Tool head posture adjustment method and apparatus, and readable storage medium

A tool head posture adjustment apparatus, comprising:

• a memory, a processor, and a tool head posture adjustment program stored on the memory and executable by the processor, when executed by the processor, the tool head posture adjustment program implements a tool head posture adjustment method, applicable to a robot, comprising:
• controlling laser points of laser distance sensors to irradiate onto a site to be checked in a way that the laser points are not on a straight line, where there are more than two of the laser distance sensors;
• acquiring a distance measured by each of the laser distance sensors, an initial coordinate of each of the laser distance sensors and a laser direction of each of the laser distance sensors, where the distance is a distance between each laser distance sensor and the corresponding laser point;
• calculating a laser point coordinate of each of the laser points on the site to be checked based on the distance, the initial coordinate and the laser direction, and calculating a comprehensive plane normal vector of a plane determined by the laser point coordinates, where the comprehensive plane normal vector is obtained from a plane normal vector of the plane determined by the laser point coordinates;
• and
• calculating posture parameters of a tool head posture of the robot to be adjusted based on a preset posture expression, the distances and the comprehensive plane normal vector, and controlling a tool head of the robot to be adjusted to a posture to be adjusted based on the posture parameters.

A non-transitory computer readable storage medium, storing thereon a tool head posture adjustment program, which, when executed by a processor, implements a tool head posture adjustment method, applicable to a robot, comprising:

• controlling laser points of laser distance sensors to irradiate onto a site to be checked in a way that the laser points are not on a straight line, where there are more than two of the laser distance sensors;
• acquiring a distance measured by each of the laser distance sensors, an initial coordinate of each of the laser distance sensors and a laser direction of each of the laser distance sensors, where the distance is a distance between each laser distance sensor and the corresponding laser point;
• calculating a laser point coordinate of each of the laser points on the site to be checked based on the distance, the initial coordinate and the laser direction, and calculating a comprehensive plane normal vector of a plane determined by the laser point coordinates, where the comprehensive plane normal vector is obtained from a plane normal vector of the plane determined by the laser point coordinates;
• and
• calculating posture parameters of a tool head posture of the robot to be adjusted based on a preset posture expression, the distances and the comprehensive plane normal vector, and controlling a tool head of the robot to be adjusted to a posture to be adjusted based on the posture parameters.