Flying shooting method, flying shooting system and computer-readable storage medium

Abstract

The present application discloses a flying shooting method, a flying shooting system and a computer-readable storage medium. The flying shooting method includes: during the movement of the robotic arm after grasping the workpiece to be placed, obtaining a first image of the workpiece to be placed on the end flange of the robotic arm captured by a camera, wherein the robotic arm in the first image is in a preset shooting pose; determining a first pose of the workpiece to be placed in a vision coordinate system according to the first image; determining a target pose by using the following formula: T base‑flange3 ·T tool1 =pose1·(T vision‑tool2 ‑1 ·T vision‑tool1 );controlling the movement of the end flange of the robotic arm so that when the robotic arm places the grasped workpiece to be placed, the pose of the end flange in the target coordinate system is the target pose. The flying shooting method provided by the present application can reduce costs and improve the accuracy of placing materials.

Description

Technical Field

[0001] This application belongs to the technical field of robotics, and particularly relates to a flying shooting method, a flying shooting system, and a computer-readable storage medium. Background Art

[0002] In the application of industrial robot grasping and placing, if high precision is required for placing and at the same time it is desired not to affect the overall cycle time, the flying shooting technology needs to be used to solve this problem. The flying shooting technology means that during the movement of the robot after quickly grasping the workpiece, the visual technology is used to make the placement position of the workpiece meet the requirements.

[0003] However, in the current flying shooting technology, it is necessary to latch the position of the robot, which will introduce errors while increasing the cost. Summary of the Invention

[0004] This application provides a flying shooting method, a flying shooting system, and a computer-readable storage medium, which can reduce costs and improve the precision of placing.

[0005] In a first aspect of an embodiment of this application, a flying shooting method is provided. The method includes: during the movement of the robotic arm after grasping the workpiece to be placed, obtaining a first image captured by a camera of the workpiece to be placed on the end flange of the robotic arm, where the robotic arm in the first image is in a preset shooting pose; determining a first pose of the workpiece to be placed in a visual coordinate system according to the first image; determining a target pose using the following formula: T base-flange3 ·T tool1 =pose1·(T vision-tool2 -1 ·T vision-tool1 ), where T base-flange3 is the target pose, T tool1 is the pose of the standard workpiece in the flange coordinate system of the robotic arm when the robotic arm grasps the standard workpiece, pose1 is the pose of the standard workpiece in the target coordinate system when the robotic arm places the standard workpiece to be grasped, T vision-tool2 is the second pose of the standard workpiece on the end flange in the visual coordinate system when the robotic arm is in the preset shooting pose, T vision-tool1 is the first pose, where the target coordinate system does not change with the movement of the robotic arm; controlling the movement of the end flange of the robotic arm so that when the robotic arm places the workpiece to be placed, the pose of the end flange in the target coordinate system is the target pose.

[0006] In a second aspect of the embodiments of the present application, a flying shooting system is provided. The flying shooting system includes a camera and a control device electrically connected to the camera and the robotic arm. The control device is configured to: during the movement of the robotic arm after grasping the workpiece to be placed, obtain a first image captured by the camera of the workpiece to be placed on the end flange of the robotic arm, where the robotic arm in the first image is in a preset shooting pose; determine a first pose of the workpiece to be placed in a visual coordinate system according to the first image; determine a target pose using the following formula: T base-flange3 ·T tool1 = pose1·(T vision-tool2 -1 ·T vision-tool1 ), where T base-flange3 is the target pose, T tool1 is the pose of the standard workpiece in the flange coordinate system of the robotic arm when the robotic arm grasps the standard workpiece, pose1 is the pose of the standard workpiece in the target coordinate system when the robotic arm places the grasped standard workpiece, T vision-tool2 is the second pose of the standard workpiece on the end flange in the visual coordinate system when the robotic arm is in the preset shooting pose, and T vision-tool1 is the first pose, where the target coordinate system does not change with the movement of the robotic arm; control the movement of the end flange of the robotic arm so that when the robotic arm places the grasped workpiece to be placed, the pose of the end flange in the target coordinate system is the target pose.

[0007] In a third aspect of the embodiments of the present application, a computer-readable storage medium is provided. The computer-readable storage medium stores a computer program that can be executed by a processor to implement the steps in any one of the above methods.

[0008] The beneficial effects are as follows: The flying shooting method of the present application ensures that in each first image captured by the camera, the robotic arm is in a preset shooting pose, which can ensure that the pose of the end flange of the robotic arm in the target coordinate system is the same each time the camera takes a picture. Thus, the target pose can be determined using the formula T base-flange3 ·T tool1 = pose1·(T vision-tool2 -1 ·T vision-tool1 ), and the movement of the end flange of the robotic arm is controlled so that when the robotic arm places the grasped workpiece to be placed, the pose of the end flange in the target coordinate system is the target pose. Therefore, when the robotic arm places the grasped workpiece to be placed, the pose of the workpiece to be placed is the same as the pose of the standard workpiece when the robotic arm places the grasped standard workpiece, achieving precise placement. During the whole process, there is no need to determine the pose of the robotic arm, which can reduce costs and improve the placement accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings, where:

[0010] Figure 1 is a schematic flowchart of an implementation manner of the flying shooting method of the present application;

[0011] Figure 2 corresponds to Figure 1 a schematic principle diagram of the flying shooting method;

[0012] Figure 3 is a schematic structural diagram of an implementation manner of the flying shooting system of the present application;

[0013] Figure 4 is a schematic structural diagram of an implementation manner of the control device of the present application;

[0014] Figure 5 is a schematic structural diagram of an implementation manner of the computer-readable storage medium of the present application. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0015] The following will clearly and completely describe the technical solutions in the embodiments of the present application in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present application.

[0016] Referring to Figure 1 , Figure 1 is a schematic flowchart of an implementation manner of the flying shooting method of the present application, and the method includes:

[0017] S110: During the movement of the robotic arm after grasping the workpiece to be placed, obtain a first image of the workpiece to be placed on the end flange of the robotic arm captured by the camera, where the robotic arm in the first image is in a preset shooting pose.

[0018] Among them, steps S110 - S140 are executed by a control device that controls the movement of the robotic arm. The control device can be any device such as a robot control cabinet, a computer, etc., which is not limited herein.

[0019] Meanwhile, the background of the present application is introduced as follows:

[0020] The flying shooting technology means that during the process of the robotic arm grasping and placing a workpiece, a camera located at a fixed position takes pictures of the workpiece on the end flange of the robotic arm to obtain the pose of the workpiece, and then adjusts the pose of the workpiece so that when the robotic arm places the workpiece, the pose of the workpiece to be placed is the standard pose, thereby achieving precise placement.

[0021] The end flange of the robotic arm is connected to the actuator, which is used to grasp the workpiece. After the actuator grasps the workpiece, the pose of the workpiece in the flange coordinate system established based on the end flange remains unchanged all the time. That is to say, the pose of the workpiece relative to the end flange will not change with the movement of the robotic arm.

[0022] At the same time, each time the robotic arm grasps the workpiece from the material taking position, the pose of the robotic arm is fixed. That is to say, each time the robotic arm goes to take the material, the pose of the first joint axis is the same, the pose of the second joint axis is the same, the pose of the third joint axis is the same, and so on. The pose of the robotic arm when it grasps the workpiece each time is defined as the material taking pose. It can be understood that each time the robotic arm grasps the workpiece, the pose of its end flange in the target coordinate system is the same. Among them, the target coordinate system will not change with the movement of the robotic arm. It can be the base coordinate system of the robot corresponding to the robotic arm or the world coordinate system. For the convenience of description, hereinafter, the target coordinate system is taken as the base coordinate system for description.

[0023] At the same time, during the process from taking the material to placing the material, the speed and trajectory of the robotic arm will not change. Therefore, during the movement of the robotic arm, as long as the end flange is not driven to move relative to other components of the robotic arm, each time the robotic arm moves to the same position point, the pose of its end flange in the target coordinate system is the same.

[0024] In step S110, during the movement of the robotic arm after grasping the workpiece each time, the camera takes pictures of the workpiece on the end flange of the robotic arm to obtain the first image. In each of the obtained first images, the robotic arm is in the preset shooting pose. That is to say, each time the camera takes a picture, the pose of the robotic arm is the same (specifically, when the camera takes a picture each time, the poses of the corresponding components are the same. For example, the pose of the first joint axis is the same, the pose of the second joint axis is the same, and so on). And because in each of the obtained first images, the robotic arm is in the preset shooting pose, the pose of the end flange of the robotic arm in the target coordinate system is the same in each of the obtained first images.

[0025] In this embodiment, in order to ensure that the pose of the robotic arm is the same every time the camera takes a picture of the robotic arm, a target sensor is used for processing. Specifically, when the target sensor detects the robotic arm, it sends a trigger signal to the camera to trigger the camera to take a picture and obtain a first image. Specifically, during the movement of the robotic arm after each workpiece grasping, when the target sensor first detects the robotic arm, the target sensor sends a trigger signal to the camera to trigger the camera to take a picture. Among them, the position of the target sensor is fixed.

[0026] Among them, although there is a certain delay between the detection of the robotic arm by the target sensor and the acquisition of the first image by the camera, each delay is fixed. Therefore, it can be ensured that the pose of the robotic arm is the same every time the camera takes a picture.

[0027] Among them, the target sensor can be a photoelectric sensor. The photoelectric sensor includes a light emitter and a light receiver. The light emitter emits laser light to the light receiver, and the light receiver receives the laser light emitted by the light emitter. When the robotic arm moves between the light emitter and the light receiver, due to the occlusion of the robotic arm, the light receiver cannot receive the laser light emitted by the light emitter, so that the light receiver generates a trigger signal to trigger the camera to take a picture and obtain a first image.

[0028] It should be noted that in other embodiments, the target sensor can also be other types of sensors, such as radar, metal detector, etc.

[0029] S120: Determine the first pose of the workpiece to be placed in the visual coordinate system according to the first image.

[0030] After obtaining the first image, perform image analysis and processing on the first image to obtain the first pose of the workpiece to be placed in the visual coordinate system. This visual coordinate system is related to the camera itself and has nothing to do with other factors.

[0031] S130: Determine the target pose using a preset formula.

[0032] Specifically, the preset formula is T base-flange3 ·T tool1 =pose1·(T vision-tool2 -1 ·T vision-tool1 ), where T base-flange3 is the target pose T tool1 is the pose of the standard workpiece in the flange coordinate system of the robotic arm when the robotic arm grasps the standard workpiece, pose1 is the pose of the standard workpiece in the target coordinate system when the robotic arm places the grasped standard workpiece, and T vision-tool2 is the second pose of the standard workpiece on the end flange in the visual coordinate system when the robotic arm is in the preset shooting pose, T vision-tool1is the first pose, where the target coordinate system does not change with the movement of the robotic arm.

[0033] Among them, the standard workpiece refers to the workpiece in the standard pose when the robotic arm discharges materials. That is to say, when the robotic arm discharges the standard workpiece, the pose of the standard workpiece in the target coordinate system is the standard pose, where the standard pose is obtained through teaching in advance. It can be understood that every time the robotic arm discharges materials subsequently, it is necessary to ensure that the grasped workpiece is in the standard pose.

[0034] Among them, during the movement of the robotic arm after grasping the standard workpiece, the camera takes a picture of the standard workpiece on the end flange of the robotic arm to obtain a second image, which is the same as the first image. In this second image, the robotic arm is in the preset shooting pose, and then according to the second image, the second pose of the standard workpiece in the vision coordinate system is determined.

[0035] As can be seen from the foregoing, after the robotic arm grasps the workpiece, as long as it is ensured that the end flange does not move relative to other components, then every time the robotic arm moves to the same pose, the pose of its end flange in the target coordinate system is the same. Therefore, regardless of whether the end of the robotic arm grasps the workpiece to be discharged or the standard workpiece, at the preset shooting pose, the pose of the end flange of the robotic arm in the target coordinate system is the same.

[0036] It can be understood that whether it is the standard workpiece or the workpiece to be discharged, during the movement with the robotic arm after being grasped by the robotic arm, the position of the standard workpiece or the workpiece to be discharged relative to the end flange of the robotic arm will not change. Therefore, during the movement of the robotic arm, the pose of the standard workpiece or the workpiece to be discharged in the flange coordinate system (the coordinate system established based on the end flange of the robotic arm) will not change.

[0037] Among them, the pose of the standard workpiece in the flange coordinate system can be calibrated in advance through a calibration tool coordinate system. Usually, a calibration tool coordinate system is provided on a multi-axis robot. The calibration process belongs to the prior art and will not be specifically introduced here.

[0038] Among them, combined with Figure 2 , set tool1 to represent the coordinate system of the standard workpiece, tool2 to represent the coordinate system of the workpiece to be discharged, flange0 to represent the coordinate system of the end flange when the robotic arm is in the material-taking pose, flange1 to represent the coordinate system of the end flange when the robotic arm is in the preset shooting pose, flange2 to represent the coordinate system of the end flange when the robotic arm grasping the standard workpiece discharges materials, and flange3 to represent the coordinate system of the end flange when the robotic arm grasping the workpiece to be discharged discharges materials.

[0039] As can be seen from the above, each time the robotic arm is in the material-taking state, the pose of the end flange in the target coordinate system is the same, and each time the robotic arm is in the preset shooting pose, the pose of the end flange in the target coordinate system is the same.

[0040] According to the above definitions, the following equation formed by four homogeneous matrices can be listed:

[0041] Formula 1: T base-flange1 ·T tool1 =T base-vision ·T vision-tool1 , where T base-flange1 represents the homogeneous matrix of the flange coordinate system relative to the base coordinate system when the robotic arm is in the preset shooting pose while grasping the standard workpiece, T tool1 represents the pose of the grasped standard workpiece in the flange coordinate system when the robotic arm is in the preset shooting pose. Therefore, T base-flange1 ·T tool1 represents the pose of the grasped standard workpiece in the base coordinate system when the robotic arm is in the preset shooting pose, T base-vision represents the homogeneous matrix from the vision coordinate system to the base coordinate system, T vision-tool1 represents the pose of the grasped standard workpiece in the vision coordinate system when the robotic arm is in the preset shooting pose. Therefore, T base-vision ·T vision-tool1 also represents the pose of the grasped standard workpiece in the base coordinate system when the robotic arm is in the preset shooting pose. Therefore, T base-flange1 ·T tool1 is equal to T base-vision ·T vision-tool1 . That is to say, Formula 1 is an equation established for the process of grasping the standard workpiece when the robotic arm is in the preset shooting pose.

[0042] Formula 2: T′ base-flange1 ·T tool2 =T base-vision ·T vision-tool2 , where T′ base-flange1 represents the homogeneous matrix of the flange coordinate system relative to the base coordinate system when the robotic arm is in the preset shooting pose while grasping the workpiece to be placed, T tool2 represents the pose of the grasped workpiece to be placed in the flange coordinate system when the robotic arm is in the preset shooting pose. Therefore, T base-flange1 ·T tool2 represents the pose of the grasped workpiece to be placed in the base coordinate system when the robotic arm is in the preset shooting pose, T base-vision represents the homogeneous matrix from the vision coordinate system to the base coordinate system, T vision-tool2 represents the pose of the grasped workpiece to be placed in the vision coordinate system when the robotic arm is in the preset shooting pose. Therefore, T base-vision ·T vision-tool2It also represents the pose of the workpiece to be placed grasped by the robotic arm in the base coordinate system when the robotic arm is in the preset shooting pose. Therefore, T′ base-flange1 ·T tool2 is equal to T base-vision ·T vision-tool1 . That is to say, Equation 2 is an equation established for the process of grasping the workpiece to be placed when the robotic arm is in the preset shooting pose.

[0043] Among them, from the foregoing, it can be seen that regardless of whether the end of the robotic arm grasps the workpiece to be placed or the standard workpiece, at the preset shooting pose, the pose of the end flange of the robotic arm in the target coordinate system is the same. Therefore, regardless of whether the end of the robotic arm grasps the workpiece to be placed or the standard workpiece, at the preset shooting pose, the homogeneous matrix of the flange coordinate system relative to the base coordinate system is the same. That is to say, T′ base-flange1 in Equation 2 is equal to T base-flange1 in Equation 1. Therefore, Equation 2 is updated to Equation 3: T base-flange1 ·T tool2 =T base-vision ·T vision-tool2 .

[0044] Equation 4: T base-flange2 ·T tool1 =pose1, where T base-flange2 represents the homogeneous matrix of the flange coordinate system relative to the base coordinate system when the robotic arm places the grasped standard workpiece, T tool1 represents the pose of the standard workpiece in the flange coordinate system when the robotic arm places the grasped standard workpiece, and pose1 represents the pose of the standard workpiece in the base coordinate system when the robotic arm places the standard workpiece.

[0045] Equation 5: T base-flange3 ·T tool2 =pose2, where T base-flange3 represents the homogeneous matrix of the flange coordinate system relative to the base coordinate system when the robotic arm is in the placing pose during grasping the workpiece to be placed, T tool2 represents the pose of the workpiece to be placed in the flange coordinate system when the robotic arm places the grasped workpiece to be placed, and pose2 represents the pose of the workpiece to be placed in the base coordinate system when the robotic arm places the workpiece to be placed. From the foregoing introduction to the flying shooting technology, it can be known that when the robotic arm places the workpiece to be placed, the pose of the workpiece to be placed in the base coordinate system should be equal to the pose of the standard workpiece in the base coordinate system when the robotic arm places the standard workpiece. Therefore, Equation 5 can be updated to Equation 6: T base-flange3 ·T tool2 =pose1.

[0046] That is, the following four equations are obtained:

[0047] Equation 1: T base-flange1·T tool1 = T base-vision ·T vision-tool1 ;

[0048] Formula Three: T base-flange1 ·T tool2 = T base-vision ·T vision-tool2 ;

[0049] Formula Four: T base-flange2 ·T tool1 = pose1;

[0050] Formula Six: T base-flange3 ·T tool2 = pose1;

[0051] Among them, Formula Three can be converted to:

[0052] Formula Seven: T tool2 = T base-flange1 -1 ·T base-vision ·T vision-tool2 ;

[0053] Formula One can be converted to:

[0054] Formula Eight: T tool1 ·T vision-tool1 -1 = T base-flange1 -1 ·T base-vision ;

[0055] Then substituting Formula Eight into Formula Seven, we can get:

[0056] Formula Nine: T tool2 = T tool1 ·T vision-tool1 -1 ·T vision-tool2 ;

[0057] Finally, substituting Formula Nine into Formula Six, we can get:

[0058] T base-flange3 ·T tool1 ·T vision-tool1 -1 ·T vision-tool2 = pose1;

[0059] Furthermore, we can get:

[0060] T base-flange3 ·T tool1 = pose1·(T vision-tool2 -1 ·T vision-tool1 );

[0061] Furthermore, T can be determined. base-flange3 , that is, when the robotic arm places the workpiece to be placed that it has grasped, it is the homogeneous matrix of the flange coordinate system relative to the base coordinate system. That is to say, when the robotic arm is in the state of placing the workpiece to be placed, the pose of the end flange in the base coordinate system.

[0062] Subsequently, during the movement of the robotic arm, control the rotation of the end flange so that when the robotic arm places the workpiece to be placed, the pose of the end flange in the base coordinate system is T base-flange3 , so that when the robotic arm places the material, the pose of the workpiece to be placed can be guaranteed to be the same as the pose of the standard workpiece.

[0063] S140: Control the movement of the end flange of the robotic arm so that when the robotic arm places the workpiece to be placed that it has grasped, the pose of the end flange in the target coordinate system is the target pose.

[0064] It can be seen from the above content that the entire process does not require determining the pose of the robotic arm, which can save costs and improve the feeding accuracy.

[0065] Refer to Figure 3 , Figure 3 is a schematic structural diagram of an embodiment of the flying shooting system of the present application. The flying shooting system 200 includes a control device 210 and a camera 220. Among them, the control device 210 and the camera 220 cooperate with each other to complete the steps in the above flying shooting method. For the detailed steps, reference can be made to the above embodiment and will not be elaborated here.

[0066] Among them, the control device 210 can be any device such as a robot control cabinet, a computer, etc., and is not limited here.

[0067] Continue to refer to Figure 3 , in this embodiment, the flying shooting system 200 further includes a target sensor 230, and the target sensor 230 is electrically connected to the camera 220 to trigger the camera 220 to take pictures. The specific process of the target sensor 230 triggering the camera to take pictures can be referred to the above content and will not be elaborated here.

[0068] In an application scenario, the target sensor 230 is a photoelectric sensor.

[0069] Refer to Figure 4 , Figure 4 is a schematic structural diagram of an embodiment of the control device of the present application. The control device 300 includes an acquisition module 310, a first determination module 320, a second determination module 330, and a control module 340.

[0070] The acquisition module 310 is configured to acquire a first image captured by a camera for a workpiece to be placed on the end flange of the robotic arm during the movement of the robotic arm after grasping the workpiece to be placed, wherein the robotic arm in the first image is in a preset shooting pose.

[0071] The first determination module 320 is connected to the acquisition module 310 and is configured to determine a first pose of the workpiece to be placed in the visual coordinate system according to the first image.

[0072] The second determination module 330 is connected to the first determination module 320 and is configured to determine the target pose by using the following formula:

[0073] T base-flange3 ·T tool1 =pose1·(T vision-tool2 -1 ·T vision-tool1 ), where T base-flange3 is the target pose, T tool1 is the pose of the standard workpiece in the flange coordinate system of the robotic arm when the robotic arm grasps the standard workpiece, pose1 is the pose of the standard workpiece in the target coordinate system when the robotic arm places the grasped standard workpiece, T vision-tool2 is the second pose of the standard workpiece on the end flange in the visual coordinate system when the robotic arm is in the preset shooting pose, T vision-tool1 is the first pose, and the target coordinate system does not change with the movement of the robotic arm.

[0074] The control module 340 is connected to the second determination module 330 and is configured to control the movement of the end flange of the robotic arm so that when the robotic arm places the grasped workpiece to be placed, the pose of the end flange in the target coordinate system is the target pose.

[0075] Wherein, the acquisition module 310, the first determination module 320, the second determination module 330, and the control module 340 cooperate with each other to implement the steps executed by the control device in the above implementation manner of the flying shooting method. For detailed steps, refer to the above content and will not be elaborated here.

[0076] Wherein, the control device 300 can be any device such as a robot control cabinet, a computer, etc., and is not limited here.

[0077] Refer to Figure 5 , Figure 5 is a schematic structural diagram of an embodiment of a computer storage medium of the present application. The computer storage medium 400 stores a computer program 410, and the computer program 410 can be executed by a processor to implement the steps in any of the above methods.

[0078] Among them, the computer storage medium 400 may specifically be a device such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disc that can store the computer program 410, or it may also be a server storing the computer program 410. The server can send the stored computer program 410 to other devices for running, or it can also run the stored computer program 410 by itself.

[0079] The above are only embodiments of the present application, and do not limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made by using the content of the specification and drawings of the present application, or directly or indirectly applied in other related technical fields, shall be equally included in the patent protection scope of the present application.

Claims

1. A flying shooting method, characterized in that, the method includes: During the movement of the robotic arm after grasping the workpiece to be placed, obtain a first image captured by the camera of the workpiece to be placed on the end flange of the robotic arm, wherein the robotic arm in the first image is in a preset shooting pose; According to the first image, determine the first pose of the workpiece to be placed in the visual coordinate system; Use the following formula to determine the target pose: T base-flange3 ·T tool1 = pose1·(T vision-tool2 -1 ·T vision-tool1 ), where T base-flange3 is the target pose, T tool1 is the pose of the standard workpiece in the flange coordinate system of the robotic arm when the robotic arm grasps the standard workpiece, pose1 is the pose of the standard workpiece in the target coordinate system when the robotic arm places the grasped standard workpiece, T vision-tool2 is the second pose of the standard workpiece on the end flange in the vision coordinate system when the robotic arm is in the preset shooting pose, T vision-tool1 is the first pose, where the target coordinate system does not change with the movement of the robotic arm; Control the movement of the end flange of the robotic arm so that when the robotic arm places the grasped workpiece to be placed, the pose of the end flange in the target coordinate system is the target pose.

2. The method according to claim 1, characterized in that, the method further includes: When the target sensor detects the robotic arm, send a trigger signal to the camera to trigger the camera to take a picture and obtain the first image.

3. The method according to claim 2, characterized in that, the target sensor is a photoelectric sensor.

4. The method according to claim 1, characterized in that, the target coordinate system is the base coordinate system of the robot corresponding to the robotic arm.

5. The method according to claim 1, characterized in that, the method further includes: During the movement of the robotic arm after grasping the standard workpiece, obtain a second image captured by the camera of the standard workpiece on the end flange of the robotic arm, wherein the robotic arm in the second image is in the preset shooting pose, and when the robotic arm places the grasped standard workpiece, the pose of the standard workpiece in the target coordinate system is pose1; Determine the second pose T of the standard workpiece in the vision coordinate system according to the second image vision-tool2 .

6. A flying shooting system, characterized in that, The flying shooting system includes a camera and a control device electrically connected to the camera and the robotic arm. The control device is configured to: during the movement of the robotic arm after grasping the workpiece to be placed, obtain a first image captured by the camera of the workpiece to be placed on the end flange of the robotic arm, wherein the robotic arm in the first image is in a preset shooting pose; determine a first pose of the workpiece to be placed in the visual coordinate system according to the first image; determine the target pose using the following formula: T base-flange3 ·T tool1 = pose1·(T vision-tool2 -1 ·T vision-tool1 ), where T base-flange3 is the target pose, T tool1 is the pose of the standard workpiece in the flange coordinate system of the robotic arm when the robotic arm grasps the standard workpiece, pose1 is the pose of the standard workpiece in the target coordinate system when the robotic arm places the grasped standard workpiece, T vision-tool2 is the second pose of the standard workpiece on the end flange in the visual coordinate system when the robotic arm is in the preset shooting pose, T vision-tool1 is the first pose, where the target coordinate system does not change with the movement of the robotic arm; control the movement of the end flange of the robotic arm so that when the robotic arm places the grasped workpiece to be placed, the pose of the end flange in the target coordinate system is the target pose.

7. The system according to claim 6, characterized in that, the flying shooting system further includes: A target sensor, electrically connected to the camera, wherein when the target sensor detects the robotic arm, it sends a trigger signal to the camera to trigger the camera to take a picture and obtain the first image.

8. The system according to claim 7, characterized in that, the target sensor is a photoelectric sensor.

9. The system according to claim 6, characterized in that, The control device is further configured to: during the movement of the robotic arm after grasping the standard workpiece, obtain a second image captured by the camera of the standard workpiece on the end flange of the robotic arm, wherein the robotic arm in the second image is in the preset shooting pose, and when the robotic arm places the grasped standard workpiece, the pose of the standard workpiece in the target coordinate system is pose1; determine the second pose T of the standard workpiece in the vision coordinate system according to the second image vision-tool2 .

10. A computer-readable storage medium, characterized in that, the computer-readable storage medium stores a computer program, and the computer program can be executed by a processor to implement the steps in the method according to any one of claims 1-5.

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