Error Detection Method, System, Detection Device and Storage Medium

Abstract

The present invention discloses an error detection method, an error detection system, a detection device and a computer-readable storage medium. The method includes: obtaining coordinate transformation matrices between any two of a camera coordinate system, a workpiece coordinate system and a robot end coordinate system; obtaining three-dimensional point cloud data of a workpiece slot and a cable; determining the center coordinates and normal directions of the workpiece slot and the cable according to the three-dimensional point cloud data; calibrating a virtual simulation system based on the coordinate transformation matrices; using the center coordinates and normal directions of the workpiece slot and the cable as simulation inputs, and running a plugging algorithm to be detected in the calibrated virtual simulation system; and determining the error corresponding to the plugging algorithm to be detected according to the running result. The effect of improving the accuracy of the plugging algorithm and the reliability of the detection result is achieved.

Description

Technical Field

[0001] The present invention relates to the field of error detection, and in particular, to an error detection method, an error detection system, a detection device, and a computer-readable storage medium. Background Art

[0002] The insertion of a flexible printed circuit (FPC) is an extremely common operation in industrial production, and most of them can be manually operated. However, the insertion of an FPC for precision components usually needs to be operated by a robot, and the accuracy of the insertion algorithm used to control the robot needs to be verified. In actual industrial production, the accuracy of the insertion algorithm is mostly detected by visual inspection or measurement with a scale. In a high-precision system, since there are inevitably measurement result errors in both visual observation and measurement with a scale, this leads to a large error in the accuracy detection result of the insertion algorithm.

[0003] It should be noted that the above content is only used to assist in understanding the technical problems solved by the present invention, and does not represent an admission that the above content is prior art. Summary of the Invention

[0004] Embodiments of the present application provide an error detection method, an error detection system, a detection device, and a computer-readable storage medium, which solve the technical problem of large errors in the accuracy detection results of insertion algorithms in the prior art, and achieve the effect of improving the reliability of the accuracy detection results of insertion algorithms.

[0005] Embodiments of the present application provide an error detection method, which is applied to a detection device. The error detection method includes the following steps:

[0006] Obtain the coordinate transformation matrices between the camera coordinate system, the workpiece coordinate system, and the robot end coordinate system in pairs;

[0007] Obtain the three-dimensional point cloud data of the workpiece slot and the FPC;

[0008] Determine the center coordinates and normal directions of the workpiece slot and the FPC according to the three-dimensional point cloud data;

[0009] Calibrate the virtual simulation system based on the coordinate transformation matrix;

[0010] Use the center coordinates and normal directions of the workpiece slot and the FPC as simulation inputs, and run the insertion algorithm to be detected in the calibrated virtual simulation system;

[0011] Determine the error corresponding to the insertion algorithm to be detected according to the running result.

[0012] Optionally, the step of obtaining the three-dimensional point cloud data of the workpiece slot and the FPC includes:

[0013] Obtain the image data including the workpiece slot and the flexible cable;

[0014] Obtain the three-dimensional point cloud data of the workpiece slot and the flexible cable according to the image data.

[0015] Optionally, the step of determining the central coordinates and the normal direction of the workpiece slot and the flexible cable according to the three-dimensional point cloud data includes:

[0016] Perform filtering processing on the three-dimensional point cloud data to obtain the rough point cloud data of the workpiece slot and the flexible cable;

[0017] Perform plane fitting operation on the rough point cloud data of the flexible cable to obtain the initial normal direction of the flexible cable, and perform boundary solving operation on the rough point cloud data of the flexible cable to obtain the initial central coordinates of the flexible cable;

[0018] Perform bounding box fitting on the rough point cloud data of the workpiece slot to obtain the initial normal direction and the initial central coordinates of the workpiece slot;

[0019] Determine the normal direction of the workpiece slot and the flexible cable according to the initial normal direction of the workpiece slot and the flexible cable and the coordinate transformation matrix, and determine the central coordinates of the workpiece slot and the flexible cable according to the initial central coordinates of the workpiece slot and the flexible cable and the coordinate transformation matrix.

[0020] Optionally, the central coordinates and the normal direction of the workpiece slot and the flexible cable are the central coordinates and the normal direction of the workpiece slot and the flexible cable in the robot end coordinate system.

[0021] Optionally, the step of obtaining the coordinate transformation matrices between the camera coordinate system, the workpiece coordinate system and the robot end coordinate system pairwise includes:

[0022] Obtain at least one set of point cloud images including the workpiece position calibration block, and determine the first coordinates of the calibration block in the camera coordinate system according to the point cloud images;

[0023] Obtain the second coordinates of the workpiece position calibration block in the workpiece coordinate system;

[0024] Determine the coordinate transformation matrix between the camera coordinate system and the workpiece coordinate system according to the first coordinates and the second coordinates; and

[0025] Determine the coordinate transformation matrix between the robot end coordinate system and the camera coordinate system and the workpiece coordinate system according to the coordinate transformation matrix between the camera coordinate system and the workpiece coordinate system and the camera photographing pose.

[0026] Optionally, the step of determining the error corresponding to the plug-in algorithm to be detected according to the operation result includes:

[0027] Determining the experimental error of each workpiece slot according to the operation result corresponding to each simulation;

[0028] Determining the single cable plug-in error and / or the overall algorithm error according to the number of simulations and the experimental error.

[0029] In addition, to achieve the above effects, an embodiment of the present invention further provides an error detection system, including:

[0030] Workpiece slots;

[0031] Cables;

[0032] A robot, the robot is provided with a robotic arm, and the end of the robotic arm is provided with a cable plug-in contact hand;

[0033] A camera, the camera is arranged at the end of the robotic arm;

[0034] A detection device, the detection device is communicatively connected to the camera and is used to execute the error detection method as described above.

[0035] Optionally, the detection device is arranged on the robot.

[0036] In addition, to achieve the above object, an embodiment of the present invention further provides a computer-readable storage medium, on which an error detection program is stored, and when the error detection program is executed by a processor, the error detection method as described above is implemented.

[0037] In addition, to achieve the above object, an embodiment of the present invention further provides a detection device, including a memory, a processor, and an error detection program stored on the memory and executable on the processor. When the processor executes the error detection program, the error detection method as described above is implemented.

[0038] One or more technical solutions provided in the embodiments of the present application have at least the following technical effects or advantages:

[0039] 1. First, calibrate the simulation model based on the calibration data of the processing equipment, and use the real position data of the cable and the workpiece slot as the simulation input, and determine the error of the control program through the simulation result. Since specific coordinate parameters can be obtained during the simulation process, the obtained error detection result is more accurate.

[0040] 2. Detect the accuracy of the cable plug-in algorithm through the virtual simulation system, and it will not damage the components. Therefore, it can also save the damage of precision components caused by actual operation and save costs. Description of the Drawings

[0041] Figure 1 This is a schematic structural diagram of the error detection system according to an embodiment of the present invention;

[0042] Figure 2 This is a schematic diagram of a workpiece according to the solution of an embodiment of the present invention;

[0043] Figure 3 This is a schematic flowchart of an embodiment of the error detection method of the present invention;

[0044] Figure 4 This is a schematic diagram of an optional refined flowchart of step S10 in an embodiment of the error detection method of the present invention;

[0045] Figure 5 This is a schematic structural diagram of the detection device according to the embodiment; Detailed implementation manners

[0046] In this embodiment, in the related art, the error detection of the control algorithm of the wire harness plugging robot depends on determining the product error according to manual observation or manual measurement with a scale. Since errors are inevitably introduced during the manual observation and the measurement with a scale, the result of the error determination of the control algorithm is also inaccurate. To solve the above-mentioned defects in the related art, an embodiment of the present invention proposes an error detection method, aiming to improve the control error of the control algorithm of the wire harness plugging machine.

[0047] To better understand the above technical solution, the exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although the exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided to enable a more thorough understanding of the present disclosure and to fully convey the scope of the present disclosure to those skilled in the art.

[0048] To better understand the above technical solution, the above technical solution will be described in detail below in combination with the accompanying drawings of the specification and the specific implementation manners.

[0049] Embodiment 1

[0050] In an embodiment of the present invention, an error detection system is proposed.

[0051] Please refer to Figure 1, the error detection system proposed in the present invention includes: a robot 110, a camera 120, and the camera is disposed on the end 130 of the robotic arm; a wire harness 140; a workpiece 150; the robot 110 is provided with a robotic arm, and the end 130 of the robotic arm is provided with a wire harness plug contact hand; a detection device 170 for executing the error detection method proposed in the embodiments of the present invention. The error detection system may further include a workbench 160. The workbench 160 is used to place the workpiece 150 for wire harness plugging construction.

[0052] In an alternative embodiment, the relative positional relationship between the camera 120 and the end 130 of the robotic arm is fixed, so that when the end 130 of the robotic arm moves, the camera 120 can be driven to move synchronously.

[0053] Please refer to Figure 2 , a workpiece slot 151 is further provided on the workpiece 150. The workpiece slot 151 is the plugging position of the wire harness 140. The robot 110 controls the wire harness 140 to be plugged into the workpiece slot 151 through the wire harness plug contact on the end 130 of the robotic arm.

[0054] Optionally, during a test process, a calibration operation can be performed first. During the calibration process, the robot 110 drives the camera 120 to a specified position to capture an image including the workpiece 150. It can be understood that in order to perform accurate calibration, the robot 110 can be controlled to drive the camera 120 to multiple different positions to capture images respectively, so as to obtain images including the workpiece 150 captured at multiple different positions. During the calibration process, the workpiece 150 can be placed at the same position without moving.

[0055] In addition, in order to obtain the center coordinates and normal directions of the wire harness 140 and the workpiece slot 151, the position of the end 130 can be changed by driving the robot 110, and then the camera 120 fixed on the end 130 of the robot can be driven to take pictures to obtain the three-dimensional point cloud data of the workpiece slot 151 and the wire harness 140. Since the positions of the wire harness 140 and the workpiece 150 are generally fixed and only produce slight changes, the best imaging positions for camera photography are also relatively fixed.

[0056] When the camera 120 captures image information, if the detection device 170 and the camera 120 are connected, the image data can be sent to the detection device 170 for the detection device 170 to execute the error detection method based on the image data. It can be understood that when the camera 120 and the detection device 170 are not in communication connection, the image information captured by the camera 120 can also be copied to the detection device by other means. For example, transfer the image information through a USB flash drive or other storage devices.

[0057] Embodiment 2

[0058] In the second embodiment, an error detection method is proposed, and the error detection method is executed with a detection device. The detection device can be a PC, a server, or other electronic devices with data processing capabilities. Please refer to Figure 3 , the error detection method proposed in this embodiment includes the following steps:

[0059] Step S10: Obtain the coordinate transformation matrices between the camera coordinate system, the workpiece coordinate system, and the robot end coordinate system in pairs;

[0060] As an alternative implementation, in this embodiment, the coordinate transformation matrices between the camera coordinate system, the workpiece coordinate system, and the robot end coordinate system in pairs can be pre-stored in the detection device, so that the detection device can directly access the storage device to read the above coordinate transformation matrices.

[0061] It should be noted that the camera coordinate system refers to the coordinate system corresponding to the coordinates of the target in the image captured by the camera. The workpiece coordinate system refers to the coordinate system corresponding to the coordinates of the workpiece in the actual physical space. The end coordinate system is the coordinate system corresponding to the position of the robot end in the actual physical space.

[0062] As another alternative implementation, the detection device can first read the identification information of the target device (for example, it can be a machine code or other unique identifier). After reading the identification information of the target device, a data acquisition request can be generated according to the identification information. And send the data acquisition request to the cloud storage server. So that after receiving the data acquisition request, the cloud storage server feeds back the coordinate transformation matrices between the camera coordinate system, the workpiece coordinate system, and the robot end coordinate system in pairs to the detection device.

[0063] As yet another alternative implementation, please refer to Figure 4 , the detection device can also determine the coordinate transformation matrices between the camera coordinate system, the workpiece coordinate system, and the robot end coordinate system in pairs based on the following steps.

[0064] Step S11: Obtain at least one set of point cloud images containing workpiece position calibration blocks, and determine the first coordinates of the calibration blocks in the camera coordinate system according to the point cloud images;

[0065] Step S12: Obtain the second coordinates of the workpiece position calibration block in the workpiece coordinate system;

[0066] Step S13: Determine the coordinate transformation matrix between the camera coordinate system and the workpiece coordinate system according to the first coordinates and the second coordinates; and

[0067] Step S14: Determine the coordinate transformation matrix between the robot end - effector coordinate system and the camera coordinate system and the workpiece coordinate system according to the coordinate transformation matrix between the camera coordinate system and the workpiece coordinate system and the camera photographing pose.

[0068] Exemplarily, during the insertion process of the flexible flat cable, it is necessary to obtain the coordinates of the feature points on the workpiece through camera photographing to guide the robot to perform operations. This process involves the mutual relationship among the camera coordinate system, the workpiece coordinate system, and the robot end - effector coordinate system. However, due to different assembly methods, the relationship among these three coordinate systems often changes slightly. Therefore, it is necessary to accurately know their mutual relationship through calibration. In the actual operating environment, through camera calibration, the camera coordinate system coordinates of the feature points, the workpiece coordinate system coordinates of the feature points, and the robot end - effector coordinate system coordinates during the robot end - effector calibration can be recorded. By repeatedly selecting feature points and performing the nine - point calibration algorithm calculation, the transformation matrix between the three coordinate systems can be determined. For example, the camera can be made to take a photo in the initial state to obtain the point - cloud image of the calibration block fixed at the workpiece position. Here, the initial state refers to the first preset camera shooting position. At this position, the camera can capture the image information including the calibration block on the workpiece. Then, nine feature points are selected in the point - cloud graph to obtain the corresponding coordinates of the nine points in the camera coordinate system and the workpiece coordinate system.

[0069] Optionally, as an implementation scheme, when the workpiece coordinate (the second) is set as a known coordinate, the first coordinate can be directly determined according to the captured picture, and then according to the known second coordinate and the first coordinate, the coordinate transformation matrix between the camera coordinate system and the workpiece coordinate system can be obtained.

[0070] Optionally, as another implementation scheme, when the second coordinate is an unknown coordinate, since the position of the workpiece does not change during the calibration process, the second coordinate can be regarded as an unknown fixed quantity. Then, by taking pictures with multiple poses transformed, multiple first coordinates are obtained. Furthermore, based on the multiple first coordinates and the second coordinate regarded as an unknown fixed quantity, a system of equations is established. Based on the system of equations, the coordinate transformation matrix between the camera coordinate system and the workpiece coordinate system is solved.

[0071] Furthermore, after determining the coordinate transformation matrix between the camera coordinate system and the workpiece coordinate system, the camera photographing pose can also be obtained. Then, according to the coordinate transformation matrix between the camera coordinate system and the workpiece coordinate system and the camera photographing pose, the coordinate transformation matrix between the robot end - effector coordinate system and the camera coordinate system and the workpiece coordinate system is determined. That is, through the recorded photographing pose and the solved transformation relationship between the camera coordinate system and the workpiece coordinate system, the transformation relationship between the camera coordinate system and the robot end - effector coordinate system is deduced.

[0072] Step S20: Acquire the three-dimensional point cloud data of the workpiece slot and the wiring;

[0073] Step S30: determining the center coordinates and normal direction of the workpiece slot and the cable arrangement according to the three-dimensional point cloud data;

[0074] In this embodiment, the robot in the detection system can also be controlled to drive the camera fixed above the end of the robot to take pictures by changing the position of the end of the robot to obtain the three-dimensional point cloud data of the workpiece slot and the cable. Since the position of the cable and the workpiece is generally fixed and only slightly changed, the best imaging position of the camera is also relatively fixed.

[0075] Then the acquired 3D point cloud data is processed to obtain the position and posture of the robot end when the robot performs the two sub-steps of absorbing the wire and plugging it into the workpiece slot. Among them, the point cloud data processing mainly obtains the coarse point cloud through point cloud segmentation, and then obtains the fine point cloud through point cloud registration, and finally obtains the center coordinates and normal direction of the workpiece slot and the wire through point cloud fitting. Then the final coordinates are obtained by changing the coordinate system. Finally, the operation position and posture of the end of the robot when it performs the two sub-steps of wire absorption and plugging it into the workpiece slot are obtained.

[0076] For example, the point cloud data can be read first, and a filtering operation can be performed to filter out noise points. Then, a straight-through filtering operation can be performed on the point cloud data after a large amount of noise is removed to obtain the rough point cloud data of the cable arrangement and the workpiece slot. Then, a plane fitting operation can be performed on the rough point cloud data of the cable arrangement to obtain the normal of the cable arrangement plane to determine the normal direction of the cable arrangement. And a boundary solution operation can be performed to obtain the center coordinates of the cable arrangement.

[0077] After obtaining the normal direction and center coordinates of the cable, the rough point cloud data of the workpiece slot can be fitted with a bounding box to obtain the normal, boundary and center coordinates of the workpiece slot. To determine the normal direction and center coordinates of the workpiece slot. Finally, since the current determination is based on the center coordinates and normal direction of the workpiece slot and cable in the camera coordinate system. In order to determine the corresponding center coordinates and normal direction of the workpiece slot and cable in the actual space, the normal direction of the workpiece slot and cable, as well as the coordinates of the center in the robot terminal coordinate system can be obtained through the coordinate system transformation matrix mentioned above.

[0078] Step S40: calibrating the virtual simulation system based on the coordinate transformation matrix;

[0079] Step S50: taking the center coordinates and normal direction of the workpiece slot and the cable as simulation inputs, and running the plug-in algorithm to be tested in the calibrated virtual simulation system;

[0080] Step S60: Determine the error corresponding to the plugging algorithm to be detected according to the running result.

[0081] In this embodiment, after obtaining the coordinate transformation matrices between the camera coordinate system, the workpiece coordinate system, and the robot end coordinate system pairwise, the position relationship of the models can be finely adjusted in the virtual simulation environment so that the virtual environment can accurately restore the real operation scenario. That is, according to the actual calibration result, accurately calibrate the position relationship between the models in the virtual simulation system.

[0082] Then, use the central coordinates and normal directions of the workpiece slot and the cable as simulation inputs, and run the plugging algorithm to be detected in the calibrated virtual simulation system. Then, according to the algorithm for solving robot kinematics set in advance, determine the running result. And determine the error corresponding to the plugging algorithm to be detected according to the running result.

[0083] It should be noted that according to the obtained positions and normal coordinates of the workpiece slot and the cable, the robot can accurately move to the target point position in two steps successively in the virtual environment for cable plugging simulation. Since in the virtual environment, each model has specific coordinates, therefore, through the movement result, error estimation can be easily carried out, mainly calculating the error of the robot end position sucking the end of the cable and the error of the cable finally inserted into the slot.

[0084] In the virtual simulation environment, the robot reaches the position where the cable is located to suck the cable, and compares the calculated attitude and position with the accurate attitude and position through the comparison algorithm to obtain the error when sucking the cable at the position where the cable is located; and moves the robot to the position where the workpiece slot is located for plugging operation, and compares the calculated attitude and position with the accurate attitude and position through the comparison algorithm to obtain the error during plugging.

[0085] Optionally, in an implementation scheme, the error estimation mainly includes two parts. One is the plugging error estimation of a single cable, and the other is the plugging error estimation of the overall algorithm. By conducting multiple experiments on the combination of the same slot and cable, obtain the error of a single cable plugging; by repeating the steps, verify the method of the combination of multiple cables and slots to obtain the overall error of the algorithm. The evaluation of the error can be given in the form of an average. For example:

[0086] For a single cable:

[0087] Single cable plugging error = ∑(error of each experiment for this slot) / number of experiments for a single cable

[0088] For the overall algorithm:

[0089] Overall algorithm error = ∑(plugging errors of all single cables) / number of cables

[0090] In the technical solution disclosed in this embodiment, first, the simulation model is calibrated based on the calibration data of the processing equipment, and the real position data of the wire arrangement and the workpiece slot are used as the simulation input, and the error of the control program is determined through the simulation result. Since specific coordinate parameters can be obtained during the simulation process, the obtained error detection result is more accurate. At the same time, by using the virtual simulation system to detect the accuracy of the wire arrangement insertion algorithm, no damage will be caused to the components, so the damage of precision components caused by actual operation can be saved, and the cost can be saved.

[0091] In addition, an embodiment of the present invention also provides a detection device, which includes: a memory, a processor, and an error detection program stored on the memory and executable on the processor. When the error detection program is executed by the processor, the steps of the error detection method described in each of the above embodiments are implemented.

[0092] In addition, an embodiment of the present invention also provides a computer-readable storage medium, on which an error detection program is stored. When the error detection program is executed by the processor, the steps of the error detection method described in the above embodiments are implemented.

[0093] In addition, an embodiment of the present invention also provides a detection device, including a memory, a processor, and an error detection program stored on the memory and executable on the processor. When the processor executes the error detection program, the steps of the error detection method described in the above embodiments are implemented.

[0094] As Figure 5 shown, Figure 5 is a schematic diagram of the terminal structure of the hardware operating environment involved in the embodiment of the present invention.

[0095] As Figure 5 shown, the control terminal may include: a processor 1001, such as a CPU, a network interface 1003, a memory 1004, and a communication bus 1002. Among them, the communication bus 1002 is used to realize the connection communication between these components. The network interface 1003 may optionally include a standard wired interface and a wireless interface (such as a WI-FI interface). The memory 1004 may be a high-speed RAM memory or a stable memory (non-volatile memory), such as a disk memory. The memory 1004 may optionally be a storage device independent of the foregoing processor 1001.

[0096] Those skilled in the art can understand that Figure 5 the terminal structure shown in

[0097] As Figure 5As shown, in the memory 1004 serving as a computer storage medium, an operating system, a network communication module, and an error detection program may be included.

[0098] In Figure 5 In the terminal shown, the processor 1001 may be used to call the error detection program stored in the memory 1004 and perform the following operations:

[0099] Obtain the coordinate transformation matrices between the camera coordinate system, the workpiece coordinate system, and the robot end coordinate system in pairs;

[0100] Obtain the three-dimensional point cloud data of the workpiece slot and the cable;

[0101] Determine the center coordinates and normal directions of the workpiece slot and the cable according to the three-dimensional point cloud data;

[0102] Calibrate the virtual simulation system based on the coordinate transformation matrices;

[0103] Use the center coordinates and normal directions of the workpiece slot and the cable as simulation inputs and run the plug-in algorithm to be detected in the calibrated virtual simulation system;

[0104] Determine the error corresponding to the plug-in algorithm to be detected according to the operation result.

[0105] Optionally, the processor 1001 may call the error detection program stored in the memory 1004 and further perform the following operations:

[0106] Obtain the image data including the workpiece slot and the cable;

[0107] Obtain the three-dimensional point cloud data of the workpiece slot and the cable according to the image data.

[0108] Optionally, the processor 1001 may call the error detection program stored in the memory 1004 and further perform the following operations:

[0109] Perform filtering processing on the three-dimensional point cloud data to obtain the rough point cloud data of the workpiece slot and the cable;

[0110] Perform plane fitting on the rough point cloud data of the cable to obtain the initial normal direction of the cable, and perform boundary solving on the rough point cloud data of the cable to obtain the initial center coordinates of the cable;

[0111] Perform bounding box fitting on the rough point cloud data of the workpiece slot to obtain the initial normal direction and initial center coordinates of the workpiece slot;

[0112] Determine the normal directions of the workpiece slot and the flexible cable according to the initial normal directions of the workpiece slot and the flexible cable and the coordinate transformation matrix, and determine the central coordinates of the workpiece slot and the flexible cable according to the initial central coordinates of the workpiece slot and the flexible cable and the coordinate transformation matrix.

[0113] Optionally, the processor 1001 may call the error detection program stored in the memory 1004 and further perform the following operations:

[0114] Obtain at least one set of point cloud images including workpiece position calibration blocks, and determine the first coordinates of the calibration blocks in the camera coordinate system according to the point cloud images;

[0115] Obtain the second coordinates of the workpiece position calibration block in the workpiece coordinate system;

[0116] Determine the coordinate transformation matrix between the camera coordinate system and the workpiece coordinate system according to the first coordinates and the second coordinates; and

[0117] Determine the coordinate transformation matrix between the end - effector coordinate system of the robot and the camera coordinate system and the workpiece coordinate system according to the coordinate transformation matrix between the camera coordinate system and the workpiece coordinate system and the pose of the camera when taking pictures.

[0118] Optionally, the processor 1001 may call the error detection program stored in the memory 1004 and further perform the following operations:

[0119] Determine the experimental errors of each workpiece slot according to the operation results corresponding to each simulation;

[0120] Determine the single flexible cable insertion error and / or the overall algorithm error according to the number of simulations and the experimental errors.

[0121] It should be noted that in this article, the terms "include", "comprise" or any other variants thereof are intended to cover non - exclusive inclusion, so that a process, method, article or system including a series of elements not only includes those elements, but also includes other elements not explicitly listed, or further includes elements inherent to such a process, method, article or system. Without further limitations, an element defined by the statement "including one..." does not exclude the existence of additional identical elements in the process, method, article or system including that element.

[0122] The serial numbers of the above - mentioned embodiments of the present invention are only for description and do not represent the superiority or inferiority of the embodiments.

[0123] Through the description of the above embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus a necessary general hardware platform. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) as described above and includes several instructions for causing a terminal device (such as a server, a PC, etc.) to execute the methods described in various embodiments of the present invention.

[0124] The above are only the preferred embodiments of the present invention, and do not limit the patent scope of the present invention accordingly. Any equivalent structure or equivalent process transformation made by using the content of the specification and drawings of the present invention, or directly or indirectly applied in other related technical fields, shall be similarly included in the patent protection scope of the present invention.

Claims

1. An error detection method, characterized in that, Applied to a detection device, the error detection method includes the following steps: Obtain the coordinate transformation matrices between the camera coordinate system, the workpiece coordinate system, and the robot end coordinate system pairwise. Among them, the camera is arranged at the end of the robotic arm of the robot; Obtain the three-dimensional point cloud data of the workpiece slot and the cable; Determine the center coordinates and normal directions of the workpiece slot and the cable according to the three-dimensional point cloud data; Calibrate the virtual simulation system based on the coordinate transformation matrix; Use the center coordinates and normal directions of the workpiece slot and the cable as simulation inputs, and run the plugging algorithm to be detected in the calibrated virtual simulation system; Determine the error corresponding to the plugging algorithm to be detected according to the operation result; 2. The error detection method according to claim 1, wherein The step of obtaining the three-dimensional point cloud data of the workpiece slot and the cable includes: Obtain image data including the workpiece slot and the cable; Obtain the three-dimensional point cloud data of the workpiece slot and the cable according to the image data; 3. The error detection method according to claim 1, characterized in that The step of determining the center coordinates and normal directions of the workpiece slot and the cable according to the three-dimensional point cloud data includes: Perform filtering processing on the three-dimensional point cloud data to obtain the rough point cloud data of the workpiece slot and the cable; Perform plane fitting operation on the rough point cloud data of the cable to obtain the initial normal direction of the cable, and perform boundary solving operation on the rough point cloud data of the cable to obtain the initial center coordinates of the cable; Perform bounding box fitting on the rough point cloud data of the workpiece slot to obtain the initial normal direction and initial center coordinates of the workpiece slot; Determine the normal directions of the workpiece slot and the cable according to the initial normal directions of the workpiece slot and the cable and the coordinate transformation matrix, and determine the center coordinates of the workpiece slot and the cable according to the initial center coordinates of the workpiece slot and the cable and the coordinate transformation matrix; 4. The error detection method according to any one of claims 1-3, characterized in that The center coordinates and normal directions of the workpiece slot and the cable are the center coordinates and normal directions of the workpiece slot and the cable in the robot end coordinate system; 5. The error detection method according to claim 1, wherein The step of obtaining the coordinate transformation matrices between the camera coordinate system, the workpiece coordinate system, and the robot end coordinate system pairwise includes: Obtain at least one set of point cloud images including workpiece position calibration blocks, and determine the first coordinates of the calibration blocks in the camera coordinate system according to the point cloud images; Obtain the second coordinates of the workpiece position calibration block in the workpiece coordinate system; Determine the coordinate transformation matrix between the camera coordinate system and the workpiece coordinate system according to the first coordinates and the second coordinates; and Determine the robot end coordinate system and the coordinate transformation matrices between the camera coordinate system and the workpiece coordinate system according to the coordinate transformation matrix between the camera coordinate system and the workpiece coordinate system and the camera photographing pose; 6. The error detection method according to claim 1, characterized in that, The step of determining the error corresponding to the plugging algorithm to be detected according to the operation result includes: Determine the experimental errors of each workpiece slot according to the operation result corresponding to each simulation; Determine the single cable plugging error and / or the overall algorithm error according to the number of simulations and the experimental errors; 7. An error detection system, characterized in that, Include: Workpiece Slot Cable A robot, the robot is provided with a robotic arm, and a wire arrangement plug contact hand is arranged at the end of the robotic arm; A camera, the camera is arranged at the end of the robotic arm; A detection device, the detection device is communicatively connected to the camera and is used to execute the error detection method according to any one of claims 1-6.

8. The error detection system according to claim 7, wherein, The detection device is arranged on the robot.

9. A computer-readable storage medium, characterized in that, An error detection program is stored thereon, and when the error detection program is executed by a processor, the error detection method according to any one of claims 1-6 is implemented.

10. A detection device, characterized in that, It includes a memory, a processor, and an error detection program stored on the memory and executable on the processor. When the processor executes the error detection program, the method according to any one of claims 1-6 is implemented.

Images