A laser calibration method, apparatus, device, and medium

Abstract

The application discloses a kind of laser calibrating method, through the center point (hereinafter referred to as TCP) of end tool of industrial robot dotting mode positioning laser point, through reading industrial robot demonstrator data measurement TCP movement distance and laser point coordinate, through laser ranging sensor reading measurement distance, through trigonometric function calculation laser laser beam and the angle difference of industrial robot's TCP coordinate system X axis, Y axis, finally calculate the position deviation value of the origin of laser and industrial robot TCP in industrial robot base coordinate system, and then calibrate laser, such operation is simple, calculation is simple, only through operation moves TCP position and can realize sensor fast calibration by calculation.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of industrial robot measurement, and particularly relates to a laser calibrating method, device, equipment and medium. BACKGROUND

[0002] The wide use of industrial robots in the field of welding has driven the rapid change of related technologies, and the flexible use of sensors has endowed the welding industrial robots with intelligence and high efficiency. However, the development of sensor technology has also brought an increase in cost and a complication in calculation. For large components such as medium plate, the use of high-precision sensors is costly and the calibration operation is complicated. SUMMARY

[0003] In view of the above-mentioned shortcomings of the prior art, the present application provides a laser calibrating method, device, equipment and medium to solve the above-mentioned technical problems.

[0004] The laser calibrating method provided by the present application is used for calibrating a laser in an industrial robot system, and the industrial robot system comprises an end tool and a teach pendant, the laser is fixed on the end tool, and the teach pendant is used for recording data of a center point of the end tool. The method comprises the following steps:

[0005] Adjusting the end tool to be in a first posture and making the laser emit a laser beam to the calibration plate to generate a laser spot on the calibration plate;

[0006] Performing posture transformation on the end tool, and obtaining a first coordinate value of the center point recorded by the teach pendant when the end tool is in different postures, and a first laser spot position of the laser spot;

[0007] Obtaining a second coordinate value of the first laser spot position in the end tool coordinate system;

[0008] Calculating a first position deviation between the center point and the first laser spot position according to the first coordinate value and the second coordinate value;

[0009] Controlling the laser to change the position relative to the calibration plate in a first direction to obtain a first transformation distance, and obtaining a second transformation distance generated by the laser spot in a second direction and a third transformation distance generated by the laser spot in a third direction, wherein the first direction, the second direction and the third direction are perpendicular to each other;

[0010] Calculating a first included angle between the laser beam emitted by the laser and the second direction and a second included angle between the laser beam and the third direction according to the first transformation distance, the second transformation distance and the third transformation distance;

[0011] calculating a second position deviation between the laser and the center point according to the first included angle, the second included angle, a distance between the laser point and the laser when the end tool is in the first posture, and the first position deviation;

[0012] calibrating the laser based on the second position deviation.

[0013] In an embodiment of the present application, the method further comprises: creating an end tool coordinate system, with an origin of the end tool coordinate system being a center point of the end tool.

[0014] In an embodiment of the present application, before the laser emits a laser beam to the calibration board, the method further comprises:

[0015] adjusting a posture of the end tool so that one of coordinate axes of the end tool coordinate system is perpendicular to the calibration board in a first direction;

[0016] adjusting a distance between the end tool and the calibration board in the first direction so that the distance is within a measurement range of the laser.

[0017] In an embodiment of the present application, the posture transformation of the end tool comprises:

[0018] rotating the end tool by a first angle and a second angle around the one of coordinate axes in a first rotation direction;

[0019] rotating the end tool by a third angle and a fourth angle around the one of coordinate axes in a second rotation direction;

[0020] wherein an angle value of the first angle is equal to an angle value of the third angle, and an angle value of the second angle is equal to an angle value of the fourth angle.

[0021] In an embodiment of the present application, the obtaining of the second coordinate value of the first laser point position in the end tool coordinate system comprises:

[0022] translating the end tool so that the center point touches the first laser point position on the calibration board in sequence to obtain a coordinate representation of the first laser point position in the end tool coordinate system.

[0023] In an embodiment of the present application, the first laser point position comprises a plurality of first laser point positions, and the first position deviation is an arithmetic mean of position deviations between the plurality of first laser point positions and the center point.

[0024] In an embodiment of the present application, the calculating of the second position deviation between the laser and the center point according to the first included angle, the second included angle, the distance between the laser point and the laser when the end tool is in the first posture, and the first position deviation comprises:

[0025] a first distance of the sensor from the first direction is calculated according to the distance of the sensor from the laser spot and the second angle;

[0026] a second distance of the laser spot from the sensor in a second direction is calculated according to the distance of the sensor from the laser spot and the second angle;

[0027] a third distance of the laser spot from the sensor in a third direction is calculated according to the first distance and the first angle;

[0028] a fourth distance of the laser spot from the sensor in the first direction is calculated according to the first distance and the first angle;

[0029] the second position deviation is calculated according to the first distance, the second distance, the third distance, the fourth distance and the first position deviation.

[0030] The application provides a laser calibrator for calibrating a laser in an industrial robot system, the industrial robot system comprising an end tool, a teach pendant, the laser being fixed to the end tool, and the teach pendant being used to record data of a center point of the end tool, the calibrator comprising:

[0031] an adjusting module, configured to adjust the end tool to be in a first posture, and make the laser emit a laser beam to the calibration plate to generate a laser spot on the calibration plate;

[0032] a posture transformation module, configured to transform the posture of the end tool, and obtain a first coordinate value of the center point recorded by the teach pendant when the end tool is in different postures, and a first laser spot position of the laser spot;

[0033] a coordinate acquisition module, configured to obtain a second coordinate value of the first laser spot position in a coordinate system of the end tool;

[0034] a first calculation module, configured to calculate a first position deviation between the center point and the first laser spot position according to the first coordinate value and the second coordinate value;

[0035] a transformation distance acquisition module, configured to control the laser to change the position from the calibration plate in a first direction to obtain a first transformation distance, and obtain a second transformation distance generated by the laser spot in a second direction and a third transformation distance generated by the laser spot in a third direction, wherein the first direction, the second direction and the third direction are perpendicular to each other;

[0036] The second calculation module is used to calculate, based on the first transformation distance, the second transformation distance, and the third transformation distance, the first angle between the laser beam emitted by the laser and the second direction, and the second angle between the laser beam and the third direction.

[0037] The third calculation module is used to calculate the second position deviation between the laser and the center point based on the first included angle, the second included angle, the distance between the laser point and the laser when the end tool is in the first posture, and the first position deviation.

[0038] A calibration module is used to calibrate the laser based on the second position deviation.

[0039] The present invention provides an electronic device, the electronic device comprising:

[0040] One or more processors;

[0041] A storage device for storing one or more programs that, when executed by one or more processors, cause the electronic device to perform the steps of the laser calibration method described above.

[0042] The present invention provides a computer-readable storage medium storing a computer program thereon, which, when executed by a computer processor, causes the computer to perform the steps of the laser calibration method described above.

[0043] The beneficial effects of this invention: This invention provides a laser calibration method for calibrating a laser in an industrial robot system. The industrial robot system includes an end-effector tool and a teach pendant. The laser is fixed to the end-effector tool, and the teach pendant is used to record data of the center point of the end-effector tool. The method includes: adjusting the end-effector tool to a first posture and causing the laser to emit a laser beam towards a calibration plate to generate a laser point on the calibration plate; changing the posture of the end-effector tool and obtaining the first coordinate values ​​of the center point of the end-effector tool in different postures, as recorded by the teach pendant, and the first laser point position of the laser point; obtaining the second coordinate value of the first laser point position in the end-effector tool coordinate system; and calculating the coordinates of the center point relative to the calibration plate based on the first coordinate value and the second coordinate value. The system describes a first positional deviation of the first laser point; controls the laser to change its position relative to the calibration plate in a first direction to obtain a first transformation distance, and obtains a second transformation distance generated by the laser point in a second direction and a third transformation distance generated in a third direction, wherein the first direction, the second direction, and the third direction are mutually perpendicular; calculates a first angle between the laser beam emitted by the laser and the second direction and a second angle with the third direction based on the first transformation distance, the second transformation distance, and the third transformation distance; calculates a second positional deviation between the laser and the center point based on the first angle, the second angle, the distance between the laser point and the laser when the end tool is in a first posture, and the first positional deviation; and calibrates the laser based on the second positional deviation. This invention locates the laser point by plotting the center point (TCP) of the end effector of an industrial robot. It measures the distance the TCP moves and the coordinates of the laser point by reading data from the industrial robot's teach pendant. The measured distance is read by a laser rangefinder. The angle difference between the laser beam of the laser and the X and Y axes of the TCP coordinate system of the industrial robot is calculated using trigonometric functions. Finally, the positional deviation between the origin of the laser and the TCP of the industrial robot in the industrial robot's base coordinate system is calculated, thereby calibrating the laser. This method is simple to operate and calculate, and the sensor can be quickly calibrated by simply moving the TCP position and performing calculations.

[0044] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit this application. Attached Figure Description

[0045] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application. It is obvious that the drawings described below are merely some embodiments of this application, and those skilled in the art can obtain other drawings based on these drawings without any inventive effort. In the drawings:

[0046] Figure 1 This is a schematic diagram of the implementation environment of an exemplary laser calibration method according to this application.

[0047] Figure 2 This is a flowchart illustrating a laser calibration method in an exemplary embodiment of this application;

[0048] Figure 3 This is a schematic diagram illustrating a method for calculating the deviation between a laser point and the origin of the TCP coordinate system, as an exemplary embodiment of this application.

[0049] Figure 4 A schematic diagram defining the measurement values ​​of each parameter in an exemplary embodiment of this application;

[0050] Figure 5 A schematic diagram defining the calculated values ​​of each parameter in an exemplary embodiment of this application;

[0051] Figure 6 This is a block diagram illustrating a laser calibration apparatus according to an exemplary embodiment of this application;

[0052] Figure 7 A schematic diagram of the structure of a computer system suitable for implementing the electronic device of the present application is shown. Detailed Implementation

[0053] The embodiments of the present invention will be described below with reference to the accompanying drawings and preferred embodiments. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention. It should be understood that the preferred embodiments are only for illustrating the present invention and not for limiting the scope of protection of the present invention.

[0054] It should be noted that the illustrations provided in the following embodiments are only schematic representations of the basic concept of the present invention. Therefore, the drawings only show the components related to the present invention and are not drawn according to the actual number, shape and size of the components in the actual implementation. In the actual implementation, the form, quantity and proportion of each component can be arbitrarily changed, and the layout of the components may also be more complex.

[0055] In the following description, numerous details are explored to provide a more thorough explanation of embodiments of the invention. However, it will be apparent to those skilled in the art that embodiments of the invention may be practiced without these specific details. In other embodiments, well-known structures and devices are shown in block diagram form rather than in detail to avoid obscuring embodiments of the invention.

[0056] Figure 1 This is a schematic diagram illustrating the implementation environment of an exemplary laser calibration method according to this application. Please refer to... Figure 1 The implementation environment includes an industrial robot system, a laser ranging system, and a calibration plate. The industrial robot system comprises an industrial robot body, a teach pendant, and an end effector (welding torch) 110. The end effector is movably mounted on the industrial robot body. The teach pendant records data about the center point of the end effector, such as data during and after posture changes, including the coordinates of the center point. The laser ranging system includes a laser 120 and a sensor mounting device 130. The laser 120 is fixed to the end effector via the sensor mounting device 130. The laser ranging system has a measurement range of 120mm to 600mm and a measurement accuracy of 0.06mm. The calibration plate 140 is a 500mm × 500mm flat plate with a smooth, non-reflective surface. The laser emitted by the laser forms a laser point 150 on the calibration plate 140.

[0057] The embodiments of this application respectively propose a laser calibration method, a laser calibration device, an electronic device, and a computer-readable storage medium, which will be described in detail below.

[0058] Please see Figure 2 , Figure 2 This is a flowchart illustrating a laser calibration method as an exemplary embodiment of this application. This method can be applied to... Figure 1 The implementation environment is shown, and the method is specifically executed by the terminal device 101 in that implementation environment. It should be understood that the method can also be applied to other exemplary implementation environments and specifically executed by devices in other implementation environments. This embodiment does not limit the implementation environment to which the method is applicable.

[0059] Please see Figure 2 , Figure 2 This is a flowchart illustrating an exemplary laser calibration method according to this application. The laser calibration method includes at least steps S210 to S240, which are described in detail below:

[0060] Step S210: Adjust the end tool to a first posture and make the laser emit a laser beam toward the calibration plate to generate a laser spot on the calibration plate;

[0061] Step S220: Perform an attitude change on the end effector and obtain the first coordinate value of the center point of the end effector when it is in different attitudes, and the first laser point position of the laser point, as recorded by the teach pendant.

[0062] Step S230: Obtain the second coordinate value of the first laser point position in the end-effector coordinate system;

[0063] Step S240: Calculate the first positional deviation between the center point and the first laser point based on the first coordinate value and the second coordinate value;

[0064] Step S250: Control the laser to change its position relative to the calibration plate in the first direction to obtain a first transformation distance, and obtain the second transformation distance generated by the laser point in the second direction and the third transformation distance generated in the third direction, wherein the first direction, the second direction, and the third direction are perpendicular to each other;

[0065] Step S260: Calculate the first angle between the laser beam emitted by the laser and the second direction, and the second angle between the laser beam and the third direction, based on the first transformation distance, the second transformation distance, and the third transformation distance.

[0066] Step S270: Calculate the second position deviation between the laser and the center point based on the first included angle, the second included angle, the distance between the laser point and the laser when the end tool is in the first posture, and the first position deviation;

[0067] Step S280: Calibrate the laser based on the second position deviation.

[0068] This invention locates the laser point by plotting the center point (TCP) of the end effector of an industrial robot. It measures the distance the TCP moves and the coordinates of the laser point by reading data from the industrial robot's teach pendant. The measured distance is read by a laser rangefinder. The angle difference between the laser beam of the laser and the X and Y axes of the TCP coordinate system of the industrial robot is calculated using trigonometric functions. Finally, the positional deviation between the origin of the laser and the TCP of the industrial robot in the industrial robot's base coordinate system is calculated, thereby calibrating the laser. This method is simple to operate and calculate, and the sensor can be quickly calibrated by simply moving the TCP position and performing calculations.

[0069] The following provides a detailed explanation of each of the above steps.

[0070] In step S210, the end effector is adjusted to a first position, and the laser emits a laser beam toward the calibration plate to generate a laser spot on the calibration plate.

[0071] In one embodiment of the present invention, before emitting a laser beam using a laser, the method further includes: creating an end-effector coordinate system, wherein the origin of the end-effector coordinate system is the center point of the end-effector.

[0072] Specifically, the industrial robot teach pendant is operated, with the welding torch serving as the end effector of the industrial robot. An end effector coordinate system is created and calibrated, and this end effector coordinate system is denoted as K. T The origin of the coordinate system, which is the end of the welding wire extending out, is denoted as O. T TCP is located in O T ;

[0073] In one embodiment of the present invention, before emitting a laser beam toward the calibration plate, the method further includes:

[0074] Step S310: Adjust the attitude of the end effector so that one of the coordinate axes of the end effector coordinate system is perpendicular to the calibration plate in a first direction;

[0075] In this embodiment, the industrial robot is a 4-axis industrial robot. Before calibrating the laser, the 1st and 4th axes of the industrial robot are rotated to 0°. The calibration plate is placed flat under the welding gun and fixed so that when the TCP moves along the base coordinate Z axis, the welding wire can touch the calibration plate.

[0076] Adjust the end effector's attitude so that the three attitude angles are [0°, 0°, 0°], K T The Z-axis is perpendicular to the plane of the calibration plate. The laser of the industrial robot emits a laser beam, forming a laser point on the calibration plate.

[0077] Step S320: Adjust the distance between the end tool and the calibration plate in the first direction so that the distance is within the measurement range of the laser.

[0078] Adjust the tool height so that the measurement value of the laser rangefinder is within the range of 120mm to 600mm; where the first direction refers to the Z-axis of the end-effector coordinate system.

[0079] Step S220: Perform an attitude change on the end effector and obtain the first coordinate value of the center point of the end effector when it is in different attitudes, and the first laser point position of the laser point, as recorded by the teach pendant.

[0080] First, when the three attitude angles are [0°, 0°, 0°], the laser emits a laser beam and forms a laser point on the calibration plate. At this time, the coordinate value P0 of the center point of the end tool is obtained from the teaching device, and the laser point position A0 of the laser point on the calibration plate is obtained at the same time.

[0081] In one embodiment of the present invention, the posture transformation of the end effector includes:

[0082] Step S410: Rotate the end tool along the first rotation direction around one of the coordinate axes by a first angle and a second angle; where one of the coordinate axes is the Z-axis of the tool coordinate system.

[0083] Please see Figure 3 , Figure 3 This application provides an exemplary embodiment of a method for calculating the deviation between a laser point and the origin of the TCP coordinate system. For example... Figure 3 As shown, the end-effector is made to rotate around coordinate system K. T The Z-axis is rotated by a first angle α1 = 45° and a second angle α2 = 90°, and the TCP coordinate values ​​are recorded as P1 and P2 respectively. After the end tool rotates around the first angle, the laser point on the calibration plate is recorded as A1, and after the end tool rotates around the second angle, the laser point on the calibration plate is recorded as A2.

[0084] Step S420: Rotate the end tool along the second rotation direction around one of the coordinate axes by a third and a fourth angle;

[0085] Return TCP to P0, and make the end tool revolve around coordinate system K. T The Z-axis is rotated at the third angle α1 = -45° and the fourth angle α2 = -90°, and the TCP coordinate values ​​are recorded as P3 and P4 respectively. After the end tool rotates around the third angle, the laser point on the calibration plate is recorded as A3, and after the end tool rotates around the fourth angle, the laser point on the calibration plate is recorded as A4.

[0086] Thus, the first laser points A0, A1, A2, A3, and A4, and the corresponding center points P0, P1, P2, P3, and P4 are obtained.

[0087] In step S230, the second coordinate value of the position of the first laser point in the end-effector coordinate system is obtained;

[0088] In one embodiment of the present invention, obtaining the second coordinate value of the position of the first laser point in the end-effector coordinate system includes:

[0089] The end tool is translated so that the center point successively touches the position of the first laser point on the calibration plate, so as to obtain the coordinate representation of the position of the first laser point in the coordinate system of the end tool.

[0090] Return TCP to P0, and translate the end tool so that TCP sequentially touches A0, A1, A2, A3, and A4 on the calibration plate plane, obtaining the coordinate representation of the laser point position in the end tool coordinate system as Q0, Q1, Q2, Q3, and Q4.

[0091] Step S240: Calculate the first positional deviation between the center point and the first laser point based on the first coordinate value and the second coordinate value;

[0092] In one embodiment of the present invention, the first laser point position includes multiple positions, and the first position deviation is the arithmetic mean of the position deviations of the multiple first laser points from the center point.

[0093] Specifically, returning TCP to P0, the deviations between the laser points on the calibration plate plane and the origin of the TCP coordinate system can be calculated based on the coordinate differences between P0, P1, P2, P3, and P4 and Q0, Q1, Q2, Q3, and Q4 respectively. The arithmetic mean is then taken.

[0094]

[0095] Among them, P x P represents the coordinates of the center point on the X-axis of the end-tool coordinate system. y P represents the coordinates of the center point on the Y-axis of the end-tool coordinate system. z This indicates the coordinates of the center point on the Z-axis of the end-tool coordinate system; Q x Q represents the coordinates of the center point on the X-axis of the end-tool coordinate system. y Q represents the coordinates of the center point on the Y-axis of the end-tool coordinate system. z This indicates the coordinates of the center point on the Z-axis of the end tool coordinate system.

[0096] In step S250, the laser is controlled to change its position relative to the calibration plate in a first direction to obtain a first transformation distance, and a second transformation distance generated by the laser point in a second direction and a third transformation distance generated in a third direction are obtained, wherein the first direction, the second direction, and the third direction are perpendicular to each other;

[0097] It should be noted that the first direction refers to the end-effector coordinate system K. T The Z-axis direction, the second direction refers to the end-tool coordinate system K. T The X-axis direction, the third direction refers to the end-tool coordinate system K T The Y-axis direction.

[0098] Specifically, the sensor measurement data is read, and the straight-line distance from the laser to the calibration plate is recorded as S0;

[0099] Please see Figure 4 , Figure 4 A schematic diagram defining the measurement values ​​of each parameter in an exemplary embodiment of this application;

[0100] Make TCP follow the end tool coordinate system K T +Z direction movement distance UZ Read the sensor measurement data and record it as S1. Mark the new laser point A'0 on the calibration plate plane, make the TCP touch point A'0, and record the coordinates of the TCP as Q'0.

[0101] The laser point on the calibration plate plane along the end tool coordinate system K T The distances moved in the X and Y directions are denoted as U. x U y It can be calculated that:

[0102] U x =|Q 0，x -Q′ 0，x |

[0103] U y =|Q 0，y -Q′ 0，y |

[0104] Q 0,x Q' represents the coordinates of the laser point position Q0 on the X-axis. 0,x This represents the coordinates of the laser point position Q'0 on the X-axis, Q 0,y Q' represents the Y-coordinate of the laser point position Q0 on the Y-axis. 0,y This represents the coordinates of the laser point position Q'0 on the Y-axis.

[0105] In step S260, the first angle between the laser beam emitted by the laser and the second direction and the second angle with the third direction are calculated based on the first transformation distance, the second transformation distance and the third transformation distance.

[0106] Please see Figure 5 , Figure 5 This is a schematic diagram defining the calculated values ​​of each parameter in an exemplary embodiment of this application; by U x U y U z The laser lines of the sensor can be calculated relative to the coordinate system K. T The angle α between the X and Y axes x α y :

[0107]

[0108] In step S270, the second position deviation between the laser and the center point is calculated based on the first included angle, the second included angle, the distance between the laser point and the laser when the end tool is in the first posture, and the first position deviation.

[0109] In one embodiment of the present invention, the step of calculating the second position deviation between the laser and the center point based on the first included angle, the second included angle, the distance between the laser point and the laser when the end tool is in the first posture, and the first position deviation includes:

[0110] The first distance between the sensor and the first direction is calculated based on the distance between the sensor and the laser point and the second included angle.

[0111] The second distance between the laser point and the sensor in the second direction is calculated based on the distance between the sensor and the laser point and the second included angle.

[0112] Calculate the third distance between the laser point and the sensor in the third direction based on the first distance and the first included angle;

[0113] The fourth distance between the laser point and the sensor in the first direction is calculated based on the first distance and the first included angle.

[0114] The second position deviation is calculated based on the first distance, the second distance, the third distance, the fourth distance, and the first position deviation.

[0115] From α x α y S0 and S1 can be calculated to obtain:

[0116] d = S0 cos α y ,dx=S0 sin α y ,dy=d sin α x ,dz=d cos α x

[0117] The distance deviation between the laser and the TCP can be calculated:

[0118]

[0119] P 0,x Let P0 represent the coordinates of the center point P0 on the X-axis. 0,y This represents the coordinates of the center point P0 on the Y-axis.

[0120] This invention discloses a laser calibration method that locates the laser point by plotting the center point (TCP) of the end effector of an industrial robot. The method measures the distance the TCP moves and the coordinates of the laser point by reading data from the industrial robot's teach pendant. The measured distance is read using a laser rangefinder sensor. The angle difference between the laser beam and the X and Y axes of the TCP coordinate system of the industrial robot is calculated using trigonometric functions. Finally, the positional deviation between the origin of the laser and the TCP in the industrial robot's base coordinate system is calculated, thereby calibrating the laser. This method is simple to operate and calculate; rapid sensor calibration can be achieved simply by moving the TCP and performing calculations.

[0121] Figure 6 This is a block diagram illustrating a laser calibration apparatus according to an exemplary embodiment of this application. The apparatus can be applied to… Figure 1 The implementation environment shown is specifically configured in a terminal device. This device can also be applied to other exemplary implementation environments and specifically configured in other devices. This embodiment does not limit the implementation environment to which the device is applicable.

[0122] like Figure 6 As shown, this application provides a laser calibration device for calibrating a laser in an industrial robot system. The industrial robot system includes: an end effector and a teach pendant. The laser is fixed to the end effector, and the teach pendant is used to record data of the center point of the end effector. The device includes:

[0123] The adjustment module 610 is used to adjust the end tool to a first posture and to make the laser emit a laser beam toward the calibration plate to generate a laser spot on the calibration plate;

[0124] The attitude transformation module 620 is used to transform the attitude of the end effector and obtain the first coordinate value of the center point of the end effector when it is in different attitudes, as well as the first laser point position of the laser point, as recorded by the teach pendant.

[0125] The coordinate acquisition module 630 is used to acquire the second coordinate value of the position of the first laser point in the end tool coordinate system;

[0126] The first calculation module 640 is used to calculate the first positional deviation between the center point and the first laser point based on the first coordinate value and the second coordinate value.

[0127] The transformation distance acquisition module 650 is used to control the laser to change its position relative to the calibration plate in a first direction to obtain a first transformation distance, and to acquire a second transformation distance generated by the laser point in a second direction and a third transformation distance generated in a third direction, wherein the first direction, the second direction, and the third direction are perpendicular to each other;

[0128] The second calculation module 660 is used to calculate the first angle between the laser beam emitted by the laser and the second direction and the second angle between the laser beam and the third direction based on the first transformation distance, the second transformation distance and the third transformation distance;

[0129] The third calculation module 670 is used to calculate the second position deviation between the laser and the center point based on the first included angle, the second included angle, the distance between the laser point and the laser when the end tool is in the first posture, and the first position deviation.

[0130] The calibration module 680 is used to calibrate the laser based on the second position deviation.

[0131] It should be noted that the laser calibration device and the laser calibration method provided in the above embodiments belong to the same concept. The specific operation methods of each module and unit have been described in detail in the method embodiments and will not be repeated here. In practical applications, the laser calibration device provided in the above embodiments can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. This is not a limitation here.

[0132] Embodiments of this application also provide an electronic device, including: one or more processors; and a storage device for storing one or more programs, which, when executed by the one or more processors, cause the electronic device to implement the laser calibration method provided in the above embodiments.

[0133] Figure 7 A schematic diagram of a computer system suitable for implementing the embodiments of this application is shown. It should be noted that... Figure 7 The computer system 700 of the electronic device shown is merely an example and should not impose any limitation on the functionality and scope of use of the embodiments of this application.

[0134] like Figure 7As shown, the computer system 700 includes a Central Processing Unit (CPU) 701, which can perform various appropriate actions and processes based on programs stored in Read-Only Memory (ROM) 702 or programs loaded from storage portion 708 into Random Access Memory (RAM) 703, such as performing the methods described in the above embodiments. The RAM 703 also stores various programs and data required for system operation. The CPU 701, ROM 702, and RAM 703 are interconnected via a bus 704. An Input / Output (I / O) interface 705 is also connected to the bus 704.

[0135] The following components are connected to the I / O interface 705: an input section 706 including a keyboard, mouse, etc.; an output section 707 including a cathode ray tube (CRT), liquid crystal display (LCD), and speakers, etc.; a storage section 708 including a hard disk, etc.; and a communication section 707 including a network interface card such as a LAN (Local Area Network) card and a modem, etc. The communication section 707 performs communication processing via a network such as the Internet. A drive 710 is also connected to the I / O interface 705 as needed. A removable medium 711, such as a disk, optical disk, magneto-optical disk, semiconductor memory, etc., is installed on the drive 710 as needed so that computer programs read from it can be installed into the storage section 708 as needed.

[0136] Specifically, according to embodiments of this application, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments of this application include a computer program product comprising a computer program carried on a computer-readable medium, the computer program including methods for performing processes. Figure 2 The computer program for the method shown. In such an embodiment, the computer program can be downloaded and installed from a network via communication section 709, and / or installed from removable medium 711. When the computer program is executed by central processing unit (CPU) 701, it performs various functions defined in the system of this application.

[0137] It should be noted that the computer-readable medium shown in the embodiments of this application can be a computer-readable signal medium or a computer-readable storage medium, or any combination of the two. A computer-readable storage medium can be, for example, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of a computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM), flash memory, optical fiber, portable compact disc read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof. In this application, a computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, carrying a computer-readable computer program. Such propagated data signals can take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. Computer-readable signal media can also be any computer-readable medium other than computer-readable storage media, which can send, propagate, or transmit a program for use by or in connection with an instruction execution system, apparatus, or device. The computer program contained on the computer-readable medium can be transmitted using any suitable medium, including but not limited to wireless, wired, etc., or any suitable combination thereof.

[0138] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of this application. Each block in a flowchart or block diagram may represent a module, segment, or portion of code, which contains one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated 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 or flowchart, and combinations of blocks in a block diagram or flowchart, can be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0139] The units described in the embodiments of this application can be implemented in software or hardware, and the described units can also be located in a processor. The names of these units do not necessarily limit the specific unit itself.

[0140] Another aspect of this application provides a computer-readable storage medium storing a computer program that, when executed by a computer's processor, causes the computer to perform the laser calibration method as described above. This computer-readable storage medium may be included in the electronic device described in the above embodiments, or it may exist independently and not assembled into the electronic device.

[0141] Another aspect of this application provides a computer program product or computer program including computer instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium and executes the computer instructions, causing the computer device to perform the laser calibration method provided in the various embodiments described above.

[0142] The above embodiments are merely illustrative of the principles and effects of the present invention and are not intended to limit the invention. Any person skilled in the art can modify or alter the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or alterations made by those skilled in the art without departing from the spirit and technical concept disclosed in the present invention should still be covered by the claims of the present invention.

Claims

1. A laser calibration method, characterized in that, A method for calibrating a laser in an industrial robot system, the industrial robot system comprising: an end-effector and a teach pendant, wherein the laser is fixed to the end-effector, and the teach pendant is used to record data of the center point of the end-effector, the method comprising: Adjust the end effector to a first position and make the laser emit a laser beam toward the calibration plate to generate a laser spot on the calibration plate; The end effector is subjected to attitude transformation, and the first coordinate value of the center point of the end effector when it is in different attitudes, as well as the first laser point position of the laser point, are obtained by the teach pendant. Obtain the second coordinate value of the first laser point position in the end-effector coordinate system; Calculate the first positional deviation between the center point and the first laser point based on the first coordinate value and the second coordinate value; The laser is controlled to change its position relative to the calibration plate in a first direction to obtain a first transformation distance, and a second transformation distance generated by the laser point in a second direction and a third transformation distance generated in a third direction are obtained, wherein the first direction, the second direction, and the third direction are perpendicular to each other; The first angle between the laser beam emitted by the laser and the second direction, and the second angle between the laser beam and the third direction are calculated based on the first transformation distance, the second transformation distance, and the third transformation distance. The second position deviation between the laser and the center point is calculated based on the first included angle, the second included angle, the distance between the laser point and the laser when the end tool is in the first posture, and the first position deviation. The laser is calibrated based on the second positional deviation.

2. The laser calibration method according to claim 1, characterized in that, The method further includes: creating an end-effector coordinate system, wherein the origin of the end-effector coordinate system is the center point of the end-effector.

3. The laser calibration method according to claim 2, characterized in that, Before emitting a laser beam from the laser toward the calibration plate, the method further includes: Adjust the orientation of the end effector so that one of the coordinate axes of the end effector coordinate system is perpendicular to the calibration plate in a first direction; Adjust the distance between the end tool and the calibration plate in the first direction so that the distance is within the measurement range of the laser.

4. The laser calibration method according to claim 1, characterized in that, The posture transformation of the end effector includes: The end-effector is rotated about one of the coordinate axes along a first rotation direction by a first angle and a second angle. The end effector is rotated about one of the coordinate axes along the second rotation direction by a third and a fourth angle; Wherein, the angle value of the first angle is equal to the angle value of the third angle, and the angle value of the second angle is equal to the angle value of the fourth angle.

5. The laser calibration method according to claim 1, characterized in that, The step of obtaining the second coordinate value of the first laser point position in the end-effector coordinate system includes: The end tool is translated so that the center point successively touches the position of the first laser point on the calibration plate, so as to obtain the coordinate representation of the position of the first laser point in the coordinate system of the end tool.

6. The laser calibration method according to claim 5, characterized in that, The first laser point position includes multiple positions, and the first position deviation is the arithmetic mean of the position deviations of multiple first laser points from the center point.

7. The laser calibration method according to claim 1, characterized in that, The step of calculating the second position deviation between the laser and the center point based on the first included angle, the second included angle, the distance between the laser point and the laser when the end tool is in the first posture, and the first position deviation includes: The first distance between the sensor and the first direction is calculated based on the distance between the sensor and the laser point and the second included angle. The second distance between the laser point and the sensor in the second direction is calculated based on the distance between the sensor and the laser point and the second included angle. Calculate the third distance between the laser point and the sensor in the third direction based on the first distance and the first included angle; Calculate the fourth distance between the laser point and the sensor in the first direction based on the first distance and the first included angle; The second position deviation is calculated based on the first distance, the second distance, the third distance, the fourth distance, and the first position deviation.

8. A laser calibration device, characterized in that, A device for calibrating a laser in an industrial robot system, the industrial robot system including: an end-effector and a teach pendant, the laser being fixed to the end-effector, the teach pendant being used to record data of the center point of the end-effector, the device including: An adjustment module is used to adjust the end tool to a first posture and to make the laser emit a laser beam toward the calibration plate to generate a laser spot on the calibration plate; The attitude transformation module is used to transform the attitude of the end effector and obtain the first coordinate value of the center point of the end effector when it is in different attitudes, as well as the first laser point position of the laser point, as recorded by the teach pendant. The coordinate acquisition module is used to acquire the second coordinate value of the position of the first laser point in the end-effector coordinate system; The first calculation module is used to calculate the first positional deviation between the center point and the first laser point based on the first coordinate value and the second coordinate value. The transformation distance acquisition module is used to control the laser to change its position relative to the calibration plate in a first direction to obtain a first transformation distance, and to acquire a second transformation distance generated by the laser point in a second direction and a third transformation distance generated in a third direction, wherein the first direction, the second direction, and the third direction are perpendicular to each other; The second calculation module is used to calculate, based on the first transformation distance, the second transformation distance, and the third transformation distance, the first angle between the laser beam emitted by the laser and the second direction, and the second angle between the laser beam and the third direction. The third calculation module is used to calculate the second position deviation between the laser and the center point based on the first included angle, the second included angle, the distance between the laser point and the laser when the end tool is in the first posture, and the first position deviation. A calibration module is used to calibrate the laser based on the second position deviation.

9. An electronic device, characterized in that, The electronic device includes: One or more processors; A storage device for storing one or more programs that, when executed by one or more processors, cause the electronic device to perform the steps of the laser calibration method as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, It stores a computer program that, when executed by the computer's processor, causes the computer to perform the steps of the laser calibration method according to any one of claims 1 to 7.

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