Line scanning laser positioning device and positioning method

Abstract

The present invention provides a line-scanning laser positioning device, comprising a robotic arm, a slide rail, a robotic arm base, and a line-scanning laser device. The robotic arm is fixedly mounted on the robotic arm base and has a freely movable robotic arm end, which is used to secure an object to be measured. The slide rail is mounted on the robotic arm base and is parallel to the robotic arm. The line-scanning laser device is mounted on the slide rail and is movable along the slide rail, with the laser generating surface of the line-scanning laser device facing the robotic arm end. The line-scanning laser positioning device is simple and convenient to use, and easy to operate.

Description

Technical Field

[0001] The present invention relates to the field of laser positioning technology, and in particular to a line scanning laser positioning device and a positioning method. Background Art

[0002] Lasers can be used to measure distance and position by emitting a laser signal and deriving the distance based on the time difference of receiving the signal reflected from the object. The angle between the object and the transmitter can be determined based on the angle of the emitted laser, thereby determining the relative position of the object and the transmitter.

[0003] Currently, the positioning error of line-scanning lasers on the market is large, and even those with a relatively small positioning error still reach ±25mm. Furthermore, since line-scanning lasers can only scan a single plane, when used alone, they only scan a two-dimensional plane. Currently, there is no standard method for calibrating line-scanning lasers and robotic arms. Many laser calibration methods use reflective rods in the scene, calibrating through simultaneous observation of two two-dimensional coordinate systems. This not only fails to achieve mutual calibration of three-dimensional coordinate systems, but also results in larger errors due to the large size of the reflective rods. Summary of the Invention

[0004] In order to overcome the problem of large positioning error of line scanning laser in a three-dimensional coordinate system in the prior art, the present invention provides a line scanning laser positioning device and positioning method.

[0005] The solution to the technical problem of the present invention is to provide a line scanning laser positioning device, including a robotic arm, a slide rail, a robotic arm base and a line scanning laser device; the robotic arm is fixedly arranged on the robotic arm base, and has a freely movable robotic arm end, and the robotic arm end is used to fix the object to be measured; the slide rail is arranged on the robotic arm base and is parallel to the robotic arm; the line scanning laser device is arranged on the slide rail and can move along the slide rail, and the laser generating surface of the line scanning laser device is arranged toward the robotic arm end; in the process of the robotic arm driving the object to be measured to move, the first coordinate value of the object to be measured in the first coordinate system where the line scanning laser device is located is obtained through scanning processing by the line scanning laser device, and then the first coordinate value is converted into a second coordinate value in the second coordinate system where the robotic arm base is located, so as to locate the current position of the object to be measured.

[0006] Preferably, the end calibration object includes a circular bottom surface and a thin needle, the thin needle is fixedly connected to the center of the circular bottom surface, the thin needle includes a bottom, a middle part and an end part in sequence, the bottom is close to the circular bottom surface, and the diameters of the bottom, middle part and end part are d1, d2 and d3 respectively, d1>d2>d3.

[0007] Preferably, the total length of the fine needle is 50 mm, and the end diameter d3 is 3 mm.

[0008] Preferably, the plane of the line scan laser scanning is perpendicular to the extension direction of the slide rail, and the length of the slide rail is extendable to the plane of the laser scanning; the coordinate system established by the robot includes the robot arm base coordinate system, the robot arm end coordinate system and the line scan laser coordinate system.

[0009] Another solution to the technical problem of the present invention is to provide a line scanning laser positioning method, using the above Any One The line scanning laser positioning device comprises the following steps:

[0010] Step S1: fixing an end calibration object at the end of the robotic arm, and obtaining a first coordinate transformation relationship between the first coordinate system and the second coordinate system based on position information of the end calibration object;

[0011] Step S2: fixing the object to be measured at the end of the robotic arm, and using the line scan laser to detect and obtain initial positioning information of the object to be measured in the first coordinate system;

[0012] Step S3: According to the first coordinate transformation relationship, the initial positioning information is transformed into object positioning information in the second coordinate system and output.

[0013] Preferably, the step S1 specifically includes:

[0014] Step S11: the robotic arm drives the end of the robotic arm to move into the laser field of view of the line scanning laser;

[0015] Step S12: the robotic arm establishes a third coordinate system associated with the robotic arm with the robotic arm end as the origin;

[0016] Step S13: Sliding the slide rail until the line scan laser can just scan the end of the robotic arm, then reading the laser scanning data from the line scan laser and the slide rail data of the slide rail, and obtaining a second calibrated coordinate value of the end of the robotic arm in the first coordinate system based on the laser scanning data and the slide rail data;

[0017] Step S14, saving the first calibration coordinate value and the second calibration coordinate value as a calibration coordinate value group;

[0018] Step S15: changing the position of the end of the robotic arm within the laser field of view of the line scan laser, and repeating steps S1-S3 to obtain a plurality of calibration coordinate value groups;

[0019] Step S16: Obtaining the first coordinate transformation relationship between the first coordinate system and the second coordinate system according to all the calibration coordinate value groups.

[0020] Preferably, in step S13, the slide rail is slid multiple times, and the second calibration coordinate value is obtained by multiple processing, and the average value of all the second calibration coordinate values ​​is used as the second calibration coordinate value finally output.

[0021] Preferably, in step S15, the process is repeated nine times to obtain nine calibration coordinate value groups, and then a nine-point calibration method is used to obtain the first coordinate transformation relationship.

[0022] Preferably, in step S16, the first coordinate transformation relationship includes a rotation matrix and a translation matrix for transforming from the first coordinate system to the second coordinate system.

[0023] Preferably, step S2 includes the following steps:

[0024] Step S21: Slide the slide rail to allow the line scanning laser to detect the object to be measured, then read the laser scanning data and the slide rail data to obtain the coordinate value of the object to be measured in the first coordinate system as the initial positioning information;

[0025] Step S22: According to the first coordinate transformation relationship, the initial positioning information is transformed into the object positioning information in the second coordinate system and output.

[0026] Compared to existing technologies, the present invention's line-scanning laser positioning device and method utilizes a high-precision slide rail, enabling the line-scanning laser to achieve three-dimensional positioning capabilities, thereby matching the robotic arm's three-dimensional coordinate system. The line-scanning laser can directly observe the robotic arm's end point, directly linking the two coordinate systems and thus avoiding errors. Furthermore, through averaging multiple observations, minimum mean square error, and a nine-point calibration method, the present invention maintains a calibration error within ±5mm. Furthermore, the system features a simple, convenient, and easy-to-use process. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 It is a schematic diagram of the three-dimensional structure of a line scanning laser positioning device of the present invention;

[0028] Figure 2 It is a side structural schematic diagram of a line scanning laser positioning device of the present invention;

[0029] Figure 3 This is a schematic diagram of the top view of a line scanning laser positioning device of the present invention;

[0030] Figure 4 This is a schematic structural diagram of an end-point calibration object of a line-scan laser positioning device according to the present invention;

[0031] Figure 5 This is a communication framework diagram of a line-scan laser positioning device according to the present invention;

[0032] Figure 6 yes Figure 5 Module diagram of the ground-based industrial computer;

[0033] Figure 7 This is a workflow diagram of the visual industrial control computer software inside a line scanning laser positioning device of the present invention;

[0034] Figure 8 This is a flowchart of the operation of a line scanning laser positioning device for visually guiding a truck bucket according to the present invention;

[0035] Figure 9 This is a schematic diagram of a wire stripping device of a line scanning laser positioning device of the present invention;

[0036] Figure 10 This is a schematic diagram of a line-grabbing device for line scanning laser positioning according to the present invention;

[0037] Figure 11 This is a schematic diagram of a line-scanning laser positioning device according to the present invention;

[0038] Figure 12 This is a laser working process diagram of a line scanning laser positioning device of the present invention;

[0039] Figure 13-15 This is a workflow diagram of a line scanning laser positioning method of the present invention. DETAILED DESCRIPTION

[0040] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention will be further described in detail below with reference to the accompanying drawings and implementation examples. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0041] See also Figure 1-4 The present invention proposes a line scanning laser positioning method, which proposes a simple and practical calibration method for line scanning laser and robotic arm, which improves the positioning capability of line scanning laser to three dimensions, and greatly improves the calibration accuracy and positioning accuracy.

[0042] The present invention provides a line scanning laser positioning device To position the robot , comprising a robotic arm 1, a slide rail 3, a robotic arm base 4 and a line scanning laser device, wherein the robotic arm 1 is fixedly arranged on the robotic arm base 4 and has a freely movable robotic arm end 6, wherein the robotic arm end 6 is used to fix the object to be measured;

[0043] The slide rail 3 is arranged on the robot arm base 4 and is parallel to the robot arm 1;

[0044] The line scanning laser device is arranged on the slide rail 3 and can move along the slide rail, and the laser generating surface of the line scanning laser device is arranged toward the end 6 of the robot arm;

[0045] A laser positioning system 7 is installed on the side of the line-scan laser positioning device, and an auxiliary monitoring system 9 is installed on the slide rail 3. The auxiliary monitoring system 9 and the laser positioning system 7 are located on opposite sides of the line-scan laser positioning device. The laser positioning system 7 measures the position of the lead wire after the work platform reaches the optimal working area, facilitating robot grasping. The auxiliary monitoring system 9 is used to assist ground operators in real-time monitoring of the operation process of the line-scan laser positioning device.

[0046] A control system 8, a robot control system 10 and a battery system 11 are set in the line scanning laser positioning device. The control system 8 is the control center of the entire dual-arm live working robot, which is used to complete the working tools, visual guidance and positioning and robot upper control to achieve the task of connecting the live working wires; the robot control system 10 is the control core of the two six-axis collaborative robots, which is used to process the robot's trajectory path and related logic; the battery system 11 is used for the energy supply of the entire working platform.

[0047] An end tool table 12 is provided on one side of the line scanning laser positioning device. The end tool table 12 is a row of protruding rectangular bodies. The end tool table 12 is a platform for placing working tools, which is used to cooperate with the dual-arm robot to complete the replacement of working tools.

[0048] In the process of the robotic arm 1 driving the object to be measured to move, the first coordinate value of the object to be measured in the first coordinate system where the line scanning laser device is located is obtained through the scanning processing of the line scanning laser device, and then the first coordinate value is converted into the second coordinate value of the second coordinate system where the robotic arm base is located, thereby locating the current position of the object to be measured.

[0049] The position of the robotic arm end 6 is preferably within the range around the end of the robotic arm 1. When the line-scan laser positioning device is calibrating, an end calibration object 2 is fixed to the robotic arm end 6. The end calibration object 2 is located at the robotic arm end 6. The slide rail 3 is located at the bottom of the robotic arm 1. The line-scan laser is connected to the robotic arm 1 via a wire. The line-scan laser positioning robot can be a robot from a specific manufacturer, such as a UR robot, or another industrial robot.

[0050] The end calibration object 2 includes a circular bottom surface 21 and a fine needle 22. The fine needle 22 is fixedly connected to the center of the circular bottom surface 21. The circular bottom surface 21 is fixedly disposed on the end of the robotic arm 6. The fine needle 22 includes a bottom 221, a middle portion 222, and an end portion 223. The bottom 221 is adjacent to the circular bottom surface 21. The diameter of the bottom 221 is larger than the diameter of the middle portion 222. The diameter of the middle portion 222 is larger than the diameter of the end portion 223. The diameters of the bottom 221, middle portion 222, and end portion 223 are d1, d2, and d3, respectively, where d1>d2>d3. The total length of the fine needle 22 is 50 mm, and the diameter d3 of the end portion 223 is 3 mm. As a variation, the diameter of the end portion 223 of the fine needle 22 can be d3≤3 mm, that is, the upper limit of the diameter of the end portion 223 is 3 mm, as long as the line scanning laser can be observed. The scanning plane of the line scanning laser device is perpendicular to the sliding direction of the slide rail 3, and the length of the slide rail 3 is extended to the plane of laser scanning.

[0051] The present invention provides a line-scan laser positioning device. A robot is equipped with a visual industrial control computer and software. The visual industrial control computer includes a visual sensor equipped with two line-scan lasers, which are realized by an industrial camera and a depth camera. The software communicates with the visual sensor, acquires measurement data from the visual sensor, analyzes the measurement data to obtain the required measurement results, and transmits the measurement results to the robot and a ground control system. The software is primarily used by commands sent from the ground, and the software responds accordingly to different commands sent from the ground.

[0052] exist Figure 5 In the figure, the robot includes a visual industrial computer 15, a line scanning laser 11, an industrial camera 12, a depth camera 13, a slide rail 16, a robotic arm 14, and a ground industrial computer 17. The line scanning laser 11, the industrial camera 12, the depth camera 13, the slide rail 16, the robotic arm 14, and the ground industrial computer 17 are connected to the visual industrial computer 15.

[0053] See also Figure 6 The software runs on the visual industrial computer 15, and the ground-based industrial computer 17 is equipped with a software data interaction module 171 and an image display module 172. The ground-based industrial computer 17 directly interacts with the user and sends instructions to the visual industrial computer 15. The visual industrial computer 15 receives the instructions, controls the visual sensor and slide rail, obtains measurement data, and sends it to the robotic arm, which then performs the actual live working operation.

[0054] See also Figure 7The present invention provides a line scanning laser positioning device with a bucket mounted on it. The workflow of the internal visual industrial computer software is as follows: system startup; the visual industrial computer guides the bucket to stop at a suitable position; the visual industrial computer locates the first operating wire; guides the robotic arm to grab the first operating wire and strip the wire; the visual industrial computer locates the first lead wire; guides the robotic arm to grab the first lead wire; the visual industrial computer assists in threading the wire; the robotic arm completes the wire bonding operation of the first lead wire; the bucket moves horizontally toward the second lead wire; the subsequent two wire bonding operations are completed using the same process; the operation is completed. The operation is performed in a sequential manner according to the three conveyor lines. For each conveyor line, the process of guiding, stripping, grabbing, threading, and bonding is sequentially followed. The operation is completed when all three wires are bonded.

[0055] The software startup steps include: executing the executable file "live-working robot.exe" on the visual industrial computer 15; the ground-based industrial computer 17 simultaneously starts the software data interaction module 171; and starts the image display module 172 to display the display interface of the ground-based industrial computer 17, and the software starts normally. The visual industrial computer 15 is connected to a keyboard, and the visual industrial computer 15 is controlled by the keys on the keyboard.

[0056] See also Figure 8 In the operational process of a visually guided truck bucket using a line-scan laser positioning device according to the present invention, a guidance start signal is sent by the ground-based industrial computer 17. After the visual industrial computer 15 receives the guidance signal, each visual sensor enters the guidance mode. When the truck bucket is on the ground, the height and angle of the conveyor line are mainly measured by the industrial camera. The driver observes the results and guides the truck bucket to the appropriate height. At this time, the line-scan laser enters the measuring range and the lead wire enters the field of view. The line-scan laser measures the position of the conveyor line and the lead wire. The driver moves the truck bucket to the appropriate position based on the measurement results. The visual industrial computer 15 determines that the position is appropriate and replies to the main control that the guidance is complete.

[0057] See also Figure 9 Before stripping, the vision controller sends a command to the robotic arm 14, controlling the slide rail 16 to translate. During this translation, the top laser measures the conveyor line's posture and the coordinates of the stripping point. Based on the laser and robotic arm 14 calibration, the laser coordinates are converted to robotic arm coordinates, guiding the robotic arm to attach the wire stripper to the conveyor line. At this point, a query is sent to the ground, asking whether to attach the wire stripper. If the ground responds yes, the robotic arm begins stripping; otherwise, it repositions itself.

[0058] See also Figure 10After receiving commands from the ground master control, the vision master control sends commands to the robotic arm, controlling the slide rails for translation. During translation, the side laser measures the lead's posture and the coordinates of the gripping point. Based on the laser and robotic arm calibration, the laser coordinates are converted to robotic arm coordinates, guiding the robotic arm to grasp the lead with a gripper. At this point, a query command is sent to the ground, asking whether the grip has been grasped. If the ground responds yes, the next step is advanced; otherwise, repositioning is performed.

[0059] See also Figure 11 After the robotic arm lifts the lead to the desired position, the vision controller sends a command to the robotic arm, controlling the slide rails to translate. During this translation, the top laser measures the coordinates of the lead's end point. Based on the laser and robotic arm calibration, the laser coordinates are converted to robotic arm coordinates, guiding the robotic arm to complete the threading operation. At this point, a query is sent to the ground to inquire whether threading was successful. If the ground responds yes, the system proceeds to the next step; otherwise, the system re-positions the lead.

[0060] See also Figure 12 The main function of the laser is to cooperate with the slide rail to measure the posture of the conveyor line or lead wire and determine the coordinates of the operating point. For each process, the laser has its own working mode, but they are all similar. The visual master sends a command to let the slide rail slide to the starting point. At this time, the laser starts the detection program to detect whether there are three lines with reasonable positions. If not, an error is reported to the ground and the operation is suspended. If so, the tracking point is locked according to the index of the current operating line. The slide rail is then controlled to slide to the end point. During the sliding process, once the target is lost, it means that the end point of the line has been detected, and the measurement result can be calculated. If the target has not been lost, the measurement result is calculated based on all the points currently detected.

[0061] The industrial camera's primary function is to measure the position and angle of the conveyor line during guidance, when the laser cannot reach the conveyor line due to distance. After the camera is activated, it adjusts to an appropriate exposure value based on the default value or the previous image. It then acquires the image, performs image preprocessing, performs edge detection, line detection, line stitching, and line selection. If all goes well, three lines are detected, at which point the line parameters are calculated and the next frame is processed. Otherwise, an error is reported and the next frame is processed. The depth camera does not participate in positioning, but only in image monitoring.

[0062] A line-scanning laser positioning device of the present invention can establish a robotic arm base coordinate system, a robotic arm end coordinate system and a line-scanning laser coordinate system. The line-scanning laser positioning device of the present invention passes through the above three coordinate systems during calibration. The relative relationship of the coordinate systems is not limited in the present invention.

[0063] See also Figure 13 The present invention provides a line scanning laser positioning method including calibration and positioning. The calibration includes the following steps:

[0064] Step S1: Calibration, fixing an end calibration object at the end of the robotic arm, and obtaining a first coordinate transformation relationship between the first coordinate system and the second coordinate system based on position information of the end calibration object;

[0065] Step S2: Positioning: fixing the object to be measured at the end of the robotic arm, and using the line scan laser to detect and obtain initial positioning information of the object to be measured in the first coordinate system;

[0066] In this step, the robotic arm has a function of establishing a robotic arm end coordinate system;

[0067] Step S3: According to the first coordinate transformation relationship, the initial positioning information is transformed into object positioning information in the second coordinate system and output.

[0068] See also Figure 14 , the step S1 specifically includes:

[0069] Step S11: the robotic arm drives the end of the robotic arm to move into the laser field of view of the line scanning laser;

[0070] Step S12: the robotic arm establishes a third coordinate system associated with the robotic arm with the robotic arm end as the origin;

[0071] Step S13: Sliding the slide rail until the line scan laser can just scan the end of the robotic arm, then reading the laser scanning data from the line scan laser and the slide rail data of the slide rail, and obtaining a second calibrated coordinate value of the end of the robotic arm in the first coordinate system based on the laser scanning data and the slide rail data;

[0072] The laser scanning data refers to the straight line data from the laser to the end of the robotic arm, that is, the distance in the vertical direction from the end of the robotic arm to the laser; the slide rail data is the distance the slide rail moves, that is, the distance in the horizontal direction from the end of the robotic arm to the laser.

[0073] In the step S13, the slide rail is slid multiple times, and the second calibration coordinate value is obtained by multiple processing, and the average value of all the second calibration coordinate values ​​is used as the second calibration coordinate value finally outputted.

[0074] Step S14, saving the first calibration coordinate value and the second calibration coordinate value as a calibration coordinate value group;

[0075] Step S15: Change the position of the end of the robotic arm within the laser field of view of the line scanning laser, and repeat steps S1-S3 to obtain multiple calibration coordinate value groups; in step S15, repeat 9 times to obtain 9 calibration coordinate value groups, and then use the nine-point calibration method to obtain the first coordinate transformation relationship.

[0076] Step S16: Obtain the first coordinate transformation relationship between the first coordinate system and the second coordinate system based on all the calibration coordinate value groups. In step S16, the first coordinate transformation relationship includes a rotation matrix and a translation matrix for transforming the first coordinate system to the second coordinate system.

[0077] See also Figure 15 , the step S2 comprises the following steps:

[0078] Step S21: Slide the slide rail to allow the line scanning laser to detect the object to be measured, then read the laser scanning data and the slide rail data to obtain the coordinate value of the object to be measured in the first coordinate system as the initial positioning information;

[0079] Step S22: According to the first coordinate transformation relationship, the initial positioning information is transformed into the object positioning information in the second coordinate system and output.

[0080] A specific practical application of the line scanning laser positioning method of the present invention is to use the line scanning laser to identify wires in the air, thereby guiding the robotic arm to automatically complete the operation of hanging the wire stripper on the wire.

[0081] Compared to existing technologies, the present invention's line-scanning laser positioning device and method utilizes a high-precision slide rail, enabling three-dimensional positioning capabilities. This allows the line-scanning laser to directly observe the end point of the robotic arm, directly linking the two coordinate systems and thus avoiding errors. Furthermore, through averaging multiple observations, minimum mean square error, and a nine-point calibration method, the present invention maintains a calibration error within ±5mm. Furthermore, the system features a simple, convenient, and easy-to-use process.

[0082] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent replacements and improvements made within the principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A line scanning laser positioning device, characterized in that: It includes a robotic arm, a slide rail, a robotic arm base and a line scanning laser device; The robotic arm is fixedly arranged on the robotic arm base and has a freely movable robotic arm end, and the robotic arm end is used to fix the object to be measured; The slide rail is arranged on the robotic arm base and is parallel to the robotic arm; The line scanning laser device is arranged on the slide rail and can move along the slide rail, and the laser generating surface of the line scanning laser device is arranged toward the end of the robotic arm; In the process of the robotic arm driving the object to be measured to move, the first coordinate value of the object to be measured in the first coordinate system where the line scanning laser device is located is obtained through scanning processing by the line scanning laser device, and then the first coordinate value is converted into the second coordinate value of the second coordinate system where the robotic arm base is located, thereby locating the current position of the object to be measured.

2. The line scanning laser positioning device according to claim 1, characterized in that: An end calibration object is fixed at the end of the robotic arm, and the end calibration object includes a circular bottom surface and a thin needle. The thin needle is fixedly connected to the center of the circular bottom surface. The thin needle includes a bottom, a middle part and an end part in sequence. The bottom is close to the circular bottom surface. The diameters of the bottom, middle part and end part are d1, d2 and d3 respectively, and d1>d2>d3.

3. The line scanning laser positioning device according to claim 2, characterized in that: The total length of the fine needle is 50 mm, and the end diameter d3 is 3 mm.

4. The line scanning laser positioning device according to claim 3, characterized in that: The plane scanned by the line scanning laser device is perpendicular to the extension direction of the slide rail; the coordinate system established by the line scanning laser positioning device includes the robot arm base coordinate system, the robot arm end coordinate system and the line scanning laser coordinate system.

5. A line scanning laser positioning method, characterized in that: The line scanning laser positioning device according to any one of claims 1 to 4 is used, and comprises the following steps: Step S1: fixing an end calibration object at the end of the robotic arm, and obtaining a first coordinate transformation relationship between the first coordinate system and the second coordinate system based on position information of the end calibration object; Step S2: fixing the object to be measured at the end of the robotic arm, and using the line scan laser positioning device to detect and obtain initial positioning information of the object to be measured in the first coordinate system; Step S3: According to the first coordinate transformation relationship, the initial positioning information is transformed into object positioning information in the second coordinate system and output.

6. A line scanning laser positioning method according to claim 5, characterized in that: The step S1 specifically includes: Step S11: the robotic arm drives the distal end of the robotic arm to move into the laser field of view of the line scanning laser positioning device; Step S12: the robotic arm establishes a third coordinate system where the robotic arm end is located with the robotic arm end as the origin, and obtains a first calibration coordinate value of the robotic arm end in the third coordinate system; Step S13: Sliding the slide rail until the line-scan laser positioning device can just scan the end of the robotic arm, then reading laser scanning data from the line-scan laser positioning device and slide rail data of the slide rail, and processing the laser scanning data and the slide rail data to obtain a second calibrated coordinate value of the end of the robotic arm in the first coordinate system; Step S14, saving the first calibration coordinate value and the second calibration coordinate value as a calibration coordinate value group; Step S15: changing the position of the end of the robotic arm within the laser field of view of the line scan laser positioning device, and repeating steps S1-S3 to obtain a plurality of calibration coordinate value groups; Step S16: Obtaining a first coordinate transformation relationship between the first coordinate system and the second coordinate system based on all the calibration coordinate value groups.

7. A line scanning laser positioning method according to claim 6, characterized in that: In the step S13, the slide rail is slid multiple times, and the second calibration coordinate value is obtained by multiple processing, and the average value of all the second calibration coordinate values ​​is used as the second calibration coordinate value finally outputted.

8. The line scanning laser positioning method according to claim 6, wherein: In the step S15, the process is repeated nine times to obtain nine calibration coordinate value groups, and then the nine-point calibration method is used to obtain the first coordinate transformation relationship.

9. The line scanning laser positioning method according to claim 6, wherein: In step S16, the first coordinate transformation relationship includes a rotation matrix and a translation matrix for transforming from the first coordinate system to the second coordinate system.

10. The line scanning laser positioning method according to claim 9, wherein: The step S2 comprises the following steps: Step S21: Slide the slide rail to allow the line scanning laser to detect the object to be measured, then read the laser scanning data and the slide rail data to obtain the coordinate value of the object to be measured in the first coordinate system as the initial positioning information; Step S22: According to the first coordinate transformation relationship, the initial positioning information is transformed into the object positioning information in the second coordinate system and output.

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