Calibration method, device, equipment and medium for robot tool coordinate system

Abstract

An embodiment of the present invention discloses a calibration method, device, equipment and storage medium for a robot tool coordinate system, including: controlling the robot to move in multiple different postures, and obtaining the body posture parameters and the target ball position coordinates at the first target ball position each time the target ball at the first target ball position reaches the target position point; and obtaining the conversion relationship between the spherical coordinate system of the target ball and the body end coordinate system based on the recorded parameters; and then obtaining the conversion relationship between the tool coordinate system of the working tool and the body base coordinate system; obtaining the first position coordinates and the second position coordinates of the target ball at the first target ball position and the second target ball position respectively; calibrating the tool coordinate system of the working tool according to the first position coordinates, the second position coordinates and the conversion relationship between the tool coordinate system and the body base coordinate system, thereby realizing automatic calibration of the robot tool coordinate system, and at the same time improving the accuracy of the tool coordinate system calibration and improving the calibration efficiency.

Description

Technical Field

[0001] Embodiments of the present invention relate to the field of robotics technology, and in particular to a calibration method, apparatus, device, and storage medium for a robot tool coordinate system. Background Art

[0002] Robots are widely used in various fields due to their convenient operation and flexible use. Accurate calibration of the robot tool coordinate system is of great significance for achieving accurate control of the tool.

[0003] At present, the existing calibration method of the tool coordinate system is usually that a staff member pre-determines a reference point near the robot, and through human observation, makes the robot move the end point of the tool as close to the reference point as possible in four different end postures, so as to record the posture parameters of the robot each time and the position coordinates of the tool end point, and then calculates the origin of the tool coordinate system, that is, the exact position coordinates of the tool end point in the robot base coordinate system; further, the robot is taught so that the end point of the tool is located at a preset distance from the reference point, and the tool is manually adjusted so that the axis of the tool points to the reference point, and the Z-axis direction of the robot tool coordinate system is determined according to the exact position coordinates of the current tool end point and the position coordinates of the reference point, and then the corresponding tool coordinate system is determined; due to the manual alignment of the axis, the error is large, the calibration accuracy of the tool coordinate system is low, and it wastes manpower and time costs, and is inefficient. Summary of the Invention

[0004] Embodiments of the present invention provide a method, apparatus, device, and storage medium for calibrating a robot tool coordinate system, so as to achieve automatic calibration of the coordinate system of a robot's working tool.

[0005] In a first aspect, an embodiment of the present invention provides a method for calibrating a robot tool coordinate system, comprising:

[0006] The robot is controlled to move in a plurality of different postures, and each time the target ball at the first target ball position reaches a target position, the corresponding body posture parameters are recorded, and the position coordinates of the target ball at the first target ball position are obtained through the laser tracker; wherein the end of the robot body is connected to a working tool, and the working tool is connected to a dual-target ball seat, and the dual-target ball seat includes a first target ball position and a second target ball position;

[0007] According to the body posture parameters and the target ball position coordinates, a conversion relationship between the spherical coordinate system of the target ball at the first target ball position and the body terminal coordinate system is obtained;

[0008] Obtaining a conversion relationship between the tool coordinate system of the working tool and the body base coordinate system based on a conversion relationship between the spherical coordinate system of the target ball at the first target ball position and the body terminal coordinate system, a conversion relationship between the spherical coordinate system of the target ball at the first target ball position and the tool coordinate system of the working tool, and a conversion relationship between the body terminal coordinate system and the body base coordinate system;

[0009] Acquire a first position coordinate of the target ball at the first target ball position, and a second position coordinate of the target ball at the second target ball position;

[0010] The tool coordinate system of the working tool is calibrated according to the first position coordinates of the target ball at the first target ball position, the second position coordinates of the target ball at the second target ball position, and the conversion relationship between the tool coordinate system and the body base coordinate system.

[0011] In a second aspect, an embodiment of the present invention provides a calibration device for a robot tool coordinate system, comprising:

[0012] a target ball position coordinate recording module, configured to control the robot to move in a plurality of different postures, and each time the target ball at the first target ball position reaches the target position, record the corresponding body posture parameters, and obtain the target ball position coordinates at the first target ball position through the laser tracker; wherein the end of the robot body is connected to a working tool, and the working tool is connected to a dual-target ball seat, and the dual-target ball seat includes a first target ball position and a second target ball position;

[0013] A first conversion relationship acquisition module is used to obtain a conversion relationship between the spherical coordinate system of the target ball at the first target ball position and the coordinate system of the terminal of the body according to the body posture parameters and the target ball position coordinates;

[0014] a second conversion relationship acquisition module, configured to acquire a conversion relationship between the tool coordinate system of the working tool and the body base coordinate system based on a conversion relationship between the spherical coordinate system of the target ball at the first target ball position and the body end coordinate system, a conversion relationship between the spherical coordinate system of the target ball at the first target ball position and the tool coordinate system of the working tool, and a conversion relationship between the body end coordinate system and the body base coordinate system;

[0015] a position coordinate acquisition module, configured to acquire a first position coordinate of the target ball at the first target ball position, and a second position coordinate of the target ball at the second target ball position;

[0016] A coordinate system calibration module is used to calibrate the tool coordinate system of the working tool according to the first position coordinates of the target ball at the first target ball position, the second position coordinates of the target ball at the second target ball position, and the conversion relationship between the tool coordinate system and the body base coordinate system.

[0017] In a third aspect, an embodiment of the present invention provides an electronic device, including:

[0018] one or more processors;

[0019] a storage device for storing one or more programs,

[0020] When the one or more programs are executed by the one or more processors, the one or more processors implement the robot tool coordinate system calibration method described in any embodiment of the present invention.

[0021] In a fourth aspect, an embodiment of the present invention further provides a storage medium comprising computer executable instructions, which, when executed by a computer processor, are used to execute the calibration method of the robot tool coordinate system described in any embodiment of the present invention.

[0022] The technical solution disclosed in the embodiment of the present invention controls the robot to move in multiple different postures, and records the corresponding body posture parameters each time the target ball at the first target ball position reaches the target position point, and obtains the target ball position coordinates of the first target ball position through a laser tracker; according to the recorded parameters, obtains the conversion relationship between the spherical coordinate system of the target ball and the body end coordinate system; and then obtains the conversion relationship between the tool coordinate system of the working tool and the body base coordinate system; obtains the first position coordinates and the second position coordinates of the target ball at the first target ball position and the second target ball position respectively, and calibrates the tool coordinate system of the working tool according to the first position coordinates, the second position coordinates and the conversion relationship between the tool coordinate system and the body base coordinate system, thereby realizing automatic calibration of the robot tool coordinate system, while improving the accuracy of the tool coordinate system calibration and improving the calibration efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1A This is an application scenario diagram of a robot tool coordinate system calibration method provided by the present invention;

[0024] Figure 1B This is a flow chart of a method for calibrating a robot tool coordinate system provided in the first embodiment of the present invention;

[0025] Figure 1C This is a schematic structural diagram of a double-target ball seat provided in Example 1 of the present invention;

[0026] Figure 1D Schematic diagram of the robot-related coordinate system provided in the first embodiment of the present invention;

[0027] Figure 2 This is a structural block diagram of a calibration device for a robot tool coordinate system provided by a second embodiment of the present invention;

[0028] Figure 3This is a structural block diagram of an electronic device provided in Example 3 of the present invention. DETAILED DESCRIPTION

[0029] The following describes embodiments of the present disclosure in more detail with reference to the accompanying drawings. Although certain embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be construed as limited to the embodiments described herein. Rather, these embodiments are provided to provide a more thorough and complete understanding of the present disclosure. It should be understood that the drawings and embodiments of the present disclosure are for illustrative purposes only and are not intended to limit the scope of protection of the present disclosure.

[0030] It should be understood that the various steps described in the method embodiments of the present disclosure may be performed in different orders and / or in parallel. In addition, the method embodiments may include additional steps and / or omit the steps shown. The scope of the present disclosure is not limited in this respect.

[0031] As used herein, the term "including" and its variations are open-ended, i.e., "including but not limited to." The term "based on" means "based, at least in part, on." The term "one embodiment" means "at least one embodiment," the term "another embodiment" means "at least one additional embodiment," and the term "some embodiments" means "at least some embodiments." Other terms are defined in the following description.

[0032] It should be noted that the concepts of "first" and "second" mentioned in this disclosure are only used to distinguish different devices, modules or units, and are not used to limit the order or interdependence of the functions performed by these devices, modules or units.

[0033] It should be noted that the modifications of "one" and "multiple" mentioned in the present disclosure are illustrative rather than restrictive, and those skilled in the art should understand that unless otherwise clearly indicated in the context, they should be understood as "one or more".

[0034] The names of the messages or information exchanged between multiple devices in the embodiments of the present disclosure are only used for illustrative purposes and are not used to limit the scope of these messages or information.

[0035] The present application provides a calibration method for a robot tool coordinate system, which can be applied to Figure 1A In the application scenario shown.

[0036] The laser tracker 10 is in communication connection with the robot host computer 11 , and the robot host computer 11 is in communication connection with the robot 12 ; a working tool 13 is connected to the end of the robot 12 , and a dual-target ball seat 14 is connected to the end of the working tool 13 .

[0037] The laser tracker 10 is used to emit a measuring laser to the target ball on the dual-target ball seat 14 and receive the laser beam reflected by the target ball to achieve real-time measurement of the target ball's spatial position and send corresponding instruction information and target ball position coordinate information to the robot host computer 11.

[0038] The robot host computer 11 is used to obtain control commands for the robot 12 and control the robot 12 to adjust its posture according to the control commands; at the same time, it records the posture parameters of the robot 12 when it moves, and obtains the target ball position coordinate information sent by the laser tracker 10; and then calibrates the target ball coordinate system according to the posture parameters and the target ball position coordinates.

[0039] Robot 12 is used to execute control commands from the robot host computer 11, adjust its own position, and drive the working tool 13 and the target ball on the dual-target ball holder 14 to the designated position. Working tool 13 is used to perform specific work tasks, such as welding. The dual-target ball holder 14 includes a first target ball position, a second target ball position, and a target ball. The target ball is placed in the first or second target ball position and is used to reflect the laser beam emitted by the laser tracker 10, assisting the laser tracker in measuring the object to be measured.

[0040] Example 1

[0041] Figure 1B This is a flow chart of a method for calibrating a robot tool coordinate system provided in a first embodiment of the present invention. This embodiment can be applied to automatically calibrate the tool coordinate system of a robot working tool using a laser tracker. The method can be performed by a robot tool coordinate system calibration device in an embodiment of the present invention. The device can be implemented using software and / or hardware and integrated into an electronic device. The method specifically includes the following steps:

[0042] S110, controlling the robot to move in a plurality of different postures, and recording corresponding body posture parameters each time the target ball on the first target ball position reaches the target position point, and obtaining the position coordinates of the target ball on the first target ball position through the laser tracker; wherein, the end of the robot body is connected to a working tool, and the working tool is connected to a dual-target ball seat, and the dual-target ball seat includes a first target ball position and a second target ball position.

[0043] A robot is an intelligent machine device that can perform automated operations according to preset programs. It can specifically include a robotic arm that can perform rotational or translational motion through multiple joint connections. In addition, by installing different working tools at the end of the robot, the robot can undertake a variety of different tasks. For example, if a drill is installed at the end of the robot body, the robot can currently perform drilling work. Working tools are tools connected to the end of the robot body and used to perform specific work tasks, such as welding or drilling. Typically, a flange can be installed at the end of the robot body, and the working tool can be fixedly connected to the flange at the end of the robot body. As a result, the robot can drive the working tool to move and perform corresponding work operations.

[0044] The posture is the position and posture of the robot. Correspondingly, the posture parameters are the position coordinates and posture parameter values ​​used to represent the position and posture of the robot. Taking a robotic arm as an example, it is usually installed on a fixed workbench, so the position coordinates are determined, and the posture parameter values ​​are the rotation angles of each joint. When the rotation angles of each joint are determined, the posture of the robotic arm is determined accordingly. By changing the posture parameters of the robot, the posture of the robot can be adjusted to control the robot to move accordingly. Among them, the posture of the robot is controlled by the host computer, which can specifically include a computer device with computing and control functions. Typically, the host computer can include a teaching pendant.

[0045] The laser tracker, a key component of a laser tracking measurement system, emits a laser beam to a reflector mounted on a target object and receives the reflected beam from the reflector to measure the spatial coordinates of the target object. Furthermore, as the target object moves, the laser tracker adjusts the direction of the emitted laser beam to dynamically track the target object. In an embodiment of the present invention, the target sphere includes a reflector corresponding to the laser tracker. Typically, the reflector can be a mirror. For example, three mutually perpendicular mirrors are placed inside the target sphere to reflect laser beams in any direction. The reflectors in the target sphere reflect the laser beam emitted by the laser tracker, assisting the laser tracker in measuring the spatial coordinates of the target object.

[0046] The double target ball seat is a target ball mounting device including two target ball positions. The target ball positions have a certain depression and can completely fit with the target ball surface; Figure 1CAs shown in the figure, 6 is a dual-target ball seat, 8 is a working tool, 9 is a target ball, 10 is a first target ball position, and 11 is a second target ball position. The dual-target ball seat 6 is fixedly connected to the working tool 8. The dual-target ball seat 6 includes a first target ball position 10 and a second target ball position 11. The distance between the two target ball positions can be preset. The target ball 9 can be installed in the first target ball position 10 or the second target ball position 11. Typically, the target ball positions can be magnetic. Fixing the target ball in the target ball position by magnetic adsorption can prevent the target ball from falling when the dual-target ball seat is moved, thereby ensuring the stability of the connection between the target ball and the dual-target ball seat. Since the target ball is in the form of a sphere, it is usually impossible to directly install it on the target object. By first installing the target ball on the dual-target ball seat and then connecting the dual-target ball seat to the working tool, the target ball can be more conveniently installed on the robot.

[0047] It should be noted that a target ball can be placed at each of the first and second target ball positions. After the target ball to be tested is determined, the laser tracker's measurement laser is aligned with the corresponding target ball, thereby avoiding frequent movement of the target ball. In particular, in an embodiment of the present invention, the direction of the line connecting the centers of the two target ball positions can be aligned with the axis direction of the working tool. For example, the line connecting the centers can be parallel to the axis at a certain distance. Thus, after determining the direction of the line connecting the centers of the target ball positions, the axis direction of the working tool, i.e., the normal direction of the coordinate system of the working tool, can be determined.

[0048] It is worth noting that for certain specific working tools, it is impossible to directly connect to the dual-target ball seat. The working tool can be simply modified, for example, some components can be disassembled to connect the dual-target ball seat to the working tool; for example, when the working tool is a drill gun, it includes a drill bit part, and the drill bit part cannot be directly connected to other devices; therefore, the drill bit part of the drill gun can be disassembled, and the dual-target ball seat can be fixedly connected to the drill gun instead of the drill bit; and for working tools that cannot be disassembled, the dual-target ball seat can be directly connected to the working tool; after connecting the dual-target ball seat to the working tool, the relative distance between the current working tool tip and each target ball position and the shape information of the target ball (for example, the height of the target ball center) are recorded, so that the conversion relationship between the target ball coordinate system and the tool coordinate system of the working tool can be determined in advance.

[0049] Specifically, when determining the target position, the robot can be controlled to move to any position in the workspace in an arbitrary posture, and the target ball at the first target position can be tracked by a laser tracker. The currently acquired position is used as the target position, and the position coordinates of the target position in the laser tracker coordinate system are recorded. Then, the robot is controlled to move freely in an arbitrary posture so that the target ball at the first target position leaves the target position. The laser tracker tracks the target ball at the first target position in real time. When the laser tracker detects that the target ball reaches the target position again, the target ball position coordinates at the first target position are recorded. At the same time, the host computer records the corresponding body posture parameters of the target ball position coordinates. Accordingly, by controlling the robot to move freely in an arbitrary posture, the target ball position coordinates are detected by the laser tracker each time the target ball reaches the target position. At the same time, the host computer records the corresponding body posture parameters. When the target ball at the first target position reaches the target position multiple times (for example, the number of times is greater than or equal to 4), the corresponding relationship between the body posture parameters and the target ball position coordinates at each arrival is obtained.

[0050] It should be noted that, in practice, the corner points of the reflectors in the target sphere do not coincide with the center of the target sphere, the reflector surfaces are not perpendicular to each other, and the reflection characteristics of different reflectors are different, which will cause measurement errors of the laser tracker. Therefore, the target sphere position coordinates obtained by the laser tracker may have certain errors. In this embodiment of the present invention, the measurement error can be pre-set. As long as the laser tracker detects that the coordinate differences between the target sphere position coordinates at the first target sphere position and the target position point coordinates in the three axial directions are all less than the preset measurement error (for example, 3 mm), it can be considered that the target sphere at the first target sphere position has reached the target position point.

[0051] In particular, the target sphere position coordinates acquired by the laser tracker are based on the laser tracker coordinate system and need to be converted into position coordinates in the corresponding body-based coordinate system. The conversion relationship between the laser tracker coordinate system and the body-based coordinate system can be pre-set. Typically, the laser tracker can be placed at a preset position next to the robot body. At this time, the origin of the laser tracker coordinate system is located 5 units away from the origin on the x-axis of the body-based coordinate system. The directions of the three coordinate axes of the two coordinate systems are completely consistent. Then, the x-value of the position coordinate in the laser tracker coordinate system is subtracted by 5, which is the position coordinate of the current position point in the body-based coordinate system. By pre-setting the conversion relationship between the laser tracker coordinate system and the body-based coordinate system, when the laser tracker acquires the target sphere position coordinates in real time, it can directly convert the acquired position coordinates into position coordinates in the corresponding body-based coordinate system and send the converted position coordinates to the robot host computer.

[0052] Optionally, in an embodiment of the present invention, before controlling the robot to move in multiple different postures, it may also include: controlling the robot to move in an arbitrary posture and obtaining multiple different alignment work points; obtaining the calculated coordinate value of each alignment work point according to the body posture parameters corresponding to each alignment work point; obtaining the measured coordinate value corresponding to each alignment work point through a laser tracker; and obtaining the conversion relationship between the laser tracker coordinate system and the robot body base coordinate system according to the calculated coordinate value and the measured coordinate value of each alignment work point.

[0053] Specifically, the upper computer controls the robot to move in an arbitrary posture, and determines multiple alignment work points among the position points passed during the movement according to preset criteria. For example, every one second, the position point of the target ball on the first target ball position is determined as an alignment work point; after determining an alignment work point, the coordinate value of the current alignment work point in the body base coordinate system is calculated according to the current body posture parameters of the robot, that is, the calculated coordinate value is obtained; at the same time, when the robot reaches each alignment work point, the coordinate value of the current alignment work point in the laser tracker coordinate system is measured by the laser tracker, that is, the measured coordinate value is obtained.

[0054] After obtaining the calculated coordinate values ​​and measured coordinate values ​​of a preset number of alignment work points, the measurement and analysis software of the laser tracker calculates the conversion relationship between the laser tracker coordinate system and the robot body base coordinate system based on the calculated coordinate values ​​and measured coordinate values ​​of each alignment work point; wherein the measurement and analysis software may include SpatialAnalyzer. In particular, after obtaining the conversion relationship between the two coordinate systems, the current laser tracker coordinate system can be adjusted according to the conversion relationship so that the laser tracker coordinate system is consistent with the body base coordinate system. By obtaining the position coordinates of multiple alignment work points in the laser tracker coordinate system and the body base coordinate system respectively, and then obtaining the conversion relationship between the two coordinate systems, the position coordinates in the body base coordinate system can be directly obtained when tracking the target ball through the laser tracker.

[0055] Optionally, in an embodiment of the present invention, before controlling the robot to move in multiple different postures, it may include: determining the target position point through a laser tracker, and obtaining the target movement direction through the target position point; correspondingly, controlling the robot to move in multiple different postures may include: controlling the robot to move along the target movement direction in multiple different postures.

[0056] Specifically, in order to speed up the speed at which the target ball at the first target ball position reaches the target position point, the robot's movement can be assisted by a laser tracker; typically, the target ball position coordinates of the current first target ball position are obtained by the laser tracker, and the next movement direction of the target ball is planned based on the current target ball position coordinates and the position coordinates of the target position point. At the same time, in order to make the robot reach the target position point with a relatively different posture, the laser tracker can be used to plan a relatively different movement direction for the robot; after completing the planning of the target movement direction, the target movement direction is sent to the robot host computer; after receiving the corresponding target movement direction, the robot host computer can control the robot to move the target ball at the first target ball position along the target movement direction while continuously adjusting its own posture; the speed at which the target ball reaches the target position point can be increased, thereby improving the efficiency of obtaining posture parameters and target ball position coordinates.

[0057] Optionally, in an embodiment of the present invention, before controlling the robot to move in multiple different postures, it may also include: adjusting the connection device between the dual target ball seat and the working tool so that the optical center line of the first target ball position and the second target ball position coincides with the axis of the working tool. Specifically, before controlling the robot to move in multiple different postures, the connecting device of the dual target ball seat and the working tool can be adjusted. For example, when the connecting device is a clamping device, the deviation angle between the axis of the working tool and the optical center line of the two target ball positions can be obtained by an optical instrument (for example, a straightness measuring instrument), and the clamping device can be adjusted according to the calculated deviation angle so that the optical center lines of the first target ball position and the second target ball position coincide with the axis of the working tool, that is, the deviation angle between the two lines is adjusted to zero; by pre-adjusting the optical center lines of the two target ball positions and the axis of the tool to coincide, after obtaining the spherical coordinate system of the target ball, the spherical coordinate system can be appropriately translated according to the relative position relationship between the center of the target ball and the center of the working tool to obtain the corresponding tool coordinate system, which can further improve the accuracy of the tool coordinate system calibration.

[0058] S120: Acquire a conversion relationship between the spherical coordinate system of the target ball at the first target ball position and the coordinate system of the terminal of the body according to the body posture parameters and the target ball position coordinates.

[0059] The target sphere's spherical coordinate system is established with the target sphere's center as its origin. The robot's end-of-body coordinate system is established with a point at the robot's end as its origin. This coordinate system is pre-set when the robot is manufactured. Typically, when the end of the robot is a flange, the corresponding end-of-body coordinate system is the flange coordinate system, with its origin at the center of the flange and the z-axis as the normal to the flange surface. This coordinate system enables more accurate control of end-of-body connection tools, improving the accuracy of robot operations.

[0060] Specifically, when the normal direction of the spherical coordinate system is consistent with the normal direction of the body terminal coordinate system, the spherical coordinate system can be obtained by translating the body terminal coordinate system, and there is no rotation relationship. The current target position point is the origin of the spherical coordinate system, and the position coordinates of the target position point in the body base coordinate system have been obtained by the laser tracker; at the same time, the conversion relationship between the body terminal coordinate system and the body base coordinate system can be determined through the body posture parameters; then the conversion relationship between the spherical coordinate system and the body terminal coordinate system can be obtained according to the position coordinates of the current target position point in the two coordinate systems.

[0061] like Figure 1D As shown, taking the robot as a robotic arm as an example, in the figure, 1-laser tracker, 2-laser tracker coordinate system, 3-robot body base coordinate system, 4-robot, 5-body end coordinate system, 6-dual target position ball seat, 7-target ball coordinate system, where 7-target ball coordinate system refers to the coordinate system of the target ball at the first target position. Laser tracker coordinate system 2 is set by laser tracker 1 and can be adjusted as needed. For example, laser tracker coordinate system 2 can be adjusted according to robot body base coordinate system 3 to keep them consistent. Through laser tracker coordinate system 2, the target ball position coordinates can be acquired in real time. Robot body base coordinate system 3 is a rectangular coordinate system established with the center of the robot base as the origin, which is usually consistent with the world coordinate system. Through robot body base coordinate system 3, the position information of each part of the robot in space can be obtained to achieve control and adjustment of the robot's posture.

[0062] The body end coordinate system 5 is the rectangular coordinate system at the very end of the robot body. In practice, accurate control of the posture of the working tool connected to the end cannot be achieved only through the robot body base coordinate system 3; by establishing the body end coordinate system 5, accurate control of the connected working tool can be achieved to ensure the accuracy of the robot's operation; the target ball coordinate system 7 is a rectangular coordinate system established with the center of the target ball on the first target ball position as the origin. Through the target ball coordinate system 7, the tool coordinate system of the corresponding working tool can be indirectly obtained, or the target ball coordinate system 7 can be directly used as the tool coordinate system.

[0063] For example, assuming that the conversion matrix between the spherical coordinate system of the target ball at the first target ball position and the tool coordinate system of the working tool is M, and the conversion matrix between the tool coordinate system and the body end coordinate system is N, and when the normal direction of the spherical coordinate system is consistent with the normal direction of the body end coordinate system, the normal direction of the tool coordinate system is also consistent with the normal direction of the body end coordinate system, the body end coordinate system can be obtained by appropriately translating the tool coordinate system; the conversion matrix between the body end coordinate system and the body base coordinate system is T, the conversion matrix between the spherical coordinate system and the body end coordinate system is L, the target The position coordinate of the position point in the spherical coordinate system is A, and the position coordinate in the body base coordinate system is B, then A·M·N·T=B; the transformation matrix T between the body terminal coordinate system and the body base coordinate system can be determined through the body posture parameters, and M is pre-set; therefore, when the transformation matrices M and T are known, and M and N only have numerical differences, the transformation matrix N between the tool coordinate system and the body terminal coordinate system can be calculated; thus, the transformation relationship L=M·N between the spherical coordinate system of the target ball at the first target ball position and the body terminal coordinate system can be obtained.

[0064] S130. Obtain the conversion relationship between the tool coordinate system of the working tool and the body base coordinate system based on the conversion relationship between the spherical coordinate system of the target ball at the first target ball position and the body terminal coordinate system, the conversion relationship between the spherical coordinate system of the target ball at the first target ball position and the tool coordinate system of the working tool, and the conversion relationship between the body terminal coordinate system and the body base coordinate system.

[0065] Among them, the body base coordinate system is a fixedly defined rectangular coordinate system located at the bottom of the robot and is the origin of the robot; the tool coordinate system of the working tool is a rectangular coordinate system established with any point on the working tool (usually the tip point of the working tool) as the coordinate origin. It is used to calibrate the position and posture of the working tool. Through the tool coordinate system, the robot can clearly understand how to move the working tool to reach the specified position and assume the corresponding posture.

[0066] Specifically, after obtaining the conversion relationship between the spherical coordinate system of the target ball at the first target ball position and the body end coordinate system based on the body posture parameters and the target ball position coordinates, the conversion relationship between the body end coordinate system and the body base coordinate system can be determined according to the body posture parameters. At the same time, the double target position ball seat is fixedly connected to the working tool, so the conversion relationship between the spherical coordinate system of the target ball at the first target ball position and the tool coordinate system of the working tool can be calculated and obtained in advance; therefore, the conversion relationship between the tool coordinate system of the current working tool and the body base coordinate system can be obtained, thereby realizing the initial calibration of the tool coordinate system of the working tool.

[0067] Optionally, in an embodiment of the present invention, obtaining the conversion relationship between the tool coordinate system of the working tool and the body base coordinate system based on the conversion relationship between the spherical coordinate system of the target ball at the first target ball position and the body end coordinate system, the conversion relationship between the spherical coordinate system of the target ball at the first target ball position and the body end coordinate system, and the conversion relationship between the body end coordinate system and the body base coordinate system may include: taking the spherical coordinate system of the target ball at the first target ball position as the tool coordinate system of the working tool; obtaining the conversion relationship between the tool coordinate system of the working tool and the body base coordinate system based on the conversion relationship between the tool coordinate system of the working tool and the body end coordinate system, and the conversion relationship between the body end coordinate system and the body base coordinate system.

[0068] It should be noted that when the dual-target ball seat is connected to the working tool, the working tool can be disassembled, for example, the drill bit of the drill gun can be disassembled and the dual-target ball seat can be installed; at this time, the center of the target ball on the first target ball position can exactly correspond to the original end of the working tool, then the spherical coordinate system of the target ball on the first target ball position can be directly regarded as the tool coordinate system of the working tool, without referring to the conversion relationship between the spherical coordinate system and the tool coordinate system, directly according to the conversion relationship between the tool coordinate system and the body end coordinate system, as well as the conversion relationship between the body end coordinate system and the body base coordinate system, the conversion relationship between the current tool coordinate system and the body base coordinate system is obtained, which simplifies the calculation process, can improve the speed of calibrating the tool coordinate system, and further improve the calibration efficiency of the tool coordinate system.

[0069] S140: Acquire a first position coordinate of the target ball at the first target ball position and a second position coordinate of the target ball at the second target ball position.

[0070] It should be noted that the currently acquired tool coordinate system defaults to the directions of its axes (x, y and z axes) being consistent with the directions of the axes of the body end coordinate system; in practice, due to the diversity of working tools, the structures of various working tools are quite different. At the same time, during actual installation, the axis of the working tool and the normal direction of the body end coordinate system are very likely to deviate; therefore, in an embodiment of the present invention, after obtaining the initial tool coordinate system, the first position coordinate of the target ball at the first target ball position can be obtained by taking the average of the target ball position coordinates at multiple first target ball positions; at the same time, the target ball at the second target ball position is detected by a laser tracker to obtain the second position coordinate of the target ball at the second target ball position; and the initial tool coordinate system is revised by taking the line connecting the first position coordinate and the second position coordinate as the new z-axis direction of the tool coordinate system, so as to obtain a more accurate tool coordinate system and avoid the tool coordinate system calibration error caused by the deviation of the working tool axis.

[0071] Optionally, in an embodiment of the present invention, obtaining the first position coordinates of the target ball at the first target ball position may include: obtaining the first position coordinates of the target ball at the first target ball position using a least squares method based on the target ball position coordinates. Specifically, since the target ball position coordinates obtained by the laser tracker may have errors, when obtaining the first position coordinates of the target ball at the first target ball position, a least squares method may be used to fit the multiple obtained target ball position coordinates to obtain more accurate first position coordinates of the target ball at the first target ball position, thereby improving the accuracy of the obtained first position coordinates of the target ball and further improving the accuracy of the calibration of the tool coordinate system.

[0072] Optionally, in an embodiment of the present invention, after obtaining the first position coordinates of the target ball on the first target ball position, the method may further include: moving the target ball on the first target ball position to the second target ball position via a slide. Specifically, when obtaining the second position coordinates of the target ball on the second target ball position, the target ball on the first target ball position may be first moved to the second target ball position via a slide, and the target ball on the second target ball position may be measured via a laser tracker to obtain the second position coordinates of the target ball on the second target ball position. By using only one target ball, measurement errors caused by shape differences of multiple target balls may be avoided, and the simultaneous presence of two target balls on a dual-target position seat may be avoided, which may affect the measurement of the laser tracker. It should be noted that when moving the target ball on the first target ball position to the second target ball position via a slide, there is no need for manual movement. The robot may be controlled to open the slide and appropriately adjust its own posture so that the target ball automatically moves to the second target ball position along the slide.

[0073] S150. Calibrate the tool coordinate system of the working tool according to the first position coordinates of the target ball at the first target ball position, the second position coordinates of the target ball at the second target ball position, and the conversion relationship between the tool coordinate system and the body base coordinate system.

[0074] Specifically, after obtaining the conversion relationship between the tool coordinate system and the body base coordinate system, the initial tool coordinate system is determined, and the first position coordinate and the second position coordinate obtained are connected, and the line connecting the two position coordinates is used as the new normal (z-axis) direction of the tool coordinate system to revise the initial tool coordinate system; wherein, the initial tool coordinate system is revised, and the line connecting the two position coordinates can be used as the new normal direction, and any one of the x-axis and y-axis of the initial tool coordinate system can be used, and the remaining coordinate axis is determined according to the determined normal direction and the x-axis or y-axis, to achieve the final calibration of the tool coordinate system of the working tool, thereby improving the accuracy of the calibration of the tool coordinate system and improving the calibration efficiency.

[0075] The technical solution disclosed in the embodiment of the present invention controls the robot to move in multiple different postures, and records the corresponding body posture parameters each time the target ball on the first target ball position reaches the target position point, and obtains the target ball position coordinates through a laser tracker; according to the recorded parameters, obtains the conversion relationship between the spherical coordinate system of the target ball and the body end coordinate system; and then obtains the conversion relationship between the tool coordinate system of the working tool and the body base coordinate system; obtains the first position coordinates and the second position coordinates of the target ball on the first target ball position and the second target ball position respectively, and calibrates the tool coordinate system of the working tool according to the first position coordinates, the second position coordinates and the conversion relationship between the tool coordinate system and the body base coordinate system, thereby realizing automatic calibration of the robot tool coordinate system, while improving the accuracy of the tool coordinate system calibration and improving the calibration efficiency.

[0076] Example 2

[0077] Figure 2 2 is a block diagram of a robot tool coordinate system calibration device provided in a second embodiment of the present invention. The device specifically includes: a target ball position coordinate recording module 201, a first transformation relationship acquisition module 202, a second transformation relationship acquisition module 203, a position coordinate acquisition module 204, and a coordinate system calibration module 205.

[0078] The target ball position coordinate recording module 201 is used to control the robot to move in multiple different postures, and each time the target ball at the first target ball position reaches the target position, record the corresponding body posture parameters, and obtain the target ball position coordinates at the first target ball position through the laser tracker; wherein the end of the robot body is connected to a working tool, and the working tool is connected to a dual-target position ball seat, and the dual-target position ball seat includes a first target ball position and a second target ball position;

[0079] A first conversion relationship acquisition module 202 is configured to acquire a conversion relationship between the spherical coordinate system of the target ball at the first target ball position and the coordinate system of the terminal of the body according to the body posture parameters and the target ball position coordinates;

[0080] a second conversion relationship acquisition module 203, configured to acquire a conversion relationship between the tool coordinate system of the working tool and the body base coordinate system based on a conversion relationship between the spherical coordinate system of the target ball at the first target ball position and the body end coordinate system, a conversion relationship between the spherical coordinate system of the target ball at the first target ball position and the tool coordinate system of the working tool, and a conversion relationship between the body end coordinate system and the body base coordinate system;

[0081] A position coordinate acquisition module 204 is configured to acquire a first position coordinate of the target ball at the first target ball position and a second position coordinate of the target ball at the second target ball position;

[0082] The coordinate system calibration module 205 is used to calibrate the tool coordinate system of the working tool according to the first position coordinates of the target ball at the first target ball position, the second position coordinates of the target ball at the second target ball position, and the conversion relationship between the tool coordinate system and the body base coordinate system.

[0083] The technical solution disclosed in the embodiment of the present invention controls the robot to move in multiple different postures, and records the corresponding body posture parameters each time the target ball on the first target ball position reaches the target position point, and obtains the target ball position coordinates through a laser tracker; according to the recorded parameters, obtains the conversion relationship between the spherical coordinate system of the target ball and the body end coordinate system; and then obtains the conversion relationship between the tool coordinate system of the working tool and the body base coordinate system; obtains the first position coordinates and the second position coordinates of the target ball on the first target ball position and the second target ball position respectively, and calibrates the tool coordinate system of the working tool according to the first position coordinates, the second position coordinates and the conversion relationship between the tool coordinate system and the body base coordinate system, thereby realizing automatic calibration of the robot tool coordinate system, while improving the accuracy of the tool coordinate system calibration and improving the calibration efficiency.

[0084] Optionally, based on the above technical solution, the calibration device of the robot tool coordinate system further includes:

[0085] The alignment work point acquisition module is used to control the robot to move in any posture and obtain multiple different alignment work points;

[0086] A calculation coordinate value acquisition module is used to obtain the calculation coordinate value of each alignment working point according to the body posture parameters corresponding to each alignment working point;

[0087] A measurement coordinate value acquisition module, used to obtain the measurement coordinate value corresponding to each alignment working point through a laser tracker;

[0088] The third conversion relationship acquisition module is used to obtain the conversion relationship between the laser tracker coordinate system and the robot base coordinate system according to the calculated coordinate values ​​and the measured coordinate values ​​of each alignment work point.

[0089] Optionally, based on the above technical solution, the position coordinate acquisition module 204 is specifically configured to acquire the first position coordinates of the target ball at the first target ball position by using a least square method according to the target ball position coordinates.

[0090] Optionally, based on the above technical solution, the position coordinate acquisition module 204 includes:

[0091] The target ball moving unit is used to move the target ball on the first target ball position to the second target ball position through a slide.

[0092] Optionally, based on the above technical solution, the second transformation relationship acquisition module 203 is specifically used to use the spherical coordinate system of the target ball at the first target ball position as the tool coordinate system of the working tool; according to the transformation relationship between the tool coordinate system of the working tool and the body end coordinate system, and the transformation relationship between the body end coordinate system and the body base coordinate system, the transformation relationship between the tool coordinate system of the working tool and the body base coordinate system is obtained.

[0093] Optionally, based on the above technical solution, the calibration device of the robot tool coordinate system further includes:

[0094] A connection device adjustment module is used to adjust the connection device between the dual-target ball seat and the working tool so that the optical center lines of the first target ball position and the second target ball position coincide with the axis of the working tool.

[0095] Optionally, based on the above technical solution, the calibration device of the robot tool coordinate system further includes:

[0096] A target movement direction acquisition module is used to determine a target position point through a laser tracker and acquire a target movement direction through the target position point;

[0097] The target ball position coordinate recording module 201 is specifically used to control the robot to move along the target moving direction in multiple different postures.

[0098] The above device can execute the calibration method of the robot tool coordinate system provided by any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method. For technical details not fully described in this embodiment, please refer to the method provided by any embodiment of the present invention.

[0099] Example 3

[0100] Figure 3 This is a structural diagram of an electronic device provided in Example 3 of the present invention. Figure 3 A block diagram of an exemplary electronic device 12 suitable for implementing embodiments of the present invention is shown. Figure 3 The electronic device 12 shown is only an example and should not limit the functionality and scope of use of the embodiments of the present invention.

[0101] like Figure 3 As shown, electronic device 12 is implemented as a general purpose computing device. Components of electronic device 12 may include, but are not limited to, one or more processors or processing units 16, memory 28, and a bus 18 that connects various system components (including memory 28 and processing unit 16).

[0102] Bus 18 represents one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, a processor, or a local bus using any of a variety of bus architectures. Examples of these architectures include, but are not limited to, an Industry Standard Architecture (ISA) bus, a Micro Channel Architecture (MAC) bus, an Enhanced ISA bus, a Video Electronics Standards Association (VESA) local bus, and a Peripheral Component Interconnect (PCI) bus.

[0103] The electronic device 12 typically includes a variety of computer system readable media. These media can be any available media that can be accessed by the electronic device 12, including volatile and non-volatile media, removable and non-removable media.

[0104] The memory 28 may include computer system readable media in the form of volatile memory, such as random access memory (RAM) 30 and / or cache memory 32. The electronic device 12 may further include other removable / non-removable, volatile / non-volatile computer system storage media. By way of example only, the storage system 34 may be configured to read and write non-removable, non-volatile magnetic media ( Figure 3 Not shown, often called a "hard drive"). Although Figure 3 Not shown, a magnetic disk drive for reading and writing to a removable non-volatile magnetic disk (e.g., a "floppy disk"), and an optical disk drive for reading and writing to a removable non-volatile optical disk (e.g., a CD-ROM, DVD-ROM, or other optical media) may be provided. In these cases, each drive may be connected to bus 18 via one or more data media interfaces. Memory 28 may include at least one program product having a set (e.g., at least one) of program modules configured to perform the functions of various embodiments of the present invention.

[0105] A program / utility 40 having a set (at least one) of program modules 42 may be stored, for example, in memory 28. Such program modules 42 include, but are not limited to, an operating system, one or more application programs, other program modules, and program data, each of which, or some combination thereof, may include an implementation of a network environment. Program modules 42 generally implement the functions and / or methods of the embodiments described herein.

[0106] The electronic device 12 can also communicate with one or more external devices 14 (e.g., a keyboard, pointing device, display 24, etc.), one or more devices that enable a user to interact with the electronic device 12, and / or any device that enables the electronic device 12 to communicate with one or more other computing devices (e.g., a network card, a modem, etc.). Such communication can occur via an input / output (I / O) interface 22. Furthermore, the electronic device 12 can communicate with one or more networks (e.g., a local area network (LAN), a wide area network (WAN), and / or a public network such as the Internet) via a network adapter 20. As shown, the network adapter 20 communicates with other modules of the electronic device 12 via a bus 18. It should be understood that, although not shown, other hardware and / or software modules can be used in conjunction with the electronic device 12, including but not limited to microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems.

[0107] The processing unit 16 executes various functional applications and data processing by running the program stored in the memory 28, such as implementing the calibration method of the robot tool coordinate system provided by any embodiment of the present invention. That is: controlling the robot to move in a plurality of different postures, and each time the target ball on the first target ball position reaches the target position point, recording the corresponding body posture parameters, and obtaining the target ball position coordinates on the first target ball position through the laser tracker; wherein, the body end of the robot is connected to a working tool, and the working tool is connected to a dual-target ball seat, and the dual-target ball seat includes a first target ball position and a second target ball position; according to the body posture parameters and the target ball position coordinates, obtaining the conversion relationship between the spherical coordinate system of the target ball on the first target ball position and the coordinate system of the body end; according to the conversion relationship between the spherical coordinate system of the target ball on the first target ball position and the coordinate system of the body end The method comprises the following steps: obtaining a conversion relationship between the tool coordinate system of the working tool and the body base coordinate system, obtaining a first position coordinate of the target ball on the first target ball position and a second position coordinate of the target ball on the second target ball position; calibrating the tool coordinate system of the working tool according to the first position coordinate of the target ball on the first target ball position, the second position coordinate of the target ball on the second target ball position, and the conversion relationship between the tool coordinate system and the body base coordinate system.

[0108] Example 4

[0109] Embodiment 4 of the present invention further provides a storage medium containing computer-executable instructions, wherein the computer-executable instructions, when executed by a computer processor, are used to perform the calibration method of the robot tool coordinate system according to any embodiment of the present invention, the method comprising:

[0110] The robot is controlled to move in a plurality of different postures, and each time the target ball at the first target ball position reaches a target position, the corresponding body posture parameters are recorded, and the position coordinates of the target ball at the first target ball position are obtained through the laser tracker; wherein the end of the robot body is connected to a working tool, and the working tool is connected to a dual-target ball seat, and the dual-target ball seat includes a first target ball position and a second target ball position;

[0111] According to the body posture parameters and the target ball position coordinates, a conversion relationship between the spherical coordinate system of the target ball at the first target ball position and the body terminal coordinate system is obtained;

[0112] Obtaining a conversion relationship between the tool coordinate system of the working tool and the body base coordinate system based on a conversion relationship between the spherical coordinate system of the target ball at the first target ball position and the body terminal coordinate system, a conversion relationship between the spherical coordinate system of the target ball at the first target ball position and the tool coordinate system of the working tool, and a conversion relationship between the body terminal coordinate system and the body base coordinate system;

[0113] Acquire a first position coordinate of the target ball at the first target ball position, and a second position coordinate of the target ball at the second target ball position;

[0114] The tool coordinate system of the working tool is calibrated according to the first position coordinates of the target ball at the first target ball position, the second position coordinates of the target ball at the second target ball position, and the conversion relationship between the tool coordinate system and the body base coordinate system.

[0115] The computer storage medium of the embodiment of the present invention may adopt any combination of one or more computer-readable media. The computer-readable medium may be a computer-readable signal medium or a computer-readable storage medium. The computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or component, or any combination thereof. More specific examples (a non-exhaustive list) of computer-readable storage media include: 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 or 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 thereof. In this document, a computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in combination with an instruction execution system, device or device.

[0116] A computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, which carries computer-readable program code. Such propagated data signals may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. A computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium that can transmit, propagate, or transport a program for use by or in conjunction with an instruction execution system, apparatus, or device.

[0117] Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

[0118] Computer program code for performing the operations of the present invention may be written in one or more programming languages, or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a stand-alone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., through the Internet using an Internet service provider).

[0119] Note that the above are only preferred embodiments of the present invention and the technical principles employed. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and that various obvious changes, readjustments, and substitutions can be made by those skilled in the art without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in detail through the above embodiments, the present invention is not limited to the above embodiments and may include many other equivalent embodiments without departing from the concept of the present invention. The scope of the present invention is determined by the scope of the appended claims.

Claims

1. A calibration method for a robot tool coordinate system, characterized in that: include: The robot is controlled to move in a plurality of different postures, and each time the target ball at the first target position reaches the target position, the corresponding body posture parameters are recorded, and the position coordinates of the target ball at the first target position are obtained by a laser tracker; wherein the end of the robot body is connected to a working tool, and the working tool is connected to a dual-target position ball seat, and the dual-target position ball seat includes a first target position and a second target position; According to the body posture parameters and the target ball position coordinates, a conversion relationship between the spherical coordinate system of the target ball at the first target ball position and the body terminal coordinate system is obtained; Obtaining a conversion relationship between the tool coordinate system of the working tool and the body base coordinate system based on a conversion relationship between the spherical coordinate system of the target ball at the first target ball position and the body terminal coordinate system, a conversion relationship between the spherical coordinate system of the target ball at the first target ball position and the tool coordinate system of the working tool, and a conversion relationship between the body terminal coordinate system and the body base coordinate system; Acquire a first position coordinate of the target ball at the first target ball position, and a second position coordinate of the target ball at the second target ball position; calibrating the tool coordinate system of the working tool according to the first position coordinates of the target ball at the first target ball position, the second position coordinates of the target ball at the second target ball position, and the conversion relationship between the tool coordinate system and the body base coordinate system; Wherein, obtaining the second position coordinates of the target ball at the second target ball position includes: moving the target ball at the first target ball position to the second target ball position via a slide, and measuring the target ball at the second target ball position via the laser tracker to obtain second position coordinates of the target ball at the second target ball position; The calibrating of the tool coordinate system of the working tool according to the first position coordinates of the target ball at the first target ball position, the second position coordinates of the target ball at the second target ball position, and the conversion relationship between the tool coordinate system and the body base coordinate system includes: After obtaining the conversion relationship between the tool coordinate system and the body base coordinate system, determining an initial tool coordinate system; The first position coordinate and the second position coordinate obtained are connected, and the connection line between the first position coordinate and the second position coordinate is used as a new normal direction of the tool coordinate system, so as to revise the initial tool coordinate system.

2. The method according to claim 1, characterized in that Before controlling the robot to move in multiple different postures, it also includes: Control the robot to move in any posture and obtain multiple different alignment working points; Obtaining calculated coordinate values ​​of each alignment work point according to the body posture parameters corresponding to each alignment work point; Obtaining the measurement coordinate values ​​corresponding to each alignment working point by means of a laser tracker; According to the calculated coordinate values ​​and the measured coordinate values ​​of each alignment work point, a conversion relationship between the laser tracker coordinate system and the robot body base coordinate system is obtained.

3. The method according to claim 1, characterized in that The obtaining of the first position coordinates of the target ball at the first target ball position includes: According to the target ball position coordinates, the first position coordinates of the target ball at the first target ball position are obtained by a least square method.

4. The method according to claim 1, wherein The method of obtaining the conversion relationship between the tool coordinate system of the working tool and the body base coordinate system according to the conversion relationship between the spherical coordinate system of the target ball at the first target ball position and the body terminal coordinate system, the conversion relationship between the spherical coordinate system of the target ball at the first target ball position and the tool coordinate system of the working tool, and the conversion relationship between the body terminal coordinate system and the body base coordinate system includes: Using the spherical coordinate system of the target ball at the first target ball position as the tool coordinate system of the working tool; The conversion relationship between the tool coordinate system of the working tool and the body end coordinate system is obtained according to the conversion relationship between the tool coordinate system of the working tool and the body end coordinate system, and the conversion relationship between the body end coordinate system and the body base coordinate system.

5. The method according to claim 1, characterized in that Before controlling the robot to move in multiple different postures, it also includes: The connection device between the dual-target ball seat and the working tool is adjusted so that the optical center lines of the first target ball position and the second target ball position coincide with the axis of the working tool.

6. The method according to claim 1, characterized in that Before controlling the robot to move in multiple different poses, including: Determine the target position point by using a laser tracker, and obtain the target movement direction through the target position point; The robot is controlled to move in a plurality of different postures, including: The robot is controlled to move along the target moving direction in a plurality of different postures.

7. A calibration device for a robot tool coordinate system, characterized in that: include: a target ball position coordinate recording module, configured to control the robot to move in a plurality of different postures, and each time the target ball at the first target ball position reaches the target position, record the corresponding body posture parameters, and obtain the target ball position coordinates at the first target ball position through a laser tracker; wherein the end of the robot body is connected to a working tool, and the working tool is connected to a dual-target ball seat, and the dual-target ball seat includes a first target ball position and a second target ball position; A first conversion relationship acquisition module is used to obtain a conversion relationship between the spherical coordinate system of the target ball at the first target ball position and the coordinate system of the terminal of the body according to the body posture parameters and the target ball position coordinates; a second conversion relationship acquisition module, configured to acquire a conversion relationship between the tool coordinate system of the working tool and the body base coordinate system based on a conversion relationship between the spherical coordinate system of the target ball at the first target ball position and the body end coordinate system, a conversion relationship between the spherical coordinate system of the target ball at the first target ball position and the tool coordinate system of the working tool, and a conversion relationship between the body end coordinate system and the body base coordinate system; a position coordinate acquisition module, configured to acquire a first position coordinate of the target ball at the first target ball position, and a second position coordinate of the target ball at the second target ball position; a coordinate system calibration module, configured to calibrate a tool coordinate system of the working tool according to the first position coordinates of the target ball at the first target ball position, the second position coordinates of the target ball at the second target ball position, and a conversion relationship between the tool coordinate system and the body base coordinate system; Wherein, obtaining the second position coordinates of the target ball at the second target ball position includes: moving the target ball at the first target ball position to the second target ball position via a slide, and measuring the target ball at the second target ball position via the laser tracker to obtain second position coordinates of the target ball at the second target ball position; The calibrating of the tool coordinate system of the working tool according to the first position coordinates of the target ball at the first target ball position, the second position coordinates of the target ball at the second target ball position, and the conversion relationship between the tool coordinate system and the body base coordinate system includes: After obtaining the conversion relationship between the tool coordinate system and the body base coordinate system, determining an initial tool coordinate system; The first position coordinate and the second position coordinate obtained are connected, and the connection line between the first position coordinate and the second position coordinate is used as a new normal direction of the tool coordinate system, so as to revise the initial tool coordinate system.

8. An electronic device, characterized in that: include: one or more processors; a storage device for storing one or more programs, When the one or more programs are executed by the one or more processors, the one or more processors implement the robot tool coordinate system calibration method according to any one of claims 1 to 6.

9. A storage medium containing computer-executable instructions, characterized in that: When the computer executable instructions are executed by a computer processor, they are used to perform the robot tool coordinate system calibration method according to any one of claims 1 to 6.

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