Tcf automatic calibration method, system, device, and media

Abstract

Embodiments of the present application provide a TCF automatic calibration method, system, device and medium, and relate to the technical field of robots, and the method comprises the following steps: calibrating a sensor coordinate system of a TCF automatic calibration device based on a standard tool with a known pose parameter, and determining a robot end coordinate system; in the case that the standard tool is assembled on the robot end, controlling the robot end to drive the standard tool to move at a set starting point and direction, determining the center point coordinates of the motion trajectory in the sensor coordinate system; and in the case that a tool to be measured is assembled on the robot end, controlling the robot end to drive the tool to be measured to move at a set starting point and direction, determining the center point coordinates of the motion trajectory in the sensor coordinate system, and then determining the TCF of the tool to be measured according to the sensor coordinate system, the robot end coordinate system and the center point coordinates, thereby conveniently realizing TCF automatic calibration.

Description

Technical Field

[0001] This invention relates to the field of robotics, and more specifically, to a TCF automatic calibration method, system, device, and medium. Background Technology

[0002] With the development of technology, various robots are increasingly appearing in people's lives and work. However, robots may encounter unexpected situations such as collisions during operation, which may lead to inaccurate original tool calibration data and require tool recalibration. Calibration plays a crucial role in this process, but the convenience of existing calibration methods needs to be improved. Summary of the Invention

[0003] One of the objectives of this invention includes, for example, providing an automatic TCF calibration method, system, device, and medium to at least partially improve calibration convenience.

[0004] The embodiments of the present invention can be implemented as follows:

[0005] In a first aspect, embodiments of the present invention provide an automatic TCF calibration method, comprising:

[0006] The sensor coordinate system of the TCF automatic calibration device is calibrated using standard tools with known pose parameters, and the robot end effector coordinate system is determined.

[0007] When a standard tool is mounted on the end effector of a robot, the robot end effector is controlled to move the standard tool at a set starting point and direction, and the coordinates of the center point of the motion trajectory in the sensor coordinate system are determined.

[0008] When the tool to be tested is assembled at the end of the robot, the end of the robot is controlled to drive the tool to be tested to move at a set starting point and direction, and the coordinates of the center point of the motion trajectory in the sensor coordinate system are determined.

[0009] The TCF of the tool under test is determined based on the sensor coordinate system, the robot end effector coordinate system, and the coordinates of each center point.

[0010] In an optional embodiment, the TCF automatic calibration device includes a transmitting component and a receiving component. The transmitting component includes a first transmitter and a second transmitter, and the receiving component includes a first receiver and a second receiver. The first transmitter and the first receiver are disposed opposite to each other, and the second transmitter and the second receiver are disposed opposite to each other. The light beam emitted by the first transmitter intersects the light beam emitted by the second transmitter perpendicularly.

[0011] The calibration of the sensor coordinate system of the TCF automatic calibration device based on the standard tool with known pose parameters, and the determination of the robot end effector coordinate system, include:

[0012] With a standard tool installed on the end effector of the robot and the posture of the standard tool being consistent with that of the end effector of the robot, an initial coordinate system including x, y, and z axes is established by taking the position where the beam emitted by the first transmitter and the beam emitted by the second transmitter intersect perpendicularly as the origin of the coordinate system, and the line containing the beam emitted by the first transmitter and the line containing the beam emitted by the second transmitter as the x and y axes, respectively.

[0013] With the initial coordinate system of the TCF automatic calibration device after installation and fixation consistent with the robot's base coordinate system, the z-axis and y-axis of the robot's end-effector coordinate system are made to be opposite in direction to the z-axis and y-axis of the initial coordinate system.

[0014] The robot end effector is controlled to drive the standard tool to move back and forth in a straight line along the x and y axes in different quadrants of the initial coordinate system, thereby determining four position points;

[0015] Based on the four location points, determine whether the initial coordinate system needs to be adjusted. If so, adjust the initial coordinate system according to the set rules to obtain the sensor coordinate system.

[0016] In an optional implementation, the robot end effector drives the standard tool to move back and forth in a straight line along the x and y axes in different quadrants of the initial coordinate system, determining four position points, including:

[0017] The robot end effector is controlled to drive the standard tool to move back and forth along the x-axis in the first quadrant of the initial coordinate system. This yields the first position of the standard tool in the base coordinate system when the receiving component is initially blocked, and the second position of the standard tool in the base coordinate system when the receiving component begins to receive the light beam after being blocked. The x and y coordinates of the standard tool are determined based on the first and second positions. The robot end effector is then controlled to move the standard tool to the x and y coordinates and move the standard tool up and down. The position when the receiving component begins to receive the light beam after being blocked is taken as the z coordinate. The x, y, and z coordinates are then determined as the first position point of the standard tool in the base coordinate system.

[0018] The robot end effector is controlled to drive the standard tool to move back and forth along the x-axis in the second quadrant of the initial coordinate system. This yields the first position of the standard tool in the base coordinate system when the receiving component is initially blocked, and the second position of the standard tool in the base coordinate system when the receiving component begins to receive the light beam after being blocked. The x and y coordinates of the standard tool are determined based on the first and second positions. The robot end effector is then controlled to move the standard tool to the x and y coordinates and move the standard tool up and down. The position when the receiving component begins to receive the light beam after being blocked is taken as the z coordinate. The x, y, and z coordinates are then determined as the second position point of the standard tool in the base coordinate system.

[0019] The robot end effector is controlled to drive the standard tool to move back and forth along the y-axis in the third quadrant of the initial coordinate system. This yields the first position of the standard tool in the base coordinate system when the receiving component is initially blocked, and the second position of the standard tool in the base coordinate system when the receiving component begins to receive the light beam after being blocked. The x and y coordinates of the standard tool are determined based on the first and second positions. The robot end effector is then controlled to move the standard tool to the x and y coordinates and move the standard tool up and down. The position when the receiving component begins to receive the light beam after being blocked is taken as the z coordinate. The x, y, and z coordinates are then determined as the third position point of the standard tool in the base coordinate system.

[0020] The robot end effector is controlled to drive the standard tool to move back and forth along the y-axis in the first quadrant of the initial coordinate system. This yields the first position of the standard tool in the base coordinate system when the receiving component is initially blocked, and the second position of the standard tool in the base coordinate system when the receiving component begins to receive the light beam after being blocked. The x and y coordinates of the standard tool are determined based on the first and second positions. The robot end effector is then controlled to move the standard tool to the x and y coordinates and move the standard tool up and down. The position when the receiving component begins to receive the light beam after being blocked is taken as the z coordinate. The x, y, and z coordinates are then determined as the fourth position point of the standard tool in the base coordinate system.

[0021] In an optional implementation, determining whether the initial coordinate system needs adjustment based on the four location points, and if so, adjusting the initial coordinate system according to a set rule to obtain the sensor coordinate system, includes:

[0022] Determine whether the line connecting the first position point and the second position point intersects the line connecting the third position point and the fourth position point at the origin of the initial coordinate system. If not, determine that the initial coordinate system needs to be adjusted.

[0023] The origin of the initial coordinate system is updated to the midpoint of the common perpendicular of the line connecting the first and second position points and the line connecting the third and fourth position points.

[0024] Using the direction from the second position point to the first position point as the positive x-axis and the direction from the fourth position point to the third position point as the positive y-axis, we obtain the initially adjusted initial coordinate system.

[0025] Determine whether the x-axis and y-axis are perpendicular in the initially adjusted coordinate system. If not, redefine the y-axis direction to obtain a sensor coordinate system in which the x-axis, y-axis, and z-axis are perpendicular to each other.

[0026] In an optional implementation, when a standard tool is mounted on the robot's end effector, controlling the robot's end effector to move the standard tool from a set starting point and direction, and determining the coordinates of the center point of the motion trajectory in the sensor coordinate system, includes:

[0027] With the z-axis and y-axis of the robot end-effector coordinate system in the opposite direction to the z-axis and y-axis of the sensor coordinate system, the robot end-effector is controlled to maintain its posture and perform uniform circular motion at a set starting point and direction. During the uniform circular motion of the robot end-effector, the time required for the robot end-effector to rotate through multiple angles is determined according to the beam reception of the receiving component.

[0028] Based on the time required for the robot end effector to rotate through multiple angles, the coordinates of the center of the robot end effector's trajectory circle in the sensor coordinate system are determined, and these coordinates are used as the standard center coordinates.

[0029] The method further includes:

[0030] Determine whether the sensor coordinate system needs adjustment based on the standard center coordinates. If so, adjust the origin of the sensor coordinate system so that the origin of the adjusted sensor coordinate system is the coordinate of the standard tool in the base coordinate system.

[0031] In an optional implementation, when the tool to be tested is mounted on the robot's end effector, controlling the robot's end effector to move the tool to be tested from a set starting point and direction, and determining the coordinates of the center point of the motion trajectory in the sensor coordinate system, includes:

[0032] When the tool under test is installed on the end effector of the robot, after it is determined that the tool under test has been replaced, the robot end effector is controlled to keep its posture unchanged and make uniform circular motion at a set starting point and direction. The coordinates of the center of the trajectory circle of the robot end effector in the sensor coordinate system are analyzed and the coordinates are used as the first center coordinates.

[0033] The robot end effector is controlled to move the test tool along the negative z-axis of the sensor coordinate system by a set distance. The robot end effector is controlled to maintain its posture and make uniform circular motion at a set starting point and direction. The coordinates of the center of the trajectory circle of the robot end effector in the sensor coordinate system after moving the set distance are analyzed and obtained. These coordinates are used as the second center coordinates.

[0034] The step of determining the TCF of the tool under test based on the sensor coordinate system, the robot end effector coordinate system, and the coordinates of each center point includes:

[0035] The attitude axis and attitude of the tool under test are determined based on the first and second center coordinates. The attitude of the robot end effector is adjusted so that the axis of the tool under test is parallel to the z-axis of the sensor coordinate system. The robot end effector is controlled to keep its attitude unchanged and make uniform circular motion at a set starting point and direction. The coordinates of the center of the trajectory circle of the robot end effector in the sensor coordinate system are obtained when the axis of the tool under test is parallel to the z-axis of the sensor coordinate system. These coordinates are used as the third center coordinates.

[0036] Based on the third center coordinates, the robot end effector is controlled to move the tool under test a first distance along the negative x-axis of the sensor coordinate system and a second distance along the negative y-axis of the sensor coordinate system, so that the main axis of the tool under test coincides with the z-axis of the sensor coordinate system.

[0037] The robot end effector is controlled to move the test tool up and down to obtain the coordinates of the robot end effector in the base coordinate system when the receiving component just starts to receive the light beam after being blocked;

[0038] Based on the relative relationship between the coordinates to be analyzed, the robot end effector posture, and the sensor coordinate system, the TCF of the tool under test is determined.

[0039] In an optional implementation, the attitude of the tool under test is obtained in the following way:

[0040] The rotation angles of the tool under test and the robot end effector in the x and z axes are calculated using Euler angles.

[0041] The orientation of the tool under test is obtained by converting the rotation angle.

[0042] Secondly, embodiments of the present invention provide an automatic calibration system, comprising:

[0043] The coordinate system determination module is used to calibrate the sensor coordinate system of the TCF automatic calibration device based on standard tools with known pose parameters, and to determine the robot end effector coordinate system.

[0044] The coordinate determination module is used to control the robot end effector to move the standard tool with a set starting point and direction when the robot end effector is equipped with a standard tool, and to determine the coordinates of the center point of the motion trajectory in the sensor coordinate system; and to control the robot end effector to move the tool under test with the tool under test with a set starting point and direction, and to determine the coordinates of the center point of the motion trajectory in the sensor coordinate system when the robot end effector is equipped with a standard tool.

[0045] The TCF calibration module is used to determine the TCF of the tool under test based on the sensor coordinate system, the robot end effector coordinate system, and the coordinates of each center point.

[0046] Thirdly, the present invention provides an electronic device, comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the TCF automatic calibration method described in any of the foregoing embodiments.

[0047] Fourthly, the present invention provides a computer-readable storage medium comprising a computer program, wherein the computer program, when executed, controls the electronic device in which the computer-readable storage medium is located to perform the TCF automatic calibration method described in any of the foregoing embodiments.

[0048] The beneficial effects of the embodiments of the present invention include, for example, improving the automation level of robot tool calibration compared to traditional tool calibration schemes, thereby improving calibration efficiency; and reducing the requirements for robot initial posture and robot performance compared to existing tool calibration, thereby improving calibration convenience. Attached Figure Description

[0049] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0050] Figure 1 The diagram illustrates an application scenario provided by an embodiment of the present invention.

[0051] Figure 2 A schematic diagram of the structure of an electronic device provided by an embodiment of the present invention is shown.

[0052] Figure 3 A flowchart illustrating an automatic TCF calibration method provided by an embodiment of the present invention is shown.

[0053] Figure 4A schematic diagram of an automatic TCF calibration device provided by an embodiment of the present invention is shown.

[0054] Figure 5 A schematic diagram of a circular motion provided by an embodiment of the present invention is shown.

[0055] Figure 6 An exemplary structural block diagram of an automatic calibration system provided by an embodiment of the present invention is shown.

[0056] Icons: 100 - Electronic device; 110 - Memory; 120 - Processor; 130 - Communication module; 140 - TCF automatic calibration system; 141 - Coordinate system determination module; 142 - Coordinate determination module; 143 - TCF calibration module. Detailed Implementation

[0057] Currently, commonly used calibration methods in robot calibration are inconvenient to implement. For example, common calibration methods for industrial robots include TCF (Tool Control Frame) calibration, but traditional TCF calibration methods, such as 6-point calibration and 7-point calibration, require a large amount of manual intervention, making them inconvenient to implement, unable to meet the needs of unexpected situations in real time, and their accuracy is easily affected by human factors.

[0058] Based on the above research, in order to solve the problem of low efficiency in traditional TCF calibration, improve the calibration accuracy of the robot end effector coordinate system, and improve the situation where existing automatic robot calibration tools TCF cannot correctly calibrate the sensor origin due to the influence of the robot's own absolute accuracy, and also have large constraints on the initial posture of the robot end effector, this invention provides an automatic TCF calibration scheme. Through the ingenious integration and application of various components, it realizes online TCF rapid automatic calibration, improves the automation level of calibration, reduces the required manual intervention, and can quickly and accurately calibrate the tool coordinate system to meet the needs of field use.

[0059] The shortcomings of the above solutions are the result of the inventors' practical experience and careful research. Therefore, the discovery process of the above problems and the solutions proposed by the embodiments of the present invention in the following text should be considered as contributions made by the inventors during the invention process.

[0060] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0061] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0062] It should be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0063] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0064] It should be noted that, where there is no conflict, the features in the embodiments of the present invention can be combined with each other.

[0065] Please refer to Figure 1 This is a schematic diagram illustrating an application scenario of a TCF automatic calibration scheme provided in this embodiment. Figure 1 As shown, the TCF automatic calibration device and the robot are respectively connected to the electronic equipment for communication. The electronic equipment can transmit data and instructions to the TCF automatic calibration device and the robot.

[0066] In this embodiment, the electronic device can be independent of the TCF automatic calibration device and the robot, or the electronic device can be integrated into the robot, as long as the various devices can cooperate with each other to achieve the TCF automatic calibration scheme. This embodiment does not impose any restrictions on this.

[0067] Please refer to Figure 2 This is a block diagram of an electronic device 100 provided in this embodiment. The electronic device 100 in this embodiment can be a server, processing device, processing platform, etc., capable of data interaction and processing. The electronic device 100 includes a memory 110, a processor 120, and a communication module 130. The memory 110, processor 120, and communication module 130 are electrically connected to each other directly or indirectly to realize data transmission or interaction. For example, these components can be electrically connected to each other through one or more communication buses or signal lines.

[0068] The memory 110 is used to store programs or data. The memory 110 may be, but is not limited to, random access memory (RAM), read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), etc.

[0069] The processor 120 is used to read / write data or programs stored in the memory 110 and to perform corresponding functions.

[0070] The communication module 130 is used to establish a communication connection between the electronic device 100 and other communication terminals through the network, and to send and receive data through the network.

[0071] It should be understood that, Figure 2 The structure shown is only a schematic diagram of the electronic device 100. The electronic device 100 may also include components that are larger than... Figure 2 The more or fewer components shown, or having the same Figure 2 The different configurations shown. Figure 2 The components shown can be implemented using hardware, software, or a combination thereof.

[0072] Please refer to the following: Figure 3 This is a flowchart illustrating an automatic TCF calibration method provided in an embodiment of the present invention. It can be derived from... Figure 2 The electronic device 100 performs the operation, for example, by a processor 120 within the electronic device 100. The TCF automatic calibration method includes steps S110, S120, S130, and S140.

[0073] S110 calibrates the sensor coordinate system of the TCF automatic calibration device based on standard tools with known pose parameters, and determines the robot end-effector coordinate system.

[0074] S120, with a standard tool mounted on the robot end effector, control the robot end effector to drive the standard tool to move at a set starting point and direction, and determine the center point coordinates of the motion trajectory in the sensor coordinate system.

[0075] S130, with the tool to be tested mounted on the robot end effector, control the robot end effector to drive the tool to be tested to move at a set starting point and direction, and determine the center point coordinates of the motion trajectory in the sensor coordinate system.

[0076] S140, determine the TCF of the tool under test based on the sensor coordinate system, the robot end effector coordinate system and the coordinates of each center point.

[0077] The above approach improves the automation level of calibration, as well as its efficiency and convenience.

[0078] Please refer to the following: Figure 4 The TCF automatic calibration device in S110 may include an optical fiber transmitting assembly and a receiving assembly. The transmitting assembly includes a first transmitter (transmitter 1 in the figure) and a second transmitter (transmitter 2 in the figure), and the receiving assembly includes a first receiver (receiver 1 in the figure) and a second receiver (receiver 2 in the figure). The first transmitter and the first receiver are arranged opposite each other such that the beam emitted by the first transmitter is received by the first receiver, and the second transmitter and the second receiver are arranged opposite each other such that the beam emitted by the second transmitter is received by the second receiver. The beams emitted by the first transmitter and the beams emitted by the second transmitter are theoretically perpendicular to each other; that is, structurally, the straight line from the first transmitter to the first receiver is required to intersect perpendicularly with the straight line from the second transmitter to the second receiver.

[0079] In this embodiment, the overall implementation concept of the TCF automatic calibration method includes: first, using a standard tool with known tool pose parameters to calibrate the sensor coordinate system Os of the TCF automatic calibration device, and then using the sensor coordinate system Os to obtain the pose parameters TCF of the tool to be calibrated.

[0080] Based on the above architecture, S110 can be implemented as follows: With a standard tool mounted on the robot end effector and the orientation of the standard tool consistent with that of the robot end effector, an initial coordinate system including x, y, and z axes is established, using the perpendicular intersection of the beams emitted by the first and second transmitters as the origin, and the lines containing the beams emitted by the first and second transmitters as the x and y axes, respectively. After the initial coordinate system of the TCF automatic calibration device is fixed and aligned with the robot's base coordinate system, the z and y axes of the robot end effector coordinate system are made opposite in direction to those of the initial coordinate system. The robot end effector is controlled to move the standard tool back and forth along the x and y axes in different quadrants of the initial coordinate system, determining four position points. Based on these four position points, it is determined whether the initial coordinate system needs adjustment. If so, the initial coordinate system is adjusted according to a set rule to obtain the sensor coordinate system.

[0081] The four location points can be determined in the following way:

[0082] The robot end effector is controlled to drive the standard tool to move back and forth along the x-axis in the first quadrant of the initial coordinate system. This yields the first position of the standard tool in the base coordinate system when the receiving component is initially blocked, and the second position of the standard tool in the base coordinate system when the receiving component begins to receive the light beam after being blocked. The x and y coordinates of the standard tool are determined based on the first and second positions. The robot end effector is then controlled to move the standard tool to the x and y coordinates and move the standard tool up and down. The position when the receiving component begins to receive the light beam after being blocked is taken as the z coordinate. The x, y, and z coordinates are then determined as the first position point of the standard tool in the base coordinate system.

[0083] The robot end effector is controlled to drive the standard tool to move back and forth along the x-axis in the second quadrant of the initial coordinate system. This yields the first position of the standard tool in the base coordinate system when the receiving component is initially blocked, and the second position of the standard tool in the base coordinate system when the receiving component begins to receive the light beam after being blocked. The x and y coordinates of the standard tool are determined based on the first and second positions. The robot end effector is then controlled to move the standard tool to the x and y coordinates and move the standard tool up and down. The position when the receiving component begins to receive the light beam after being blocked is taken as the z coordinate. The x, y, and z coordinates are then determined as the second position point of the standard tool in the base coordinate system.

[0084] The robot end effector is controlled to drive the standard tool to move back and forth along the y-axis in the third quadrant of the initial coordinate system. This yields the first position of the standard tool in the base coordinate system when the receiving component is initially blocked, and the second position of the standard tool in the base coordinate system when the receiving component begins to receive the light beam after being blocked. The x and y coordinates of the standard tool are determined based on the first and second positions. The robot end effector is then controlled to move the standard tool to the x and y coordinates and move the standard tool up and down. The position when the receiving component begins to receive the light beam after being blocked is taken as the z coordinate. The x, y, and z coordinates are then determined as the third position point of the standard tool in the base coordinate system.

[0085] The robot end effector is controlled to drive the standard tool to move back and forth along the y-axis in the first quadrant of the initial coordinate system. This yields the first position of the standard tool in the base coordinate system when the receiving component is initially blocked, and the second position of the standard tool in the base coordinate system when the receiving component begins to receive the light beam after being blocked. The x and y coordinates of the standard tool are determined based on the first and second positions. The robot end effector is then controlled to move the standard tool to the x and y coordinates and move the standard tool up and down. The position when the receiving component begins to receive the light beam after being blocked is taken as the z coordinate. The x, y, and z coordinates are then determined as the fourth position point of the standard tool in the base coordinate system.

[0086] Based on the four position points, determine whether the initial coordinate system needs adjustment. If so, adjust the initial coordinate system according to the set rules to obtain the sensor coordinate system. This can be achieved through the following steps: Determine whether the line connecting the first and second position points intersects the line connecting the third and fourth position points at the origin of the initial coordinate system. If not, determine that the initial coordinate system needs adjustment. Update the origin of the initial coordinate system to the midpoint of the common perpendicular of the line connecting the first and second position points and the line connecting the third and fourth position points. Take the direction from the second position point to the first position point as the positive x-axis and the direction from the fourth position point to the third position point as the positive y-axis to obtain the initially adjusted initial coordinate system. Determine whether the x-axis and y-axis are perpendicular in the initially adjusted initial coordinate system. If not, redefine the y-axis direction to obtain a sensor coordinate system where the x-axis, y-axis, and z-axis are mutually perpendicular.

[0087] To more clearly explain the sensor coordinate system calibration process, please refer to [link / reference needed]. Figure 4 The calibration process of the sensor coordinate system is illustrated in the following example in this embodiment.

[0088] Install and secure the TCF automatic calibration device to ensure consistency between the sensor coordinate system and the robot's base coordinate system, and establish communication between the TCF automatic calibration device and the robot toolbox. Install a standard tool onto the robot end effector (select a standard tool whose tool posture matches the robot end effector's posture), and align the robot end effector coordinate system O... e The z-axis and y-axis of the sensor coordinate system Os are in the opposite direction to the z-axis and y-axis of the sensor coordinate system Os.

[0089] The mobile robot end effector (a standard tool mounted on the end of the robot) moves back and forth in a straight line at point A. Figure 4 The diagram shows the position A1 of the robot's end effector in the base coordinate system when the receiver 1 is initially blocked (moving back and forth along a straight line perpendicular to the x-axis at point A), and the position A2 of the robot's end effector in the base coordinate system when it begins to receive the beam after being blocked. The x and y coordinates of position A are obtained from A1 and A2 based on the following formula:

[0090] X A =(X A1 +X A2 ) / 2

[0091] That is: X A x=(X A1 x+X A2 x) / 2), X A y = (X A1 y+X A2 y) / 2)

[0092] The mobile robot end effector reaches point A at x and y coordinates (X). A x, X A At position y), the robot end effector moves up and down to obtain the z-coordinate of the robot end effector in the base coordinate system when it just starts receiving the light beam after the receiver is blocked.

[0093] Move the robot's end effector to points B, C, and D respectively, and repeat the above steps to obtain the positions of points B, C, and D in the base coordinate system.

[0094] Given points A, B, C, and D, we can obtain lines AB and CD. Theoretically, lines AB and CD intersect at the origin Os of the sensor coordinate system. However, due to structural and other factors, it may not be guaranteed that lines AB and CD will intersect. In this case, the midpoint M of the common perpendicular of lines AB and CD can be chosen as the origin Os of the sensor coordinate system. M ,Y M Z M ).

[0095] Based on the origin of the sensor coordinate system Os=(X M ,Y M ZM Establish a sensor coordinate system, with The direction is the positive X-axis direction, with The direction is the positive Y-axis, and the X, Y, and Z unit vectors are as follows:

[0096] X-axis unit vector:

[0097] Y-axis unit vector:

[0098] Z-axis unit vector:

[0099] Due to manufacturing errors and other reasons, the X and Y axes of the sensor coordinate system may not be perpendicular. In this case, the Y-axis of the sensor coordinate system can be redefined as follows:

[0100]

[0101] The pose of the sensor coordinate system in the base coordinate system is:

[0102]

[0103] At this point, the initial calibration of the sensor coordinate system is complete.

[0104] In one implementation, to further improve the accuracy of determining the origin of the sensor coordinate system, a standard tool is mounted on the robot's end effector. This allows the robot's end effector to maintain its posture while performing uniform circular motion from a predetermined starting point and direction, even when the z-axis and y-axis of the robot's end effector coordinate system are opposite to those of the sensor coordinate system. During this uniform circular motion, the time required for the robot's end effector to traverse multiple angles is determined based on the beam reception of the receiving component. Based on the time required for each angle traversal, the coordinates of the center of the robot's end effector's trajectory circle in the sensor coordinate system are determined, and these coordinates are used as the standard center coordinates.

[0105] For the sensor coordinate system that has been initially calibrated, determine whether the sensor coordinate system needs to be adjusted based on the coordinates of the standard circle center. If so, adjust the origin of the sensor coordinate system so that the origin of the adjusted sensor coordinate system is the coordinate of the standard tool in the base coordinate system.

[0106] To more clearly illustrate the sensor coordinate system calibration process, please refer to [reference needed]. Figure 4 and Figure 5 This embodiment provides the following example illustrating the process of further adjusting the origin of the sensor coordinate system.

[0107] Set the robot's end-effector coordinate system Oe The z-axis and y-axis of the sensor coordinate system Os are in the opposite direction to the z-axis and y-axis of the sensor coordinate system Os (e.g., Figure 4 As shown), it undergoes uniform circular motion (its posture remains unchanged, but its position remains the same). The starting point and direction are as follows. Figure 5 As shown, to increase the probability of the circle intersecting with the four axes of the sensor coordinate system, the starting point is chosen in the fourth quadrant, with the direction from bottom to top. The planned circular motion ensures the center of the circle is above the starting point, meaning the relationship between the center and the starting point is X_starting_point = X_center, Y_starting_point = Y_center - r. It can be understood that if the starting point is in the first quadrant, with the direction from top to bottom, the probability of the circle intersecting with the four axes of the sensor coordinate system is relatively high. However, the circular motion may not intersect with the x+, y+, x-, and y- axes of the sensor coordinate system. In this case, the planned circular motion ensures the center of the circle is below the starting point, with the relationship X_starting_point = X_center, Y_starting_point = Y_center + r. If the direction is from left to right, X_starting_point = X_center - r, Y_starting_point = Y_center; if the direction is from right to left, X_starting_point = X_center + r, Y_starting_point = Y_center, where r is the radius of the circle.

[0108] Based on the receiver's reception, record the transfer status as follows: Figure 5 The times t1, t2, t3, and t4 required to adjust the angles ∠1, 2, 3, and 4 are given. Since it is uniform circular motion, the radians of ∠1, 2, 3, and 4 are:

[0109]

[0110] The distance dx from the center of the trajectory circle to the x-axis in the sensor coordinate system Os and the distance dy to the y-axis can be obtained:

[0111] dx = r·cos((∠3+∠4) / 2)

[0112] dy=r·cos((∠3+∠2) / 2)

[0113] Then the coordinates of the center of the trajectory circle in the sensor coordinate system can be obtained as (dy, dx). Through the relationship between the center and the starting point, the relationship between the starting point and the origin of the sensor coordinate system can be known.

[0114] Since beam 1 emitted by transmitter 1 is not necessarily perpendicular to beam 2 emitted by transmitter 2, the method for calculating the trajectory center using the above formula may not be applicable. We can obtain dx and dy by modifying the above formula:

[0115]

[0116] The center of the trajectory can be represented as (dy / cos(β-90)+dx / tan(β),dx).

[0117] Due to uncontrollable interference such as robot precision issues, the sensor coordinate system origin calibration may be deviated. To improve the accuracy of the origin calibration, the sensor coordinate system origin coordinates can be recalibrated (all calibration processes are consistent with the calibration process of the tool under test, reducing the impact of interference conditions on different methods). Specifically, a standard tool is installed to the robot end effector (after installation, the end effector's posture is consistent with the end effector's posture, i.e., the tool axis is parallel to the end effector axis). Using the center O (standard center coordinates) obtained above, the x and y positions of the starting point relative to the sensor coordinate system origin can be obtained. Moving the robot end effector will make the standard tool coordinate x = sensor coordinate x, and the standard tool coordinate y = sensor coordinate y. At this position, the robot moves up and down along the z-axis of the sensor coordinate system, recording the position of the received light beam when the sensor is blocked (i.e., the tool vertex coordinates), and updating the sensor coordinate system origin Os(X). M ,Y M Z M = Tool vertex coordinates (toolx, tooly, toolz). Since the tool is a standard tool, the coordinates of the tool in the base coordinate system are the origin of the sensor coordinate system.

[0118] After determining the sensor coordinate system Os, the pose parameters TCF of the tool to be calibrated can be obtained using the sensor coordinate system Os in the following way:

[0119] With the tool under test (DUT) mounted on the robot's end effector, after confirming the replacement with the DUT, the robot end effector is controlled to maintain its posture and perform uniform circular motion at a set starting point and direction. The coordinates of the center of the robot end effector's trajectory in the sensor coordinate system are analyzed and used as the first center coordinates. The robot end effector is then controlled to move the DUT a set distance along the negative z-axis of the sensor coordinate system. The robot end effector is controlled to maintain its posture and perform uniform circular motion at a set starting point and direction. After moving the set distance, the coordinates of the center of the robot end effector's trajectory in the sensor coordinate system are analyzed and used as the second center coordinates.

[0120] The principal axis and attitude of the tool under test (DUT) are determined based on the first and second center coordinates. The robot end effector is adjusted so that the axis of the DUT is parallel to the z-axis of the sensor coordinate system. The robot end effector is controlled to maintain its attitude and perform uniform circular motion from a set starting point and direction. The coordinates of the center of the trajectory circle of the robot end effector in the sensor coordinate system are analyzed when the axis of the DUT is parallel to the z-axis of the sensor coordinate system. These coordinates are used as the third center coordinates. Based on the third center coordinates, the robot end effector is controlled to move the DUT a first distance along the negative x-axis of the sensor coordinate system and a second distance along the negative y-axis of the sensor coordinate system, so that the principal axis of the DUT coincides with the z-axis of the sensor coordinate system. The robot end effector is controlled to move the DUT up and down to obtain the coordinates of the robot end effector in the base coordinate system when it first starts receiving the light beam after the receiving component is blocked. Based on the relative relationship between the coordinates to be analyzed, the robot end effector attitude, and the sensor coordinate system, the TCF of the DUT is determined.

[0121] The orientation of the tool under test can be obtained by calculating the rotation angles of the orientation of the tool under test and the orientation of the robot end effector in the x-axis and z-axis directions based on Euler angles, and then converting the rotation angles to obtain the orientation of the tool under test.

[0122] To more clearly illustrate the TCF determination process of the test tool, this embodiment provides the following example of the test tool calibration process.

[0123] Replace the standard tool at the robot's end effector with the tool under test. With the tool under test installed at the robot's end effector, use the same method as when the standard tool is installed at the robot's end effector to obtain the center O1 of the trajectory of the uniform circular motion when the tool under test is replaced.

[0124] The robot's end effector is controlled to move dz along the negative z-axis of the sensor coordinate system. Using the same method described above, the center O2 of the trajectory of the uniform circular motion after the movement dz is obtained. The main axis P of the attitude of the tool under test is shown below:

[0125] P=(Δx,Δy,Δz)=(O2x-O1x,O1y-O2y,dz)

[0126] Since the tool coordinate system and the robot end effector coordinate system do not rotate around the Z-axis, we only need to calculate the rx and rz angles, which can be obtained using Euler angles:

[0127]

[0128]

[0129] At this point, the Euler angle rotation angle in the zxz direction can be obtained as (rz, rx, -rz).

[0130] Based on the obtained Euler angles (or quaternions can be obtained by calculating quaternions, etc.), the Euler angles (quaternions) are transformed to obtain the orientation of the tool under test. The robot end effector orientation is adjusted so that the tool axis is parallel to the z-axis of the sensor coordinate system (e.g., Figure 4 As shown, the coordinate system orientation of the test tool is adjusted to be consistent with the orientation of the robot's end effector coordinate system using the obtained Euler angles. After adjusting the robot's end effector posture, the same method is used to perform uniform circular motion again, obtaining the center O3 of the trajectory of the uniform circular motion. The test tool is then translated, moving O3x (the x-coordinate distance of the trajectory center O3) along the negative x-axis of the sensor coordinate system, and moving O3y-r (the y-coordinate distance of the trajectory center O3 minus the radius) along the negative y-axis, where r is the radius of the circular motion. At this point, the main axis of the tool coincides with the z-axis of the sensor coordinate system (given the relationship between the starting position x, y and the origin of the sensor coordinate system, the robot end effector is moved so that the starting position x, y is consistent with the origin x, y of the sensor coordinate system, thus achieving the desired result). Figure 4 (The z-axis of the robot's end effector coordinate system is aligned with the z-axis of the sensor coordinate system.)

[0131] The robot end effector (the test tool installed on the robot end) is moved up and down to obtain the coordinates Pe(xe, ye, ze) of the robot end effector in the base coordinate system when it just starts receiving the light beam after the receiver is blocked.

[0132] Therefore, since the TCP coordinates of the tool under test are related to the robot end effector as R*Ptcp+Pe=Os, the TCP coordinates of the tool under test are Ptcp=R'*(Os-Pe), where R is the robot end effector pose. Thus, the tool TCF can be obtained by combining the tool Euler angles, denoted as [Rtool,ptool].

[0133] The above implementation process is based on the robot's end-effector coordinate system O. e When the z-axis and y-axis of the robot's end-effector coordinate system are opposite to the z-axis and y-axis of the sensor coordinate system Os, the robot's end-effector pose is R. In reality, because the robot's pose remains unchanged but its position changes, some waypoints cannot be reached when the robot performs uniform circular planning. For example, when the required pose is right near the joint limits, to solve the problem, the constraints between the x-axis and y-axis of the robot's end-effector coordinate system and the x-axis and y-axis of the sensor coordinate system can be eliminated. Only the z-axis constraint is needed. Let the modified pose be R1, that is, the pose difference is dR = R * R1'. Then the final TCF pose modification is [dR * Rtool, dR * ptool]]. Using the known relative relationship (dR is the relationship between poses), the new TCF can be obtained from the already calculated TCF through the pose dR.

[0134] To perform the corresponding steps in the above embodiments and various possible methods, an implementation of an automatic calibration device is given below. Please refer to... Figure 6 , Figure 6 This is a functional block diagram of a TCF automatic calibration system 140 provided in an embodiment of the present invention. The TCF automatic calibration system 140 can be applied to... Figure 2 The electronic device 100 is shown. It should be noted that the TCF automatic calibration system 140 provided in this embodiment has the same basic principle and technical effects as the method embodiment described above. For the sake of brevity, any parts not mentioned in this embodiment can be referred to the corresponding content in the method embodiment described above. The TCF automatic calibration system 140 includes a coordinate system determination module 141, a coordinate determination module 142, and a TCF calibration module 143.

[0135] The coordinate system determination module 141 is used to calibrate the sensor coordinate system of the TCF automatic calibration device based on a standard tool with known pose parameters, and to determine the robot end-effector coordinate system.

[0136] The coordinate determination module 142 is used to control the robot end effector to move the standard tool with a set starting point and direction when the robot end effector is equipped with a standard tool, and to determine the center point coordinates of the motion trajectory in the sensor coordinate system; and to control the robot end effector to move the tool under test with a set starting point and direction when the robot end effector is equipped with a tool under test, and to determine the center point coordinates of the motion trajectory in the sensor coordinate system.

[0137] The TCF calibration module 143 is used to determine the TCF of the tool under test based on the sensor coordinate system, the robot end effector coordinate system, and the coordinates of each center point.

[0138] Based on the above, embodiments of the present invention also provide a computer-readable storage medium, the computer-readable storage medium including a computer program, wherein the computer program, when running, controls the electronic device in which the computer-readable storage medium is located to perform the above-described TCF automatic calibration method.

[0139] The TCF automatic calibration scheme in this embodiment of the invention uses the center point obtained from uniform circular motion to calibrate the origin of the sensor coordinate system during tool calibration. This ensures that tool calibration and sensor calibration are performed under the same conditions and methods, minimizing the impact of interference conditions such as robot absolute accuracy on the calibration results. Since the robot is limited by its posture, it may be unable to reach certain positions, potentially causing inverse kinematics failure and rendering it unable to move. This scheme eliminates the constraints between the robot's end-effector coordinate system (xy-axis) and the sensor coordinate system (xy-axis), requiring only z-axis constraints. Based on the deviation between the modified posture and the robot's initial posture, the TCF of the tool under test is updated using matrix transformation. Compared to traditional tool calibration methods, robot tool calibration offers higher automation, higher efficiency, reduced requirements on the robot's initial posture, lower performance requirements, and more accurate tool calibration.

[0140] In the several embodiments provided by this invention, it should be understood that the disclosed apparatus and methods can also be implemented in other ways. The apparatus embodiments described above are merely illustrative; for example, the flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods, and computer program products according to various embodiments of the invention. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in a different order than those marked in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in a block diagram and / or flowchart, and combinations of blocks in block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or action, or using a combination of dedicated hardware and computer instructions.

[0141] In addition, the functional modules in the various embodiments of the present invention can be integrated together to form an independent part, or each module can exist independently, or two or more modules can be integrated to form an independent part.

[0142] If the aforementioned functions are implemented as software functional modules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this invention, essentially, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0143] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. An automatic TCF calibration method, characterized in that, include: The sensor coordinate system of the TCF automatic calibration device is calibrated using standard tools with known pose parameters, and the robot end effector coordinate system is determined. The TCF automatic calibration device includes a transmitting component and a receiving component. The transmitting component includes a first transmitter and a second transmitter, and the receiving component includes a first receiver and a second receiver. The first transmitter and the first receiver are arranged opposite to each other, and the second transmitter and the second receiver are arranged opposite to each other. The light beam emitted by the first transmitter intersects the light beam emitted by the second transmitter perpendicularly. The calibration of the sensor coordinate system of the TCF automatic calibration device based on a standard tool with known pose parameters, and the determination of the robot end effector coordinate system, includes: With the standard tool mounted on the robot end effector and its orientation consistent with that of the robot end effector, an initial coordinate system including x, y, and z axes is established, using the perpendicular intersection of the beams emitted by the first and second transmitters as the origin, and the lines containing the beams emitted by the first and second transmitters as the x and y axes, respectively; with the initial coordinate system after the TCF automatic calibration device is fixed and consistent with the robot's base coordinate system, the z and y axes of the robot end effector coordinate system are made to be opposite in direction to the z and y axes of the initial coordinate system; the robot end effector is controlled to move the standard tool back and forth along the x and y axes in different quadrants of the initial coordinate system, determining four position points; based on the four position points, it is determined whether the initial coordinate system needs adjustment; if so, the initial coordinate system is adjusted according to a set rule to obtain the sensor coordinate system. With the z-axis and y-axis of the robot end-effector coordinate system in the opposite direction to the z-axis and y-axis of the sensor coordinate system, the robot end-effector is controlled to maintain its posture and perform uniform circular motion at a set starting point and direction. During the uniform circular motion of the robot end-effector, the time required for the robot end-effector to rotate through multiple angles is determined according to the beam reception of the receiving component. Based on the time required for the robot end effector to rotate through multiple angles, the coordinates of the center of the robot end effector's trajectory circle in the sensor coordinate system are determined, and these coordinates are used as the standard center coordinates. When the tool under test is installed on the end effector of the robot, after it is determined that the tool under test has been replaced, the robot end effector is controlled to keep its posture unchanged and make uniform circular motion at a set starting point and direction. The coordinates of the center of the trajectory circle of the robot end effector in the sensor coordinate system are analyzed and the coordinates are used as the first center coordinates. The robot end effector is controlled to move the tool under test a set distance along the negative z-axis of the sensor coordinate system. The robot end effector is controlled to maintain its posture and perform uniform circular motion from a set starting point and direction. The coordinates of the center of the robot end effector's trajectory circle in the sensor coordinate system after moving the set distance are analyzed and used as the second center coordinates. Based on the first and second center coordinates, the main axis and posture of the tool under test are determined. The robot end effector's posture is adjusted so that the axis of the tool under test is parallel to the z-axis of the sensor coordinate system. The robot end effector is controlled to maintain its posture and perform uniform circular motion from a set starting point and direction. The coordinates of the center of the robot end effector's trajectory circle in the sensor coordinate system when the axis of the tool under test is parallel to the z-axis of the sensor coordinate system are analyzed and used as the third center coordinates. Based on the third center coordinates, the robot end effector is controlled to move the tool under test a first distance along the negative x-axis of the sensor coordinate system and a second distance along the negative y-axis of the sensor coordinate system, so that the main axis of the tool under test coincides with the z-axis of the sensor coordinate system. The robot end effector is controlled to move the test tool up and down to obtain the coordinates of the robot end effector in the base coordinate system when the receiving component just starts to receive the light beam after being blocked; Based on the relative relationship between the coordinates to be analyzed, the robot end effector posture, and the sensor coordinate system, the TCF of the tool under test is determined.

2. The TCF automatic calibration method according to claim 1, characterized in that, The robot end effector is controlled to drive the standard tool, moving back and forth in a straight line along the x and y axes in different quadrants of the initial coordinate system, to determine four position points, including: The robot end effector is controlled to drive the standard tool to move back and forth along the x-axis in the first quadrant of the initial coordinate system. This yields the first position of the standard tool in the base coordinate system when the receiving component is initially blocked, and the second position of the standard tool in the base coordinate system when the receiving component begins to receive the light beam after being blocked. The x and y coordinates of the standard tool are determined based on the first and second positions. The robot end effector is then controlled to move the standard tool to the x and y coordinates and move the standard tool up and down. The position when the receiving component begins to receive the light beam after being blocked is taken as the z coordinate. The x, y, and z coordinates are then determined as the first position point of the standard tool in the base coordinate system. The robot end effector is controlled to drive the standard tool to move back and forth along the x-axis in the second quadrant of the initial coordinate system. This yields the first position of the standard tool in the base coordinate system when the receiving component is initially blocked, and the second position of the standard tool in the base coordinate system when the receiving component begins to receive the light beam after being blocked. The x and y coordinates of the standard tool are determined based on the first and second positions. The robot end effector is then controlled to move the standard tool to the x and y coordinates and move the standard tool up and down. The position when the receiving component begins to receive the light beam after being blocked is taken as the z coordinate. The x, y, and z coordinates are then determined as the second position point of the standard tool in the base coordinate system. The robot end effector is controlled to drive the standard tool to move back and forth along the y-axis in the third quadrant of the initial coordinate system. This yields the first position of the standard tool in the base coordinate system when the receiving component is initially blocked, and the second position of the standard tool in the base coordinate system when the receiving component begins to receive the light beam after being blocked. The x and y coordinates of the standard tool are determined based on the first and second positions. The robot end effector is then controlled to move the standard tool to the x and y coordinates and move the standard tool up and down. The position when the receiving component begins to receive the light beam after being blocked is taken as the z coordinate. The x, y, and z coordinates are then determined as the third position point of the standard tool in the base coordinate system. The robot end effector is controlled to drive the standard tool to move back and forth along the y-axis in the first quadrant of the initial coordinate system. This yields the first position of the standard tool in the base coordinate system when the receiving component is initially blocked, and the second position of the standard tool in the base coordinate system when the receiving component begins to receive the light beam after being blocked. The x and y coordinates of the standard tool are determined based on the first and second positions. The robot end effector is then controlled to move the standard tool to the x and y coordinates and move the standard tool up and down. The position when the receiving component begins to receive the light beam after being blocked is taken as the z coordinate. The x, y, and z coordinates are then determined as the fourth position point of the standard tool in the base coordinate system.

3. The TCF automatic calibration method according to claim 2, characterized in that, The step of determining whether the initial coordinate system needs adjustment based on the four location points, and if so, adjusting the initial coordinate system according to a set rule to obtain the sensor coordinate system, includes: Determine whether the line connecting the first position point and the second position point intersects the line connecting the third position point and the fourth position point at the origin of the initial coordinate system. If not, determine that the initial coordinate system needs to be adjusted. The origin of the initial coordinate system is updated to the midpoint of the common perpendicular of the line connecting the first and second position points and the line connecting the third and fourth position points. Using the direction from the second position point to the first position point as the positive x-axis and the direction from the fourth position point to the third position point as the positive y-axis, we obtain the initially adjusted initial coordinate system. Determine whether the x-axis and y-axis are perpendicular in the initially adjusted coordinate system. If not, redefine the y-axis direction to obtain a sensor coordinate system in which the x-axis, y-axis, and z-axis are perpendicular to each other.

4. The TCF automatic calibration method according to any one of claims 2 to 3, characterized in that, The method further includes: Determine whether the sensor coordinate system needs adjustment based on the standard center coordinates. If so, adjust the origin of the sensor coordinate system so that the origin of the adjusted sensor coordinate system is the coordinate of the standard tool in the base coordinate system.

5. The TCF automatic calibration method according to claim 4, characterized in that, The attitude of the tool under test is obtained in the following way: The rotation angles of the tool under test and the robot end effector in the x and z axes are calculated using Euler angles. The orientation of the tool under test is obtained by converting the rotation angle.

6. An automatic calibration system, characterized in that, include: The coordinate system determination module is used to calibrate the sensor coordinate system of the TCF automatic calibration device based on standard tools with known pose parameters, and to determine the robot end effector coordinate system. The TCF automatic calibration device includes a transmitting component and a receiving component. The transmitting component includes a first transmitter and a second transmitter, and the receiving component includes a first receiver and a second receiver. The first transmitter and the first receiver are arranged opposite to each other, and the second transmitter and the second receiver are arranged opposite to each other. The light beam emitted by the first transmitter intersects the light beam emitted by the second transmitter perpendicularly. The calibration of the sensor coordinate system of the TCF automatic calibration device based on a standard tool with known pose parameters, and the determination of the robot end effector coordinate system, includes: With the standard tool mounted on the robot end effector and its orientation consistent with that of the robot end effector, an initial coordinate system including x, y, and z axes is established, using the perpendicular intersection of the beams emitted by the first and second transmitters as the origin, and the lines containing the beams emitted by the first and second transmitters as the x and y axes, respectively; with the initial coordinate system after the TCF automatic calibration device is fixed and consistent with the robot's base coordinate system, the z and y axes of the robot end effector coordinate system are made to be opposite in direction to the z and y axes of the initial coordinate system; the robot end effector is controlled to move the standard tool back and forth along the x and y axes in different quadrants of the initial coordinate system, determining four position points; based on the four position points, it is determined whether the initial coordinate system needs adjustment; if so, the initial coordinate system is adjusted according to a set rule to obtain the sensor coordinate system. The coordinate determination module is used to control the robot end effector to maintain its posture and perform uniform circular motion at a set starting point and direction when the z-axis and y-axis of the robot end effector coordinate system are opposite to the z-axis and y-axis of the sensor coordinate system. During the uniform circular motion of the robot end effector, the module determines the time required for the robot end effector to rotate through multiple angles based on the beam reception of the receiving component. Based on the time required for the robot end effector to rotate through multiple angles, the module determines the coordinates of the center of the trajectory circle of the robot end effector in the sensor coordinate system and uses these coordinates as the standard center coordinates. When the tool under test is installed on the robot end effector, after determining that the tool under test has been replaced, the module controls the robot end effector to maintain its posture and perform uniform circular motion at a set starting point and direction, analyzes and obtains the coordinates of the center of the trajectory circle of the robot end effector in the sensor coordinate system, and uses these coordinates as the first center coordinates. The robot end effector is controlled to move the test tool along the negative z-axis of the sensor coordinate system by a set distance. The robot end effector is controlled to maintain its posture and make uniform circular motion at a set starting point and direction. The coordinates of the center of the trajectory circle of the robot end effector in the sensor coordinate system after moving the set distance are analyzed and obtained. These coordinates are used as the second center coordinates. The TCF calibration module is used to determine the principal axis and attitude of the tool under test (DUT) based on the first and second center coordinates, adjust the robot end effector attitude so that the axis of the DUT is parallel to the z-axis of the sensor coordinate system, and control the robot end effector to maintain its attitude and perform uniform circular motion at a set starting point and direction. It analyzes and obtains the coordinates of the center of the trajectory circle of the robot end effector in the sensor coordinate system when the axis of the DUT is parallel to the z-axis of the sensor coordinate system, and uses these coordinates as the third center coordinates. Based on the third center coordinates, it controls the robot end effector to move the DUT a first distance along the negative x-axis of the sensor coordinate system and a second distance along the negative y-axis of the sensor coordinate system, so that the principal axis of the DUT coincides with the z-axis of the sensor coordinate system. It controls the robot end effector to move the DUT up and down to obtain the coordinates of the robot end effector in the base coordinate system when it first starts receiving the light beam after the receiving component is blocked. Based on the relative relationship between the coordinates to be analyzed, the robot end effector attitude, and the sensor coordinate system, it determines the TCF of the DUT.

7. An electronic device, characterized in that, include: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor, when executing the program, implements the TCF automatic calibration method according to any one of claims 1 to 5.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium includes a computer program that, when executed, controls the electronic device containing the computer-readable storage medium to perform the TCF automatic calibration method according to any one of claims 1 to 5.

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