three coordinate axes of the code coordinate system bound on the moving disk, or the code bound according to the moving disk. The coordinate point information of the origin of the coordinate system and the coordinate point information of a point on one of the three coordinate axes can determine the new pallet coordinate system of the disc.

The following two ways are explained separately:

其中[u_x,u_y,u_z]表示B坐标系x轴方向的单位向量，[v_x,v_y,v_z]表示B坐标系y轴方向的单位向量，[w_x,w_y,w_z]表示B坐标系z轴方向的单位向量，[q_x,q_y,q_z]表示B坐标系原点的坐标。The specific process of determining the new pallet coordinate system of the moving disc based on the unit vector may be that, assuming that the world coordinate system is A and the new pallet coordinate system is B, the conversion relationship between the two can be expressed by the following formula: ^A P= ^A T _B * ^B P The position of any P point in the A coordinate system can be obtained from the position of any P point in the B coordinate system by the above formula. Therefore, it is only necessary to know that the B coordinate system is relative to the A coordinate system. Conversion matrix, ie

Where [u _x , u _y , u _z ] represents the unit vector of the B coordinate system in the x-axis direction, and [v _x , v _y , v _z ] represents the unit vector of the y-axis direction of the B coordinate system, [w _x , w _y , w _z ] represents the unit vector of the B coordinate system in the z-axis direction, and [q _x , q _y , q _z ] represents the coordinates of the origin of the B coordinate system.

其他几个单位向量的公式可以以此类推。According to the obtained coordinate point information, the unit vector of the three coordinate axes is determined, and the specific process of determining the new pallet coordinate system of the moving disc according to the unit vector may be, after moving the disc, only the new disc coordinate system is needed. Each point in the x, y, and z directions is represented by p _x , p _y , p _z , and the origin coordinates p _{o of the} disc are taught, so that the unit vector in the above description can be expressed by the following formula

The formula for several other unit vectors can be deduced by analogy.

S130. Calculate a third transformation matrix according to the first transformation matrix and the second transformation matrix, and use the third transformation matrix to update the first position information of each code point on the disk to obtain a code point of the moving disk. Location information in the coordinate system.

Specifically, according to the positional relationship between the coded coordinate system and the world coordinate system bound to the two disks, the positional relationship between the code point on the disk and the world coordinate system can be obtained. The optional third transform matrix may be C1*C2 ^-1 ; wherein C1 is the first transform matrix and C2 ^-1 is the inverse matrix of the second transform matrix C2. When moving pallets, when calculating the stacking point coordinates, a transformation matrix is introduced C1 * C2 ^-1, teaching can be avoided to give the new pallet stacking position coordinate information pos _Pliocene:

I.e. _Pliocene pos = C1 * C2 ^-1 * (pos _{original World);} where, C1 is a first transformation matrix, C2 ^-1 as a second transformation matrix of the inverse matrix C2, pos _original point on _{the world} for the pallets palletizing First location information. If the coded coordinate system is taught, each time the disk is moved, only the conversion between the coordinate systems needs to be introduced to obtain the position information of the code points in the moving disk, which saves a lot of teaching code points. Time, simple and convenient, improve production efficiency and avoid repeated work.

The following uses the coordinate origin in the coordinate system of the disk as an example to illustrate the first position information of the code point in the world coordinate system in the above embodiment, and the position information of the code point in the world coordinate system can be understood as follows. First, the coordinate origin is the coordinate origin position relative to the disk when the disk is moved, that is, the position is not changed in the coordinate system. When the coordinate system corresponding to the disk is the original code coordinate system, the coordinate origin The first position information relative to the world coordinate system is at A[q _x1 , q _y1 , q _z1 ]; when the corresponding coordinate system after the disk is moved is the new code coordinate system, the position of the coordinate origin relative to the world coordinate system information _{B [q x2, q y2,} q z2] at. Therefore, it can be seen that the position information of the corresponding world coordinate system of the pallet point in the corresponding disc coordinate system of each different disc is different.

Based on the above technical solution, the method for determining the position information of the code point is provided by the embodiment of the present invention. The method introduces the concept of the code coordinate system. After the disk is moved, only the code coordinate system needs to be taught, and the simple coordinate is adopted. The system transform can obtain the position information of the code point under the moving disk, thereby realizing the palletizing operation. This method is more complicated for the disk mode, and the information of the coded point information needs to be taught more, and the advantage is particularly obvious. It can save a lot of repeated teaching time and improve production efficiency. The apparatus and the robot for determining the position information of the code point are provided in the following embodiments of the present invention. The apparatus for determining the position information of the code point and the method for determining the position information of the code point described above may be mutually referenced. .

Please refer to FIG. 5. FIG. 5 is a structural block diagram of an apparatus for determining location information of a code point according to an embodiment of the present invention; the apparatus may include:

a first transformation matrix module 100, configured to determine a first transformation matrix between the original coded coordinate system of the disk binding and the world coordinate system of the robot;

The first position information module 200 is configured to obtain position information of the teaching code point in the world coordinate according to the position information of the teaching code point in the original code coordinate system and the positional relationship between the first transformation matrix and the world coordinate system. The first position information is determined, and the first position information of the other code points on the disk in the world coordinate system is determined;

a second transformation matrix module 300, configured to determine a new pallet coordinate system of the moving pallet, and determine a second transformation matrix between the new pallet coordinate system and the world coordinate system;

The location information module 400 is configured to calculate a third transformation matrix according to the first transformation matrix and the second transformation matrix, and use the third transformation matrix to update the first location information of each code point on the disk to obtain the moved location. The position information of the pallet point of the disc in the world coordinate system.

Based on the foregoing embodiment, the first location information module 200 specifically uses the formula when the disk mode is the irregular disk mode:

Calculating first position information of each code point on the disk;

Where pos(array.x,array.y,1) is the row of the three-dimensional lattice point on the disk is array.x and the column is array.y, the layer is the coordinate point information of the teaching code point of 1, pos( 1,1,numL) is the coordinate point information of the teaching code point of the numL in the first row and the first column of the disk, and pos(1,1,1) is the first row of the first row of the first row of the disk. Location information, array.z is the number of layers is z.

Based on any of the above embodiments, the second transformation matrix module 300 includes:

The first new code 垛 coordinate system acquiring unit is configured to obtain a unit vector with respect to the world coordinate system on three coordinate axes in the original coordinate system of the moved disk, and determine a new code of the moving disk according to the unit vector. Coordinate system; or,

The second new code 垛 coordinate system acquiring unit is configured to obtain coordinate point information of a coordinate origin of the original coordinate system of the moved disk relative to the world coordinate system and coordinates of any point on any one coordinate axis with respect to the world coordinate system The point information determines a unit vector of the three coordinate axes according to the acquired coordinate point information, and determines a new code coordinate system of the moved disk according to the unit vector.

Based on any of the above embodiments, the update location information module 400 includes:

a third transformation matrix unit, configured to calculate a third transformation matrix C1*C2 ^-1 according to the first transformation matrix C1 and the second transformation matrix C2;

Point position information after the movement palletizing unit for calculating _{the new} post-movement position information pos palletizing point in the world coordinate system of the new coordinate system using equation palletising _Pliocene pos = C1 * C2 ^-1 * (pos _{original World) The} C2 ^-1 is the inverse matrix of the second transformation matrix C2, and the pos _primitive is the first position information of each code point on the disk.

Based on the above technical solution, the device for determining the position information of the code point is introduced by the embodiment of the present invention, and the concept of the code coordinate system is introduced. After the disk is moved, only the code coordinate system needs to be taught, and the coordinate system is transformed by a simple coordinate system. The position information of the pallets under the moving disc can be obtained, thereby realizing the palletizing operation. The method is more complicated for the disc mode, and the information of the palletizing point information needs to be taught more, and the advantage is particularly obvious, which can save A large number of repeated teaching times to improve production efficiency.

Please refer to FIG. 6. FIG. 6 is a schematic structural diagram of a robot according to an embodiment of the present invention; the robot may include: a communication component 10, configured to acquire a coordinate system according to a teaching code Location information;

The processor 20 is configured to determine a first transformation matrix between the original code coordinate system of the disk binding and the world coordinate system of the robot; position information according to the teaching code point in the original code coordinate system, and a positional relationship between a transformation matrix and a world coordinate system, obtaining first position information of the teaching code point in the world coordinate system, and determining first position information of other code points on the disk in the world coordinate system Determining a new pallet coordinate system of the moving disc and determining a second transformation matrix between the new pallet coordinate system and the world coordinate system; calculating a third transformation matrix according to the first transformation matrix and the second transformation matrix, and The first position information of each code point on the disk is updated by using the third transformation matrix, and the position information of the code point of the moved disk in the world coordinate system is obtained.

Based on the above embodiment, the processor 20 is configured to obtain a unit vector with respect to the world coordinate system on three coordinate axes in the original coordinate system of the moved disk, and determine a new code coordinate system of the moved disk according to the unit vector. Or, obtain the coordinate point information of the coordinate origin of the original coordinate system of the moved disk relative to the world coordinate system and the coordinate point information of any point on any coordinate axis with respect to the world coordinate system, according to the acquired coordinate point information Determine the unit vector of the three axes, and determine the new pallet coordinate system of the moving disc based on the unit vector.

Based on the above embodiment, the processor 20 is configured to calculate a third transformation matrix C1*C2 ^-1 according to the first transformation matrix C1 and the second transformation matrix C2; wherein C2 ^-1 is an inverse matrix of the second transformation matrix C2.

Based on any of the above embodiments, the processor 20 for calculating the position of the world coordinate system of the _new information pos palletizing point in the new coordinate system after moving palletising using Equation _Pliocene pos = C1 * C2 ^-1 * (pos _{original World) The} C1 is the first transformation matrix, C2 ^-1 is the inverse matrix of the second transformation matrix C2, and the pos _primitive is the first position information of each code point on the disk.

Based on any of the above embodiments, the processor 20 is configured to utilize a formula when the disk mode is an irregular disk mode.

Calculating first position information of each code point on the disk;

Where pos(array.x,array.y,1) is the row of the three-dimensional lattice point on the disk is array.x and the column is Array.y, the layer is the coordinate point information of the teaching code 垛 point of 1, pos(1,1,numL) is the coordinate point information of the teaching code 垛 point of the first row and the first column of the 为L, pos (1,1,1) is the position information of the first layer of the first row and the first column of the disk, and array.z is the number of layers of z. The various embodiments in the specification are described in a progressive manner, and each embodiment focuses on differences from other embodiments, and the same similar parts between the various embodiments may be referred to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the method part.

A person skilled in the art will further appreciate that the elements and algorithm steps of the various examples described in connection with the embodiments disclosed herein can be implemented in electronic hardware, computer software or a combination of both, in order to clearly illustrate the hardware and software. Interchangeability, the composition and steps of the various examples have been generally described in terms of function in the above description. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the solution. A person skilled in the art can use different methods for implementing the described functions for each particular application, but such implementation should not be considered to be beyond the scope of the present invention.

The steps of a method or algorithm described in connection with the embodiments disclosed herein can be implemented directly in hardware, a software module executed by a processor, or a combination of both. The software module can be placed in random access memory (RAM), memory, read only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, removable disk, CD-ROM, or technical field. Any other form of storage medium known.

The method, device and robot for determining the position information of the code point are provided in detail above. The principles and embodiments of the present invention have been described herein with reference to specific examples, and the description of the above embodiments is only to assist in understanding the method of the present invention and its core idea. It should be noted that those skilled in the art can make various modifications and changes to the present invention without departing from the spirit and scope of the invention.

Claims (15)

A method for determining location information of a code point, comprising: Determining a first transformation matrix between the original coded coordinate system bound to the disk and the world coordinate system of the robot; Obtaining the teaching code point in the world according to the position information of the teaching code point in the original code coordinate system and the positional relationship between the first transformation matrix and the world coordinate system First position information in a coordinate system, and determining first position information of the other code points on the disk in the world coordinate system; Determining a new palletizing coordinate system of the disc after the movement, and determining a second transformation matrix between the new palletizing coordinate system and the world coordinate system; Calculating a third transformation matrix according to the first transformation matrix and the second transformation matrix, and updating, by using the third transformation matrix, first position information of each code point on the disk to obtain the moved state The position information of the disc is located in the world coordinate system. The method for determining the location information of the code point according to claim 1, wherein the determining the new frame coordinate system of the disk after the moving comprises: Obtaining a unit vector with respect to the world coordinate system on three coordinate axes in the original coordinate system of the moved disc, and determining a new palletizing coordinate system of the disc after moving according to the unit vector; or , Obtaining coordinate point information of a coordinate origin of the original coordinate system of the moved disc relative to the world coordinate system and coordinate point information of any point on any one of the coordinate axes with respect to the world coordinate system, according to the acquired The coordinate point information determines a unit vector of the three coordinate axes, and determines a new pallet coordinate system of the disk after the movement based on the unit vector. The method of determining the stacking point position information according to claim 2, characterized in that the third transformation matrix specific to C1 * C2 ^-1; wherein, a first transformation matrix is a C1, C2 ^-1 as a second conversion The inverse matrix of matrix C2. The method for determining the position information of the code point according to any one of claims 1 to 3, characterized in that the position information pos of the code point of the moved disk in the world coordinate system is obtained. _{The new world} is: pos _{new world} = C1 * C2 ^-1 * (pos _{original world} ); where C1 is the first transformation matrix, C2 ^-1 is the inverse matrix of the second transformation matrix C2, pos _{original world} is the The first position information of the code point. The method for determining location information of a code point according to claim 4, wherein when the disk mode is an irregular disk mode, the first position information pos of each code point on the disk is _originally :

Where pos(array.x,array.y,1) is the row of the three-dimensional lattice point on the disk is array.x and the column is array.y, the layer is the coordinate point information of the teaching code point of 1, pos( 1,1,numL) is the coordinate point information of the teaching code point of the numL in the first row and the first column of the disk, and pos(1,1,1) is the first row of the first row of the first row of the disk. Location information, array.z is the number of layers is z. An apparatus for determining location information of a code point, comprising: a first transformation matrix module, configured to determine a first transformation matrix between the original coded coordinate system of the disk binding and the world coordinate system of the robot; a first location information module, configured to obtain the indication according to position information of the teaching code point in the original code coordinate system, and a positional relationship between the first transformation matrix and the world coordinate system The teaching code points the first position information in the world coordinate system, and determines the first position information of the other code points on the disk in the world coordinate system; a second transformation matrix module, configured to determine a new pallet coordinate system of the disc after the movement, and determine a second transformation matrix between the new pallet coordinate system and the world coordinate system; Updating the location information module, configured to calculate a third transformation matrix according to the first transformation matrix and the second transformation matrix, and use the third transformation matrix to update first location information of each code point on the disk, Obtaining position information of the pallet of the moving disc in the world coordinate system. The apparatus for determining code point location information according to claim 6, wherein the second transformation matrix module comprises: a first new code coordinate system acquiring unit, configured to acquire a unit vector with respect to the world coordinate system on three coordinate axes in the original coordinate system of the moved disk, and determine the movement according to the unit vector a new palletizing coordinate system of the disc; or a second new code 垛 coordinate system acquiring unit, configured to acquire original coordinates of the moved disk The coordinate origin of the system is relative to the coordinate point information of the world coordinate system and the coordinate point information of any point on any one of the coordinate axes with respect to the world coordinate system, and the unit vector of the three coordinate axes is determined according to the acquired coordinate point information. And determining, according to the unit vector, a new palletizing coordinate system of the disc after the movement. The apparatus for determining the location information of the code point according to claim 7, wherein the updating the location information module comprises: a third transform matrix unit, configured to calculate a third transform matrix C1*C2 ^-1 according to the first transform matrix C1 and the second transform matrix C2; wherein C2 ^-1 is an inverse matrix of the second transform matrix C2. The apparatus for determining the location information of the code point according to any one of claims 6-8, wherein the updating the location information module comprises: Point position information after the movement palletizing unit for calculating the movement of the palletizing point in the world coordinate system of the new coordinate system of palletising using Equation _Pliocene pos = C1 * C2 ^-1 * (pos _{original World)} pos _Pliocene position information; wherein, C1 is a first transformation matrix, C2 ^-1 as a second transformation matrix of the inverse matrix C2, pos _{world original} first position information of each point on the stacking pallets. The apparatus for determining the location information of the code point according to claim 9, wherein the first location information module is specifically configured to use a formula when the disk mode is an irregular disk mode.

Calculating first position information of each code point on the disk; Where pos(array.x,array.y,1) is the row of the three-dimensional lattice point on the disk is array.x and the column is array.y, the layer is the coordinate point information of the teaching code point of 1, pos( 1,1,numL) is the coordinate point information of the teaching code point of the numL in the first row and the first column of the disk, and pos(1,1,1) is the first row of the first row of the first row of the disk. Location information, array.z is the number of layers is z. A robot characterized by comprising: a communication component, configured to acquire position information according to the teaching code point in the original code coordinate system; a processor, configured to determine a first transformation matrix between the original coded coordinate system of the disk binding and the world coordinate system of the robot; and a positional letter in the original coded coordinate system according to the teaching code Information, and a positional relationship between the first transformation matrix and the world coordinate system, acquiring first position information of the teaching code point in the world coordinate system, and determining other First code information of each code point in the world coordinate system; determining a new code frame coordinate system of the disk after moving, and determining a number between the new code frame coordinate system and the world coordinate system a second transformation matrix; calculating a third transformation matrix according to the first transformation matrix and the second transformation matrix, and updating the first position information of each code point on the disk by using the third transformation matrix The position of the pallet of the disc is in the world coordinate system. The robot according to claim 11, wherein the processor is configured to acquire a unit vector with respect to the world coordinate system on three coordinate axes of the original coordinate system of the moved disk, and The unit vector determines a new pallet coordinate system of the disc after the movement; or, obtains the coordinate point information of the coordinate origin of the original coordinate system of the stolen disc relative to the world coordinate system and any one coordinate axis Any point on the coordinate point information of the world coordinate system, determining a unit vector of three coordinate axes according to the acquired coordinate point information, and determining a new code coordinate system of the disk after moving according to the unit vector . The robot according to claim 12, wherein said processor is configured to obtain a third transform matrix C1 * C2 ^-1 according to a first transformation matrix C1 and C2 is a second transformation matrix is calculated; wherein, for the second C2 ^-1 The inverse matrix of the transformation matrix C2. Robot according to any one of claims 11-13, wherein the processor is configured using the formula _Pliocene pos = C1 * C2 ^-1 * (pos _{original world)} is calculated after the movement point in said new palletizing the position information pos _Pliocene in the world coordinate system coordinate palletizing; where, C1 is a first transformation matrix, C2 ^-1 is an inverse matrix of a second transform matrix C2, pos _{original world} on pallets for the palletising The first location information of the point. The robot according to claim 14, wherein said processor is configured to utilize a formula when the disk mode is an irregular disk mode

Calculating first position information of each code point on the disk; Where pos(array.x,array.y,1) is the row of the three-dimensional lattice point on the disk is array.x and the column is Array.y, the layer is the coordinate point information of the teaching code 垛 point of 1, pos(1,1,numL) is the coordinate point information of the teaching code 垛 point of the first row and the first column of the 为L, pos (1,1,1) is the position information of the first layer of the first row and the first column of the disk, and array.z is the number of layers of z.

Images