Welding robot control method, device, welding robot and readable medium

Abstract

Based on the above technical problems, the present application provides a welding robot control method, device, welding robot and readable medium. The method includes: using a three-dimensional camera at the end of the welding robot to collect images of a calibration plate at multiple designated collection positions to obtain multiple calibration plate images; for multiple calibration plate images, obtaining the designated point position information of the designated point on the calibration plate in each calibration plate image to obtain multiple designated point position information; driving the welding robot to move the end of the welding gun to a predetermined position corresponding to the designated point, and recording the end position information of the end of the welding gun; according to the matching results of the multiple designated point position information and the end position information, compensating the hand-eye transformation matrix to obtain the target transformation matrix. The method can accurately locate the welding point and improve the welding accuracy.

Description

Technical Field

[0001] The present application relates to the field of robots, and in particular to a welding robot control method, device, welding robot and readable medium. Background Art

[0002] With the development of computer science and automatic control, various automatic processing robots have been rapidly developed in various fields. In the field of industrial robots, automatic controlled welding robots have been widely used.

[0003] In the related art, the control process of the welding robot sets relevant operating data according to the process of manually controlling the robot to perform welding, and then the robot performs welding according to the set operating data based on the image captured by its camera.

[0004] However, in the above scheme, since the operating data is set according to the manual control process, the welding technical level and errors of the controller in the manual control process have a greater impact on the robot's automatic welding process, resulting in deviations in the welding process and reducing the accuracy of welding. Summary of the invention

[0005] Based on the above technical problems, the present application provides a welding robot control method, device, welding robot and readable medium to accurately locate the welding points and improve the welding accuracy.

[0006] Other features and advantages of the present application will become apparent from the following detailed description, or may be learned in part by the practice of the present application.

[0007] According to one aspect of an embodiment of the present application, there is provided a welding robot control method, comprising:

[0008] The images of the calibration plate are collected at multiple designated collection positions by using the three-dimensional camera at the end of the welding robot to obtain multiple calibration plate images;

[0009] For the plurality of calibration plate images, obtaining the designated point position information of the designated point on the calibration plate in each calibration plate image to obtain a plurality of designated point position information;

[0010] Driving the welding robot to move the end of the welding gun to a predetermined position corresponding to the designated point, and recording the end position information of the end of the welding gun;

[0011] According to the matching results of the plurality of designated point position information and the terminal position information, the hand-eye transformation matrix is ​​compensated to obtain a target transformation matrix.

[0012] In some embodiments of the present application, based on the above technical solution, the three-dimensional camera at the end of the welding robot collects images of the calibration plate at multiple specified collection positions to obtain multiple calibration plate images, including:

[0013] According to the preset path information, the end of the welding robot is driven to reach each predetermined image acquisition position in sequence;

[0014] At each predetermined image acquisition position, a frame of infrared image of the calibration plate is captured by a three-dimensional camera at the end of the welding robot to obtain multiple calibration plate images, wherein the infrared image contains a grayscale image with depth information.

[0015] In some embodiments of the present application, based on the above technical solution, for the multiple calibration plate images, obtaining the designated point position information of the designated point on the calibration plate in each calibration plate image, and obtaining multiple designated point position information includes:

[0016] Identify the three-dimensional coordinate information of a specified point on the calibration plate from each calibration plate image to obtain a plurality of three-dimensional coordinate information of the plurality of calibration plate images;

[0017] According to the hand-eye transformation matrix and the extrinsic parameter matrix, the multiple three-dimensional coordinate information is mapped to the welding robot coordinate system to obtain the multiple specified point position information. The extrinsic parameter matrix is ​​used to indicate the positional relationship between the three-dimensional camera and the calibration plate.

[0018] In some embodiments of the present application, based on the above technical solution, the plurality of three-dimensional coordinate information is mapped to the welding robot coordinate system according to the hand-eye transformation matrix and the external parameter matrix to obtain the plurality of designated point position information, including:

[0019] According to the pose matrix corresponding to each calibration plate image, the hand-eye transformation matrix and the extrinsic parameter matrix, the three-dimensional coordinate information of the specified point is mapped to the welding robot coordinate system to obtain the position information of the multiple specified points, wherein the pose matrix is ​​a matrix obtained according to the position of the end of the welding robot when the image of the calibration plate is collected at multiple specified collection positions, and the pose matrix is ​​used to describe the relative position relationship between the three-dimensional camera and the base position of the welding robot.

[0020] In some embodiments of the present application, based on the above technical solution, after driving the welding robot end to reach each predetermined image acquisition position in sequence according to the preset path information, the method further includes:

[0021] At each predetermined image acquisition position, the posture information of the welding robot is recorded to obtain a posture matrix corresponding to each calibration plate image.

[0022] In some embodiments of the present application, based on the above technical solution, the hand-eye transformation matrix is ​​compensated according to the matching results of the plurality of designated point position information and the terminal position information to obtain the target transformation matrix, including:

[0023] Determining a hand-eye compensation matrix according to the deviation between the position information of each designated point and the end position information;

[0024] The target transformation matrix is ​​obtained by multiplying the hand-eye compensation matrix by the hand-eye transformation matrix.

[0025] In some embodiments of the present application, based on the above technical solution, after compensating the hand-eye transformation matrix according to the matching results of the plurality of designated point position information and the terminal position information to obtain the target transformation matrix, the method further includes:

[0026] Acquiring position information of a position to be welded on a target workpiece by means of the three-dimensional camera;

[0027] The position information of the position to be welded is converted into the welding robot coordinate system through the target transformation matrix to obtain the target position information;

[0028] According to the target position information, the end of the welding gun is driven to weld the position to be welded.

[0029] According to one aspect of an embodiment of the present application, there is provided a welding robot control device, comprising:

[0030] The acquisition module is used to acquire images of the calibration plate at multiple designated acquisition positions through a three-dimensional camera at the end of the welding robot to obtain multiple calibration plate images;

[0031] A position determination module, configured to obtain, for each of the plurality of calibration plate images, the position information of a designated point on the calibration plate, thereby obtaining a plurality of designated point position information;

[0032] A driving module, used for driving the welding robot to move the end of the welding gun to a predetermined position corresponding to the designated point, and recording the end position information of the end of the welding gun;

[0033] The compensation module is used to compensate the hand-eye transformation matrix according to the matching results of the plurality of designated point position information and the terminal position information to obtain a target transformation matrix.

[0034] According to one aspect of an embodiment of the present application, a welding robot is provided, comprising: a processor; and a memory for storing executable instructions of the processor; wherein the processor is configured to execute a welding robot control method as in the above technical solution by executing the executable instructions.

[0035] According to one aspect of an embodiment of the present application, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the welding robot control method in the above technical solution is implemented.

[0036] In an embodiment of the present application, a plurality of calibration plate images on the target workpiece are collected by a three-dimensional camera at the end of the welding robot, and the position information of the same points in the plurality of calibration plates is matched with the end position data in the real world to compensate for the hand-eye transformation matrix and obtain the target transformation matrix, so that the target transformation matrix can compensate for the deviation between the position in the infrared image and the actual position, thereby improving the positioning accuracy of the end of the welding gun and improving the welding effect.

[0037] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] The drawings herein are incorporated into the specification and constitute a part of the specification, showing embodiments consistent with the present application, and together with the specification, are used to explain the principles of the present application. Obviously, the drawings described below are only some embodiments of the present application, and for ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work. In the drawings:

[0039] Figure 1 The following schematically shows an exemplary system architecture diagram of the technical solution of the present application in an application scenario;

[0040] Figure 2 This is a schematic diagram of a calibration plate in an embodiment of the present application;

[0041] Figure 3 A schematic diagram of an image captured by a three-dimensional camera in an embodiment of the present application;

[0042] Figure 4 This is a schematic flow chart of a welding robot control method in an embodiment of the present application;

[0043] Figure 5 This is a schematic diagram of the overall process of the welding control process in the embodiment of the present application;

[0044] Figure 6The composition block diagram of the welding robot control device in the embodiment of the present application is schematically shown;

[0045] Figure 7 A schematic diagram of the structure of a computer system suitable for implementing an electronic device of an embodiment of the present application is shown. DETAILED DESCRIPTION

[0046] Example embodiments will now be described more fully with reference to the accompanying drawings. However, example embodiments can be implemented in a variety of forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided so that this application will be more comprehensive and complete and fully convey the concept of the example embodiments to those skilled in the art.

[0047] In addition, described feature, structure or characteristic can be combined in one or more embodiments in any suitable manner. In the following description, many specific details are provided to provide a full understanding of the embodiments of the present application. However, those skilled in the art will appreciate that the technical scheme of the present application can be put into practice without one or more of the specific details, or other methods, components, devices, steps, etc. can be adopted. In other cases, known methods, devices, realizations or operations are not shown or described in detail to avoid blurring the various aspects of the application.

[0048] The block diagrams shown in the accompanying drawings are merely functional entities and do not necessarily correspond to physically independent entities. That is, these functional entities may be implemented in software form, or in one or more hardware modules or integrated circuits, or in different networks and / or processor devices and / or microcontroller devices.

[0049] The flowcharts shown in the accompanying drawings are only exemplary and do not necessarily include all the contents and operations / steps, nor must they be executed in the order described. For example, some operations / steps can be decomposed, and some operations / steps can be combined or partially combined, so the actual execution order may change according to actual conditions.

[0050] The application scenarios of the solution of this application are introduced below. Figure 1 The following schematically shows an exemplary system architecture diagram of the technical solution of the present application in an application scenario. Figure 1 As shown, the application scenario includes a welding robot 110, a three-dimensional camera 120 and a calibration plate 130. The solution of the present application drives the welding robot 110 to perform compensation calculations based on the infrared image of the calibration plate 130 captured by the three-dimensional camera 120. Figure 1 As shown, a grid is provided on the calibration plate 130 to form a plurality of focal points. Figure 2 and Figure 3 , Figure 2This is a schematic diagram of a calibration plate in an embodiment of the present application. Figure 3 Schematic diagram of an image captured by a three-dimensional camera in an embodiment of the present application. Figure 2 and Figure 3 As shown, one of the intersection points in the grid on the calibration plate can be selected as the intersection point for calibration. The actual position of the corner point is Figure 2 The position realPt is shown, while Figure 3 The infrared image of also contains this corner point. Figure 3 The position and Figure 2 The deviation in position in the hand-eye transformation matrix can be determined to determine the compensation required.

[0051] The following is a detailed description of the technical solution provided by this application in conjunction with the specific implementation method. For ease of introduction, please refer to Figure 4 , Figure 4 This is a schematic flow chart of a welding robot control method in an embodiment of the present application. The method can be applied to the above-mentioned welding robot. In the embodiment of the present application, the welding robot control method is introduced with the welding robot as the execution subject, and the payment method may include the following steps S410 to S440:

[0052] Step S410, using the three-dimensional camera at the end of the welding robot to collect images of the calibration plate at multiple designated collection positions to obtain multiple calibration plate images.

[0053] Specifically, the end of the welding robot moves along a predetermined trajectory, stops at a specified acquisition position, and shoots the calibration plate through a 3D camera. The image obtained by shooting will contain images of the calibration plate at various angles. The calibration plate image is usually an infrared image and contains depth information.

[0054] In some embodiments of the present application, the above step S410, using a three-dimensional camera at the end of the welding robot to collect images of the calibration plate at multiple specified collection positions, to obtain multiple calibration plate images, includes:

[0055] According to the preset path information, the end of the welding robot is driven to reach each predetermined image acquisition position in sequence;

[0056] At each predetermined image acquisition position, a frame of infrared image of the calibration plate is captured by a three-dimensional camera at the end of the welding robot to obtain multiple calibration plate images, wherein the infrared image contains a grayscale image with depth information.

[0057] The welding robot is driven to move along a preset “e”-shaped spiral ascending route, and reaches a designated shooting point to record the robot’s posture matrix toolpose and collect infrared images, as well as collect multiple frames of infrared images with calibration plates within the field of view.

[0058] Step S420 : For the plurality of calibration plate images, obtain the designated point position information of the designated point on the calibration plate in each calibration plate image to obtain a plurality of designated point position information.

[0059] A corner point pt on the calibration plate is selected as the designated point. For each calibration plate image, the designated point position information of the same corner point pt is detected and extracted, thereby obtaining multiple designated point position information. The designated position information is the three-dimensional coordinate information of the designated point in the camera coordinate system.

[0060] In some embodiments of the present application, the above step S420, for the multiple calibration plate images, obtains the designated point position information of the designated point on the calibration plate in each calibration plate image, and obtains multiple designated point position information, including:

[0061] Identify the three-dimensional coordinate information of a specified point on the calibration plate from each calibration plate image to obtain a plurality of three-dimensional coordinate information of the plurality of calibration plate images;

[0062] According to the hand-eye transformation matrix and the extrinsic parameter matrix, the multiple three-dimensional coordinate information is mapped to the welding robot coordinate system to obtain the multiple specified point position information. The extrinsic parameter matrix is ​​used to indicate the positional relationship between the three-dimensional camera and the calibration plate.

[0063] In some embodiments of the present application, the above steps, according to the hand-eye transformation matrix and the external parameter matrix, map the multiple three-dimensional coordinate information to the welding robot coordinate system to obtain the multiple designated point position information, include:

[0064] According to the pose matrix corresponding to each calibration plate image, the hand-eye transformation matrix and the extrinsic parameter matrix, the three-dimensional coordinate information of the specified point is mapped to the welding robot coordinate system to obtain the position information of the multiple specified points, wherein the pose matrix is ​​a matrix obtained according to the position of the end of the welding robot when the image of the calibration plate is collected at multiple specified collection positions, and the pose matrix is ​​used to describe the relative position relationship between the three-dimensional camera and the base position of the welding robot.

[0065] Specifically, the three-dimensional coordinate information pt obtained by the three-dimensional data camera is converted to the welding robot base coordinate system through the uncompensated hand-eye transformation matrix handEye and the external parameter matrix camTran to obtain the real point worldPt. For multiple calibration plate images at each position, the real point worldPt in each calibration plate image is merged to obtain a data set worldPts of multiple specified point position information.

[0066] Among them, for a specified point, the real point conversion relationship is:

[0067] worldPt=toolpose*handEye*camTran*pt.

[0068] Among them, worldPt is the real point, pt is the three-dimensional coordinate information, toolpose is the robot pose matrix when collecting images, handEye is the hand-eye transformation matrix, and camTran is the external parameter matrix.

[0069] In some embodiments of the present application, after the above steps, according to the preset path information, drive the end of the welding robot to reach each predetermined image acquisition position in sequence, the method of the present application further includes:

[0070] At each predetermined image acquisition position, the posture information of the welding robot is recorded to obtain a posture matrix corresponding to each calibration plate image.

[0071] Specifically, the pose information is information measured based on the pre-configured parameters and sensors in the welding robot. When the welding robot moves the welding gun to a certain position, it is fixed to a pose information, which is usually used to represent the position of the 3D camera in the robot coordinate system.

[0072] Step S430, driving the welding robot to move the end of the welding gun to a predetermined position corresponding to the designated point, and recording the end position information of the end of the welding gun.

[0073] The welding robot will drive the end of the welding gun of the welding robot to move to the characteristic position of the corresponding designated point on the calibration plate, and record the end position information of the end of the welding gun as the end position information, that is, the corner point position realPt.

[0074] Step S440: Compensate the hand-eye transformation matrix according to the matching results of the plurality of designated point position information and the terminal position information to obtain a target transformation matrix.

[0075] According to the matching results of the plurality of designated point position information and the terminal position information, the welding robot can determine the deviation between the designated point position information and the terminal position information, and further compensate the hand-eye transformation matrix according to the deviation. For example, the mean of the distance between the two positions in the three-dimensional coordinate system is used as the deviation for compensation. The center of the sphere is fitted for the plurality of designated point position information, and the center of the sphere is obtained as the center position information, and then compensation is performed according to the deviation between the center position information and the terminal position information.

[0076] In some embodiments of the present application, the above steps, based on the matching results of the plurality of designated point position information and the terminal position information, compensate the hand-eye transformation matrix to obtain the target transformation matrix, include:

[0077] Determining a hand-eye compensation matrix according to the deviation between the position information of each designated point and the end position information;

[0078] The target transformation matrix is ​​obtained by multiplying the hand-eye compensation matrix by the hand-eye transformation matrix.

[0079] Specifically, a multi-frame real point data set worldPts and its corresponding position data realPt of the tool center point at the end of the welding gun in the three-dimensional real world coordinate system are obtained through data collection. Using realPt as reliable reference position information, the deviation ΔT between each point in the real point data set worldPts and the end position information realPt is calculated. i , and finally obtain the mean deviation That is, the compensation matrix of the hand-eye transformation matrix. The final compensated hand-eye transformation matrix T′ TC for:

[0080]

[0081] Where T TC It is the representation of the three-dimensional camera coordinate system C in the robot end tool coordinate system T, that is, the hand-eye transformation matrix handEye before compensation.

[0082] In some embodiments of the present application, in the above steps, after compensating the hand-eye transformation matrix according to the matching results of the plurality of designated point position information and the terminal position information to obtain the target transformation matrix, the method further includes:

[0083] Acquiring position information of a position to be welded on a target workpiece by means of the three-dimensional camera;

[0084] The position information of the position to be welded is converted into the welding robot coordinate system through the target transformation matrix to obtain the target position information;

[0085] According to the target position information, the end of the welding gun is driven to weld the position to be welded.

[0086] Based on the obtained target transformation matrix, the welding robot can perform conversion calculations according to the position information of the workpiece to be welded captured by the three-dimensional camera, thereby obtaining the target position information of the welding point in the robot coordinates, and then drive the end of the welding gun to the position for welding according to the target position information.

[0087] In an embodiment of the present application, a plurality of calibration plate images on the target workpiece are collected by a three-dimensional camera at the end of the welding robot, and the position information of the same points in the plurality of calibration plates is matched with the end position data in the real world to compensate for the hand-eye transformation matrix and obtain the target transformation matrix, so that the target transformation matrix can compensate for the deviation between the position in the infrared image and the actual position, thereby improving the positioning accuracy of the end of the welding gun and improving the welding effect.

[0088] The following is an introduction to the overall process of the control process in the embodiment of the present application. Figure 5 , Figure 5 Schematic diagram of the overall process of welding control process in the embodiment of the present application. Figure 5 As shown, at the beginning of the process, in step 510, a three-dimensional data camera is started to shoot a calibration plate with a checkerboard, so that in step 520, multiple frames of infrared images are collected from the shooting results. Subsequently, in step 530, the feature point position of a corner point in the calibration plate is extracted on the infrared image. At the same time, in step 540, the welding robot collects the real feature point position of the corresponding corner point of the calibration plate. Subsequently, in step 550, the welding robot calculates the data mean deviation between the corner point position obtained by multiple infrared images and the corner point position obtained by the robot, and in step 560, the hand-eye transformation matrix is ​​compensated according to the mean error, thereby completing the compensation process. In the subsequent control process, the compensated hand-eye transformation matrix is ​​used to calculate the position to be reached by the end of the welding gun, so as to take into account the deviation between the optical center of the three-dimensional camera and the end of the welding gun, thereby improving the welding accuracy.

[0089] It should be noted that although the steps of the method in the present application are described in a specific order in the drawings, this does not require or imply that the steps must be performed in this specific order, or that all the steps shown must be performed to achieve the desired results. Additionally or alternatively, some steps may be omitted, multiple steps may be combined into one step, and / or one step may be decomposed into multiple steps, etc.

[0090] The following introduces the device implementation of the present application, which can be used to execute the welding robot control method in the above-mentioned embodiment of the present application. Figure 6 The block diagram of the welding robot control device in the embodiment of the present application is schematically shown. Figure 6 As shown, the welding robot control device 600 mainly includes:

[0091] The acquisition module 610 is used to acquire images of the calibration plate at multiple designated acquisition positions through a three-dimensional camera at the end of the welding robot to obtain multiple calibration plate images;

[0092] The position determination module 620 is used to obtain the designated point position information of the designated point on the calibration plate in each calibration plate image for the plurality of calibration plate images, so as to obtain the plurality of designated point position information;

[0093] A driving module 630 is used to drive the welding robot to move the end of the welding gun to a predetermined position corresponding to the designated point, and record the end position information of the end of the welding gun;

[0094] The compensation module 640 is used to compensate the hand-eye transformation matrix according to the matching result of the plurality of designated point position information and the terminal position information to obtain a target transformation matrix.

[0095] In some embodiments of the present application, based on the above technical solution, the acquisition module 610 includes:

[0096] A driving unit, used to drive the end of the welding robot to reach each predetermined image acquisition position in sequence according to preset path information;

[0097] The shooting unit is used to shoot a frame of infrared image of the calibration plate at each predetermined image acquisition position through a three-dimensional camera at the end of the welding robot to obtain multiple calibration plate images, wherein the infrared image contains a grayscale image with depth information.

[0098] In some embodiments of the present application, based on the above technical solution, the location determination module 620 includes:

[0099] An identification unit, used to identify the three-dimensional coordinate information of a specified point on the calibration plate from each calibration plate image, and obtain a plurality of three-dimensional coordinate information of the plurality of calibration plate images;

[0100] A mapping unit is used to map the multiple three-dimensional coordinate information to the welding robot coordinate system according to the hand-eye transformation matrix and the external parameter matrix to obtain the multiple specified point position information. The external parameter matrix is ​​used to indicate the position relationship between the three-dimensional camera and the calibration plate.

[0101] In some embodiments of the present application, based on the above technical solution, the mapping unit includes:

[0102] The coordinate information mapping subunit is used to map the three-dimensional coordinate information of the specified point to the welding robot coordinate system according to the pose matrix corresponding to each calibration plate image, the hand-eye transformation matrix and the external parameter matrix, so as to obtain the position information of the multiple specified points, wherein the pose matrix is ​​a matrix obtained according to the position of the end of the welding robot when the image of the calibration plate is collected at multiple specified collection positions, and the pose matrix is ​​used to describe the relative position relationship between the three-dimensional camera and the base position of the welding robot.

[0103] In some embodiments of the present application, based on the above technical solution, the welding robot control device 600 method further includes:

[0104] The posture recording module is used to record the posture information of the welding robot at each predetermined image acquisition position to obtain the posture matrix corresponding to each calibration plate image.

[0105] In some embodiments of the present application, based on the above technical solution, the compensation module 640 includes:

[0106] A matrix determination unit, used to determine a hand-eye compensation matrix according to the deviation between the position information of each designated point and the end position information;

[0107] A product calculation unit is used to obtain a target transformation matrix by multiplying the hand-eye compensation matrix by the hand-eye transformation matrix.

[0108] In some embodiments of the present application, based on the above technical solution, the welding robot control device 600 further includes:

[0109] An information acquisition unit, used to acquire position information of a position to be welded on a target workpiece through the three-dimensional camera;

[0110] A coordinate conversion unit, used to convert the position information of the to-be-welded position into the welding robot coordinate system through the target transformation matrix to obtain target position information;

[0111] The welding gun driving unit is used to drive the end of the welding gun to weld the position to be welded according to the target position information.

[0112] It should be noted that the apparatus provided in the above embodiment and the method provided in the above embodiment belong to the same concept, wherein the specific manner in which each module performs the operation has been described in detail in the method embodiment and will not be repeated here.

[0113] Figure 7 A schematic diagram of the structure of a computer system suitable for implementing an electronic device of an embodiment of the present application is shown.

[0114] It should be noted that Figure 7 The computer system 700 of the electronic device shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0115] like Figure 7As shown, the computer system 700 includes a central processing unit (CPU) 701, which can perform various appropriate actions and processes according to the program stored in the read-only memory (ROM) 702 or the program loaded from the storage part 708 to the random access memory (RAM) 703. In the RAM 703, various programs and data required for system operation are also stored. The CPU 701, the ROM 702 and the RAM 703 are connected to each other through a bus 704. An input / output (I / O) interface 705 is also connected to the bus 704.

[0116] The following components are connected to the I / O interface 705: an input section 706 including a keyboard, a mouse, etc.; an output section 707 including a cathode ray tube (CRT), a liquid crystal display (LCD), etc., and a speaker, etc.; a storage section 708 including a hard disk, etc.; and a communication section 709 including a network interface card such as a LAN (Local Area Network) card, a modem, etc. The communication section 709 performs communication processing via a network such as the Internet. A drive 710 is also connected to the I / O interface 705 as needed. A removable medium 711, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is installed on the drive 710 as needed so that a computer program read therefrom is installed into the storage section 708 as needed.

[0117] In particular, according to an embodiment of the present application, the process described in each method flow chart can be implemented as a computer software program. For example, an embodiment of the present application includes a computer program product, which includes a computer program carried on a computer readable medium, and the computer program includes a program code for executing the method shown in the flow chart. In such an embodiment, the computer program can be downloaded and installed from a network through a communication part 709, and / or installed from a removable medium 711. When the computer program is executed by a central processing unit (CPU) 701, various functions defined in the system of the present application are executed.

[0118] It should be noted that the computer-readable medium shown in the embodiment of the present application may be a computer-readable signal medium or a computer-readable storage medium or any combination of the above two. The computer-readable storage medium may be, for example, - but not limited to - an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM), a flash memory, an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present application, a computer-readable storage medium may be any tangible medium containing or storing a program, which may be used by an instruction execution system, device or device or used in combination with it. In the present application, a computer-readable signal medium may include a data signal propagated in a baseband or as part of a carrier wave, wherein a computer-readable program code is carried. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. Computer-readable signal media may also be any computer-readable medium other than computer-readable storage media, which may send, propagate, or transmit programs for use by or in conjunction with an instruction execution system, apparatus, or device. The program code contained on the computer-readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wired, etc., or any suitable combination of the above.

[0119] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, function and operation of the system, method and computer program product according to various embodiments of the present application. In this regard, each box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the above-mentioned module, program segment or a part of a code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram or flow chart, and the combination of the boxes in the block diagram or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0120] It should be noted that, although several modules or units of the equipment for action execution are mentioned in the above detailed description, this division is not mandatory. In fact, according to the embodiments of the present application, the features and functions of two or more modules or units described above can be embodied in one module or unit. On the contrary, the features and functions of one module or unit described above can be further divided into being embodied by multiple modules or units.

[0121] Through the description of the above implementation methods, it is easy for those skilled in the art to understand that the example implementation methods described here can be implemented by software or by combining software with necessary hardware. Therefore, the technical solution according to the implementation methods of the present application can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, a USB flash drive, a mobile hard disk, etc.) or on a network, and includes several instructions to enable a computing device (which can be a personal computer, a server, a touch terminal, or a network device, etc.) to execute the method according to the implementation methods of the present application.

[0122] Those skilled in the art will readily appreciate other embodiments of the present application after considering the specification and practicing the invention disclosed herein. The present application is intended to cover any modification, use or adaptation of the present application, which follows the general principles of the present application and includes common knowledge or customary technical means in the art that are not disclosed in the present application.

[0123] It should be understood that the present application is not limited to the precise structures that have been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present application is limited only by the appended claims.

Claims

1. A welding robot control method, characterized in that: include: According to a preset "e"-shaped spiral ascending route, the end of the welding robot is driven to reach each predetermined image acquisition position in sequence; At each predetermined image acquisition position, a frame of infrared image of the calibration plate is captured by the three-dimensional camera at the end of the welding robot and the posture information of the welding robot is recorded to obtain a plurality of calibration plate images and a posture matrix corresponding to each calibration plate image, wherein the infrared image contains a grayscale image with depth information, and the posture matrix is ​​used to describe the relative position relationship between the three-dimensional camera and the base position of the welding robot; Identify the three-dimensional coordinate information of a specified point on the calibration plate from each calibration plate image to obtain a plurality of three-dimensional coordinate information of the plurality of calibration plate images; According to the pose matrix, hand-eye transformation matrix and external parameter matrix corresponding to each calibration plate image, the three-dimensional coordinate information of the specified point is mapped to the welding robot coordinate system to obtain position information of multiple specified points, wherein the external parameter matrix is ​​used to indicate the position relationship between the three-dimensional camera and the calibration plate; Driving the welding robot to move the end of the welding gun to a predetermined position corresponding to the designated point, and recording the end position information of the end of the welding gun; Performing sphere center fitting on the position information of the plurality of designated points to obtain the sphere center as the central position information; Compensating according to the deviation between the center position information and the end position information; Determining a hand-eye compensation matrix according to the deviation between the position information of each designated point and the end position information; The target transformation matrix is ​​obtained by multiplying the hand-eye compensation matrix by the hand-eye transformation matrix.

2. The method according to claim 1, characterized in that After compensating the hand-eye transformation matrix according to the matching results of the plurality of designated point position information and the terminal position information to obtain the target transformation matrix, the method further comprises: Acquiring position information of a position to be welded on a target workpiece by means of the three-dimensional camera; The position information of the position to be welded is converted into the welding robot coordinate system through the target transformation matrix to obtain the target position information; According to the target position information, the end of the welding gun is driven to weld the position to be welded.

3. A welding robot control device, characterized in that: include: The acquisition module is used to drive the end of the welding robot to reach each predetermined image acquisition position in sequence according to a preset "e"-shaped spiral ascending route; At each predetermined image acquisition position, a frame of infrared image of the calibration plate is captured by the three-dimensional camera at the end of the welding robot and the posture information of the welding robot is recorded to obtain a plurality of calibration plate images and a posture matrix corresponding to each calibration plate image, wherein the infrared image contains a grayscale image with depth information, and the posture matrix is ​​used to describe the relative position relationship between the three-dimensional camera and the base position of the welding robot; A position determination module, used to identify the three-dimensional coordinate information of a designated point on the calibration plate from each calibration plate image, and obtain multiple three-dimensional coordinate information of the multiple calibration plate images; according to the pose matrix, hand-eye transformation matrix and external parameter matrix corresponding to each calibration plate image, the three-dimensional coordinate information of the designated point is mapped to the welding robot coordinate system to obtain multiple designated point position information, wherein the external parameter matrix is ​​used to indicate the position relationship between the three-dimensional camera and the calibration plate; A driving module, used for driving the welding robot to move the end of the welding gun to a predetermined position corresponding to the designated point, and recording the end position information of the end of the welding gun; A compensation module is used to perform sphere center fitting on the position information of the multiple specified points to obtain the sphere center as the center position information; perform compensation according to the deviation between the center position information and the terminal position information; determine the hand-eye compensation matrix according to the deviation between the position information of each specified point and the terminal position information; and obtain the target transformation matrix by multiplying the hand-eye compensation matrix with the hand-eye transformation matrix.

4. A welding robot, characterized in that: include: processor; A memory, configured to store executable instructions of the processor; Wherein, the processor is configured to execute the welding robot control method described in any one of claims 1 to 2 by executing the executable instructions.

5. A computer readable medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the welding robot control method according to any one of claims 1 to 2 is implemented.

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