Method and device for determining robot space coordinate system conversion relationship

Abstract

An embodiments of the invention provides a method for determining a robot space coordinate system conversion relationship. The method comprises steps of obtaining at least three space reference pointsaccording to a positioning point at the end of a mechanical arm; determining coordinates of each space reference point of the at least three space reference points in a sensor coordinate system and coordinate thereof in a mechanical arm coordinate system; and determining a conversion relationship of the mechanical arm coordinate system and the sensor coordinate system according to coordinates ofeach space reference point in the sensor coordinate system and the mechanical arm coordinate system. The method lowers load of the mechanical arm, reduces size and weight of the end of the mechanicalarm, lowers the requirement on sensor identification capability, controls the error fluctuation range and improves positioning accuracy.

Description

technical field [0001] Embodiments of the present invention relate to the field of artificial intelligence, and in particular to a method and device for determining a transformation relationship of a robot's spatial coordinate system. Background technique [0002] Positioning and navigation is one of the important prerequisites for the realization of robot intelligence, and it is a key factor for endowing robots with perception and action capabilities. Robots with positioning and navigation technology can analyze, judge and select the surrounding environment, and then plan paths and move to the target operation position to complete work tasks. [0003] In the process of robot positioning and navigation, the conversion of spatial position relationship is generally involved, that is, the spatial relationship needs to be established between the target spatial position and the robot spatial position. After the spatial relationship is established, the robot moves to the target l...

AI Technical Summary

Problems solved by technology

[0005] For the above solution, since the sensor cannot be moved, and the end of the manipulator is limited by load weight, motion path, and working environment, the volume of the end of the manipulator is often not designed to be very large. These factors make the distance between the above three positioning points The location distance is relatively close. On the one hand, the recognition accuracy of the sensor is limited, which makes it difficult or even impossible to recognize the sensor. If a sensor with very high precision is used, the equipment cost will increase; on the other hand, the assembly position error of the positioning point on the end of the mechanical arm etc. will also be brought into the process of establishing the spatial relationship, and the more the number of positioning points on the end of the manipulator is used to establish the spatial relationship, the greater the error will be.

Only these two aspects can bring large errors to the subsequent establishment of the spatial relationship, thereby affecting the positioning accuracy of the robot and the quality of the task completed.

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