Robot operation point position determination method and production system

Abstract

The present application discloses a method for determining the position of a robot operating point, specifically comprising: obtaining first position information of a first reference object on a first carrier and second position information of a second reference object on a second carrier based on the robot's basic coordinate system; obtaining the positional relationship between the first position information and the second position information; associating the position information of the operating point set on the first carrier with the first position information based on the basic coordinate system; and calculating the position information of the operating point on the second carrier based on the positional relationship between the first position information and the second position information. The method for determining the position of a robot operating point of the present application reduces the time required to adjust the robot operating point when the robot performs the same operation on different material carriers, thereby improving the efficiency of the machine. The present application also discloses a production system using the method for determining the position of a robot operating point.

Description

Technical Field

[0001] The present application relates to the technical field of industrial robots, and in particular to a method for determining the position of a robot operating point and a production system using the method. Background Art

[0002] Currently, when using robots for production, the robot's operating points on material carriers, such as workstations or jigs, must first be calibrated to ensure accurate manipulation of the material at those points. However, since each material carrier may have multiple operating points, calibrating all operating points performing the same operation on different material carriers requires significant time, impacting machine efficiency. Summary of the Invention

[0003] In view of the above, it is necessary to propose a method for determining the position of a robot operation point and a production system using the method to reduce the adjustment time of the robot operation point when the robot performs the same operation on different material carriers and improve the efficiency of the machine.

[0004] An embodiment of the present application provides a method for determining the position of a robot operating point, including: obtaining first position information of a first reference object on a first carrier and second position information of a second reference object on a second carrier based on a basic coordinate system of the robot; obtaining a positional relationship between the first position information and the second position information; associating the position information of an operating point set on the first carrier with the first position information based on the basic coordinate system; and calculating the position information of the operating point on the second carrier based on the positional relationship between the first position information and the second position information.

[0005] When the above-mentioned robot operation point position determination method is used to determine the position of the robot operation point on the first carrier and the second carrier, if the robot performs the same operation on the first carrier and the second carrier, it is only necessary to adjust the position of the operation point on the first carrier and obtain the position information of the operation point on the first carrier, and then associate the position information of the operation point on the first carrier with the first position information of the first reference object, and directly convert the position information set on the first carrier to the second carrier based on the positional relationship between the first position information and the second position information, without the need for complex adjustment of the position of the operation point on the second carrier, thereby reducing the adjustment time of the operation point when the robot performs the same operation on different material carriers, thereby improving the efficiency of the machine.

[0006] In some embodiments, the step of "obtaining first position information of a first reference object on a first carrier and second position information of a second reference object on a second carrier based on the basic coordinate system of the robot" includes: obtaining the coordinates of a first calibration point on the first reference object and the coordinates of a second calibration point on the second reference object through a positioning part preset on the robotic arm of the robot; determining the coordinates of the first calibration point and the coordinates of the second calibration point as the first position information and the second position information, respectively; wherein, the first reference object and the second reference object have the same specifications, and the position of the first calibration point on the first reference object corresponds to the position of the second calibration point on the second reference object.

[0007] In some embodiments, the positioning member is a camera provided on the robotic arm, the first reference object and the second reference object are both calibration blocks, and the first reference surface, second reference surface and third reference surface of the first reference object and the second reference object are respectively oriented towards the first coordinate axis direction, the second coordinate axis direction and the third coordinate axis direction of the basic coordinate system; the step of "obtaining the coordinates of the first calibration point on the first reference object and the coordinates of the second calibration point on the second reference object by means of the positioning member preset on the robotic arm of the robot" includes: obtaining the coordinates of the first calibration point on the first reference object by means of camera calibration; obtaining the coordinates of the second calibration point on the second reference object by means of camera calibration.

[0008] In some embodiments, the step of "obtaining the coordinates of the first calibration point on the first reference object by camera calibration" includes: controlling the robotic arm to move the camera to a position facing the first reference surface of the first reference object for image recognition, and recording the position information of the camera at this time as the first coordinate; controlling the robotic arm to move the camera to a position facing the second reference surface of the first reference object for image recognition, and recording the position information of the camera at this time as the second coordinate; calculating the coordinates of the center point on the first reference surface of the first reference object based on the first coordinates and the second coordinates, and using the coordinates as the first correction point coordinates; determining the coordinates of the first correction point as the coordinates of the first calibration point.

[0009] In some embodiments, before the step of "determining the coordinates of the first correction point as the coordinates of the first calibration point", the robot operation point position determination method also includes: controlling the robotic arm to move the camera to a position facing the third reference surface of the first reference object for image recognition, and recording the position information of the camera at this time as the third coordinate; judging whether the coordinates of the first correction point are correct based on the correspondence between the first coordinate, the second coordinate and the third coordinate; if correct, determining the coordinates of the first correction point as the coordinates of the first calibration point; if incorrect, repeating the step of "obtaining the coordinates of the first calibration point on the first reference object by camera calibration".

[0010] In some embodiments, the step of "obtaining the coordinates of the second calibration point on the second reference object by camera calibration" includes: controlling the robotic arm to move the camera from the position of the first coordinate to a position facing the first reference surface of the second reference object for image recognition, and recording the position information of the camera at this time as a fourth coordinate; controlling the robotic arm to move the camera to a position facing the second reference surface of the second reference object for image recognition, and recording the position information of the camera at this time as a fifth coordinate; controlling the robotic arm to move the camera to a position facing the third reference surface of the second reference object for image recognition, and recording the position information of the camera at this time as a sixth coordinate; calculating the coordinates of the center point on the first reference surface of the second reference object according to the fourth coordinate and the fifth coordinate, and using the coordinates as the coordinates of the second correction point; judging whether the coordinates of the second correction point are correct according to the correspondence between the fourth coordinate, the fifth coordinate and the sixth coordinate; if correct, determining the coordinates of the second correction point as the coordinates of the second calibration point; if incorrect, repeating the step of "obtaining the coordinates of the second calibration point on the second reference object by camera calibration".

[0011] In some embodiments, before the step of "determining the coordinates of the second correction point as the coordinates of the second calibration point", the robot operation point position determination method also includes: judging whether the coordinates of the second correction point are correct based on the difference d1 between the first coordinate and the second coordinate in the direction of the first coordinate axis, the difference d2 between the fourth coordinate and the fifth coordinate in the direction of the first coordinate axis, and the movement distance dx in the direction of the first coordinate axis when the camera moves from the first coordinate to the fourth coordinate; if d2=d1+dz, determining the coordinates of the second correction point as the coordinates of the second calibration point; if d2≠d1+dz, repeating the step of "obtaining the coordinates of the second calibration point on the second reference object by camera calibration".

[0012] In some embodiments, a plurality of auxiliary correction points are evenly arranged around the center point on the first reference surface, the second reference surface and the third reference surface of the first reference object and the second reference object; in the steps of "obtaining the coordinates of the first calibration point on the first reference object by camera calibration" and "obtaining the coordinates of the second calibration point on the second reference object by camera calibration", when the robotic arm is controlled to move the camera to a position facing the first reference surface, the second reference surface and the third reference surface of the first reference object and the second reference object for image recognition, the camera is controlled to rotate based on the inclination of the first carrier and the second carrier so that the points on the image correspond to the center points and the auxiliary correction points on the first reference surface, the second reference surface and the third reference surface of the first reference object and the second reference object, respectively, and the rotation angle of the camera is recorded.

[0013] In some embodiments, the step of "obtaining the positional relationship between the first position information and the second position information" includes: calculating the coordinate relationship between the first coordinate and the fourth coordinate based on the movement distance of the camera in the first coordinate axis direction, the second coordinate axis direction and the third coordinate axis direction when moving from the position of the first coordinate to the position of the fourth coordinate, and the rotation angle of the camera when performing image recognition at the position facing the first reference surface, the second reference surface and the third reference surface of the second reference object; and determining the coordinate relationship between the first coordinate and the fourth coordinate as the coordinate relationship between the second calibration point and the first calibration point.

[0014] In some embodiments, the step of "associating the position information of the operating point set on the first carrier with the first position information based on the basic coordinate system" includes: establishing a coordinate relationship between the position information of the operating point set on the first carrier and the coordinates of the first calibration point based on the basic coordinate system.

[0015] In some embodiments, the step of "calculating the position information of the operating point on the second carrier based on the positional relationship between the first position information and the second position information" includes: establishing a coordinate relationship between the position information of the operating point set on the first carrier and the coordinates of the second calibration point according to the coordinate relationship between the second calibration point and the first calibration point; and obtaining the coordinate information of the operating point on the first carrier by performing a multiplication operation based on the coordinates of the second calibration point and the coordinate relationship between the coordinates of the second calibration point and the position information of the operating point set on the first carrier.

[0016] In some embodiments, the first reference object is located at an operating point set on the first carrier.

[0017] An embodiment of the present application also provides a production system, including a processor, a memory, a robot, a first carrier, a second carrier and a positioning member, wherein the memory stores a program module, the program module is loaded by the processor and executes the robot operation point position determination method as described above; the robot includes a driving component and a robotic arm connected to the driving component, the driving component is used to drive the robotic arm to move, and the robotic arm is used to operate the material according to the position information of the set operation point; the first carrier and the second carrier are arranged on one side of the robot for carrying materials; the positioning member is arranged on the robotic arm and coupled to the processor, and the positioning member is used to obtain the position information of the material and feed the position information back to the processor.

[0018] The above-mentioned production system, since the memory stores a program module that can implement the above-mentioned method for determining the position of the robot operation point, when adjusting the robot operation point on the first carrier and the second carrier, reference objects can be placed on the first carrier and the second carrier, and the position information of the robot operation point adjusted on the first carrier can be directly converted to the second carrier in conjunction with the positioning parts, thereby reducing the adjustment time of the robot operation point when the robot performs the same operation on the first carrier and the second carrier, and improving the machine setting efficiency.

[0019] In some embodiments, the production system further includes a calibration block, which is a cube structure. The calibration block is used to be placed on the first carrier and the second carrier respectively, and cooperate with the positioning member to obtain the first position information and the second position information.

[0020] In some embodiments, a main correction point is provided at the center of each side of the calibration block, and a plurality of auxiliary correction points are evenly provided on each side of the calibration block around the corresponding main correction point. The main correction point is used to be calibrated by the positioning member to obtain the first position information and the second position information. The auxiliary correction point is used to be identified by the positioning member when the positioning member calibrates the main correction point, so as to correct the position of the robotic arm driving the positioning member to move to the side of the calibration block where the main correction point is located.

[0021] In some embodiments, the positioning member is a camera, and the positioning member is rotatably provided on the robotic arm. The positioning member is used to calibrate the main correction points on the corresponding side of the calibration block under the drive of the robotic arm, and feed back the calibration information to the processor to obtain the first position information, the second position information, and the positional relationship between the first position information and the second position information.

[0022] In some embodiments, a first jig and a second jig for carrying materials are respectively provided on the first carrier and the second carrier, the first jig and the second jig have the same specifications, and the position of the first jig on the first carrier corresponds to the position of the second jig on the second carrier. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 4 is a flow chart of a method for determining the position of a robot operating point in an embodiment of the present invention.

[0024] Figure 2 yes Figure 1 Specific flow chart of step S1 in FIG.

[0025] Figure 3 yes Figure 2 Specific flow chart of step S111 in FIG.

[0026] Figure 4 yes Figure 2 Specific flow chart of step S112 in FIG.

[0027] Figure 5 Schematic diagram of a comparison between points on an image recognized by a camera when calibrating a first reference surface of a first reference object and actual primary and secondary calibration points in an embodiment of the present invention.

[0028] Figure 6 yes Figure 1 Specific flow chart of steps S2-S4 in FIG.

[0029] Figure 7 Schematic diagram of the hardware architecture of the production system in an embodiment of the present invention.

[0030] Figure 8 It is a schematic diagram of the three-dimensional structure of the production system in an embodiment of the present invention.

[0031] Figure 9 yes Figure 8 Schematic diagram of the three-dimensional structure of the calibration block.

[0032] Description of main component symbols

[0033] Production System 100

[0034] Robot 10

[0035] Drive assembly 11

[0036] Robotic Arm 12

[0037] Processor 20

[0038] Memory 30

[0039] First carrier 40

[0040] The first fixture 41

[0041] Second carrier 50

[0042] Second fixture 51

[0043] Positioning piece 60

[0044] Calibration block 70

[0045] Main calibration point 71

[0046] Auxiliary correction point 72 DETAILED DESCRIPTION

[0047] The embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present application, and should not be understood as limiting the present application.

[0048] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present application. In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the said features. In the description of the present application, it should be noted that the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined.

[0049] In the description of this application, it should be noted that, unless otherwise expressly specified or limited, the terms "installed," "connected," and "connected" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections, electrical connections, or mutual communication; they can refer to direct connections or indirect connections through an intermediate medium; they can refer to internal communication between two components or the interaction between two components. Those skilled in the art will understand the specific meanings of the above terms in this application based on specific circumstances.

[0050] Some embodiments of the present application will be described in detail below with reference to the accompanying drawings.

[0051] See also Figure 1 , the embodiment of the present application provides a method for determining the position of a robot operating point, which is used to directly convert the position information of the robot operating point set on a material carrier to another material carrier, so as to reduce the time for adjusting the operating point when the robot performs the same operation on different material carriers, thereby improving the efficiency of the machine. According to different needs, the order of the steps in the flowchart can be changed, and some steps can be omitted. For the sake of convenience, only the parts related to the embodiment of the present application are shown. For more information, please refer to the attached Figure 8 The method for determining the position of the robot operating point in the embodiment of the present application includes the following steps:

[0052] Step S1 : acquiring first position information of a first reference object on a first carrier and second position information of a second reference object on a second carrier based on a basic coordinate system of the robot.

[0053] Specifically, the base coordinate system can be a coordinate system established with the robot's base as the base point, the purpose of which is to determine the robot's position and posture to facilitate the robot's operation on materials. The position information can be specific spatial coordinates in the coordinate system. The first carrier and the second carrier are used to carry materials that need to be operated by the robot. The first carrier and the second carrier can be workstations for carrying materials that need to be operated by the robot, or they can be fixtures placed on the workstations for carrying materials that need to be operated by the robot. The first carrier and the second carrier each have multiple operation points that require robot operation, and materials can be placed at different operation points to facilitate the robot to perform operations such as loading and unloading, positioning and placing, precision assembly, and film tearing assembly on the materials. The first reference object and the second reference object can be objects that are easily calibrated or positioned, such as calibration blocks and calibration rods. The first reference object and the second reference object can be parts of the first carrier and the second carrier, or they can be attached to the first carrier and the second carrier. They can be calibrated or positioned by calibration equipment or positioning sensors such as industrial cameras, infrared sensors, and acoustic sensors pre-installed on the robot's mechanical arms to obtain the first position information and the second position information.

[0054] Step S2: Acquire the positional relationship between the first position information and the second position information.

[0055] Specifically, both the first position information and the second position information are obtained based on the basic coordinate system, so a coordinate relationship between the first position information and the second position information can be established based on the first position information and the second position information.

[0056] Step S3: Associating the position information of the operating point set on the first carrier with the first position information based on the basic coordinate system.

[0057] Specifically, calibration equipment or positioning sensors, such as industrial cameras, infrared sensors, and acoustic sensors, can be pre-installed on the robot's mechanical arm. Through camera calibration, infrared positioning, acoustic positioning, and other methods, the operating points on the first carrier can be calibrated, and the position information of the operating points set on the first carrier can be obtained. Because the position information of the operating points set on the first carrier is also obtained based on the base coordinate system, a coordinate relationship can be established between the position information of the operating points set on the first carrier and the first position information.

[0058] Step S4: Calculate the position information of the operating point on the second carrier based on the positional relationship between the first position information and the second position information.

[0059] Specifically, since the position information of the operating point set on the first carrier, the first position information and the second position information are all obtained based on the basic coordinate system, according to the coordinate relationship between the first position information and the second position information, and the coordinate relationship between the position information of the operating point set on the first carrier and the first position information, through coordinate calculation, the coordinate relationship between the position information of the operating point set on the first carrier and the second position information can be established, and then the position information of the operating point on the second carrier can be obtained.

[0060] When the robot operation point position determination method of the embodiment of the present application is used to determine the position of the robot operation point on the first carrier and the second carrier, if the robot performs the same operation on the first carrier and the second carrier, it is only necessary to adjust the position of the operation point on the first carrier and obtain the position information of the operation point on the first carrier, and then associate the position information of the operation point on the first carrier with the first position information of the first reference object, and directly convert the position information set on the first carrier to the second carrier based on the positional relationship between the first position information and the second position information, without the need for complex adjustment of the position of the operation point on the second carrier, thereby reducing the adjustment time of the operation point when the robot performs the same operation on different material carriers, thereby improving the efficiency of the machine.

[0061] See also Figure 2 In the embodiment of the present application, step S1 may specifically include the following steps:

[0062] Step S11 : obtaining the coordinates of a first calibration point on a first reference object and the coordinates of a second calibration point on a second reference object through a positioning member preset on a robot arm.

[0063] Specifically, the first reference object and the second reference object have the same specifications and can be objects that are easy to calibrate or position, such as calibration blocks and calibration rods. The position of the first calibration point on the first reference object corresponds to the position of the second calibration point on the second reference object. For example, both can be set at the center position of the upper end surface of the calibration block or the top of the calibration rod.

[0064] In one embodiment, the positioning member can be a calibration device or positioning sensor such as an industrial camera, infrared sensor, or acoustic wave sensor pre-installed on the robot's robotic arm, and the coordinates of the first calibration point on the first reference object and the coordinates of the second calibration point on the second reference object are obtained through camera calibration, infrared positioning, acoustic wave positioning, etc.

[0065] Step S12: determining the coordinates of the first calibration point and the coordinates of the second calibration point as first position information and second position information respectively.

[0066] Specifically, because the first and second calibration points are specific points on the first and second reference objects, respectively, it is convenient to obtain specific position information using the positioning member. Thus, by using the coordinates of the first and second calibration points as the first and second position information, the determination of the first and second position information is made more accurate.

[0067] See also Figure 2 In the embodiment of the present application, step S11 may specifically include the following steps:

[0068] Step S111 : obtaining the coordinates of a first calibration point on a first reference object by camera calibration.

[0069] Step S112: Acquire the coordinates of a second calibration point on the second reference object by camera calibration.

[0070] Specifically, the positioning part is a camera provided on a robotic arm. The robotic arm can drive the camera to move along any coordinate axis direction of the basic coordinate system, and can drive the camera to rotate. The first reference object and the second reference object are both calibration blocks. The first reference surface, second reference surface and third reference surface of the first reference object and the second reference object are respectively facing the first coordinate axis direction, the second coordinate axis direction and the third coordinate axis direction of the basic coordinate system.

[0071] In the embodiment of the present application, the calibration block is a cube structure, and a main correction point is provided at the center position of each side of the calibration block. The calibration block is set on the first carrier and the second carrier through a support rod. The first coordinate axis direction, the second coordinate axis direction and the third coordinate axis direction are the Z-axis direction, Y-axis direction and X-axis direction of the basic coordinate system. The first calibration point is the main correction point on the first reference surface of the first reference object, and the second calibration point is the main correction point on the first reference surface of the second reference object.

[0072] In some other embodiments, in order to further ensure the accuracy of calibration, the first reference object and the second reference object can be a calibration block. When obtaining the coordinates of the first calibration point on the first reference object and the coordinates of the second calibration point on the second reference object through camera calibration, the calibration block is first placed on the first carrier, and the coordinates of the first calibration point are obtained through camera calibration. Then, the calibration block is placed on the second carrier, and the coordinates of the second calibration point are obtained through camera calibration again.

[0073] See also Figure 3 In the embodiment of the present application, step S111 may specifically include the following steps:

[0074] Step S1111 : Control the robotic arm to move the camera to a position facing the first reference surface of the first reference object to perform image recognition, and record the position information of the camera at this time as the first coordinate.

[0075] Specifically, the robot controls the robotic arm to move the camera to a position facing the first reference surface of the first reference object, and obtains image information of the first reference surface of the first reference object through the camera. When the main correction point in the image coincides with the main correction point of the first reference surface of the first reference object, the position information of the camera at this time is recorded as the first coordinate.

[0076] Step S1112 : Control the robotic arm to move the camera to a position facing the second reference surface of the first reference object to perform image recognition, and record the position information of the camera at this time as the second coordinate.

[0077] Specifically, the robot controls the robotic arm to move the camera to a position facing the second reference surface of the first reference object, and obtains image information of the second reference surface of the first reference object through the camera. When the main correction point in the image coincides with the main correction point of the second reference surface of the first reference object, the position information of the camera at this time is recorded as the second coordinate.

[0078] Step S1113 , calculating the coordinates of the center point on the first reference surface of the first reference object according to the first coordinates and the second coordinates, and using the coordinates as the first calibration point coordinates.

[0079] Specifically, because the camera is located directly opposite the first reference surface of the first reference object when acquiring the first coordinate, the first coordinate and the coordinates of the principal calibration point on the first reference surface of the first reference object have the same values ​​on the X and Y axes. That is, the first coordinate can be used to obtain the coordinates of the principal calibration point on the first reference surface. Furthermore, when acquiring the second coordinate, the camera is located directly opposite the second reference surface of the first reference object. Therefore, the Z-axis value of the second coordinate can be obtained by performing a mathematical operation on the Z-axis value of the second coordinate and half the side length of the second reference surface of the first reference object. For example, when the first reference object is not tilted, the Z-axis value of the principal calibration point on the first reference surface can be obtained by adding the Z-axis value of the second coordinate to half the side length of the second reference surface of the first reference object. In this way, the coordinates of the principal calibration point on the first reference surface of the first reference object, i.e., the coordinates of the center point on the first reference surface of the first reference object, are obtained from the first and second coordinates. These coordinates are used as the coordinates of the first calibration point.

[0080] Step S1116: determine the coordinates of the first correction point as the coordinates of the first calibration point.

[0081] Specifically, the coordinates of the first correction point are used as the coordinates of the first calibration point and stored in the robot.

[0082] See also Figure 3 In the embodiment of the present application, in order to further ensure the accuracy of the coordinates of the first calibration point, the following steps may be further included before step S1116:

[0083] Step S1114 , controlling the robotic arm to move the camera to a position facing the third reference surface of the first reference object to perform image recognition, and recording the position information of the camera at this time as the third coordinate.

[0084] Specifically, the robot controls the robotic arm to move the camera to a position facing the third reference surface of the first reference object, and obtains image information of the third reference surface of the first reference object through the camera. When the main correction point in the image coincides with the main correction point of the third reference surface of the first reference object, the position information of the camera at this time is recorded as the third coordinate.

[0085] In step S1115, the coordinates of the first calibration point are determined to be correct based on the correspondence between the first coordinate, the second coordinate, and the third coordinate. If correct, step S1116 is executed to determine the coordinates of the first calibration point as the coordinates of the first calibration point. If incorrect, steps S1111-S1115 are repeated.

[0086] Specifically, since the first coordinate, the second coordinate, and the third coordinate are the coordinates obtained when the robotic arm drives the camera to the first reference surface, the second reference surface, and the third reference surface of the first reference object, respectively, and the first reference object is a cube structure, there must be a certain correspondence between the first coordinate, the second coordinate, and the third coordinate. For example, when the first reference object is not tilted at all, the Z axis of the first coordinate, the Y axis of the second coordinate, and the X axis of the third coordinate intersect at the center point of the first reference object. Therefore, through calculation, it can be concluded that the values ​​of the first coordinate and the second coordinate on the X axis are equal, the values ​​of the first coordinate and the second coordinate on the Y axis are equal, and the values ​​of the second coordinate and the third coordinate on the Z axis are equal. Based on the correspondence between the first coordinate, the second coordinate, and the third coordinate, it can be determined whether the coordinates of the first calibration point are correct. In this way, by determining whether the coordinates of the first calibration point are correct based on the correspondence between the first coordinate, the second coordinate, and the third coordinate, the accuracy of the coordinate calculation of the first calibration point can be further guaranteed.

[0087] See also Figure 4 In the embodiment of the present application, step S112 may specifically include the following steps:

[0088] Step S1121 , controlling the robotic arm to move the camera from the position of the first coordinate to a position facing the first reference surface of the second reference object for image recognition, and recording the position information of the camera at this time as the fourth coordinate.

[0089] Specifically, the robot controls the robotic arm to move the camera from the position of the first coordinate to the position facing the first reference surface of the second reference object, and obtains image information of the first reference surface of the second reference object through the camera. When the main correction point in the image coincides with the main correction point of the first reference surface of the second reference object, the position information of the camera at this time is recorded as the fourth coordinate.

[0090] Step S1122 : Control the robotic arm to move the camera to a position facing the second reference surface of the second reference object to perform image recognition, and record the position information of the camera at this time as the fifth coordinate.

[0091] Specifically, the robot controls the robotic arm to move the camera to a position facing the second reference surface of the second reference object, and obtains image information of the second reference surface of the second reference object through the camera. When the main correction point in the image coincides with the main correction point of the second reference surface of the second reference object, the position information of the camera at this time is recorded as the fifth coordinate.

[0092] Step S1123 , controlling the robotic arm to move the camera to a position facing the third reference surface of the second reference object for image recognition, and recording the position information of the camera at this time as the sixth coordinate.

[0093] Specifically, the robot controls the robotic arm to move the camera to a position facing the third reference surface of the second reference object, and obtains image information of the third reference surface of the second reference object through the camera. When the main correction point in the image coincides with the main correction point of the third reference surface of the second reference object, the position information of the camera at this time is recorded as the sixth coordinate.

[0094] Step S1124 , calculating the coordinates of the center point on the first reference surface of the second reference object according to the fourth coordinate and the fifth coordinate, and using the coordinates as the second calibration point coordinates.

[0095] Specifically, the method of calculating the coordinates of the center point on the first reference plane of the second reference object using the fourth coordinate and the fifth coordinate is the same as the method of calculating the coordinates of the center point on the first reference plane of the first reference object based on the first coordinate and the second coordinate in the above step S1113, and will not be repeated here.

[0096] Step S1125 , judging whether the coordinates of the second calibration point are correct based on the correspondence between the fourth coordinate, the fifth coordinate, and the sixth coordinate; if not, repeating steps S1121 - S1125 .

[0097] If correct, step S1127 is executed to determine the coordinates of the second correction point as the coordinates of the second calibration point.

[0098] Specifically, the method for determining whether the coordinates of the second calibration point are correct based on the correspondence between the fourth, fifth, and sixth coordinates is the same as the method for determining whether the coordinates of the first calibration point are correct based on the correspondence between the first, second, and third coordinates in step S1116 above, and will not be repeated here. Determining whether the coordinates of the second calibration point are correct based on the correspondence between the fourth, fifth, and sixth coordinates can further ensure the accuracy of the coordinate calculation of the second calibration point.

[0099] See also Figure 4 In the embodiment of the present application, in order to further ensure the accuracy of the coordinate calculation of the second calibration point, the following steps may be further included before step S1127:

[0100] Step S1126, determine whether the coordinates of the second correction point are correct based on the difference d1 between the first coordinate and the second coordinate in the direction of the first coordinate axis, the difference d2 between the fourth coordinate and the fifth coordinate in the direction of the first coordinate axis, and the movement distance dz in the direction of the first coordinate axis when the camera moves from the first coordinate to the fourth coordinate. If d2=d1+dz, determine the coordinates of the second correction point as the coordinates of the second calibration point. If d2≠d1+dz, repeat steps S1121-S1126.

[0101] Specifically, when the robot's robotic arm drives the camera from the first coordinate position to the fourth coordinate position, the robot records the distance the robotic arm drives the camera to move on the first, second, and third coordinate axes of the base coordinate system, and uses this to obtain the value of the fourth coordinate based on the value of the first coordinate. Since the first and second coordinates have been determined to be accurate values, to determine whether the values ​​of the fourth and fifth coordinates are accurate, the difference d1 between the first and second coordinates in the direction of the first coordinate axis, the difference d2 between the fourth and fifth coordinates in the direction of the first coordinate axis, and the distance dz moved by the camera in the direction of the first coordinate axis when moving from the first coordinate to the fourth coordinate should satisfy the formula d2 = d1 + dz. In this way, by further verifying the accuracy of the fourth and fifth coordinates, the accuracy of the coordinates of the second calibration point obtained through the fourth and fifth coordinates is further guaranteed.

[0102] In an embodiment of the present application, in the specific steps of step S111 and step S112 above, when the robotic arm is controlled to move the camera to a position facing the first reference surface, the second reference surface, and the third reference surface of the first reference object and the second reference object for image recognition, the camera is controlled to rotate based on the inclination of the first carrier and the second carrier so that the points on the image correspond to the center points and auxiliary correction points on the first reference surface, the second reference surface, and the third reference surface of the first reference object and the second reference object, respectively, and the rotation angle of the camera is recorded, wherein a plurality of auxiliary correction points are evenly arranged around the center point on the first reference surface, the second reference surface, and the third reference surface of the first reference object and the second reference object.

[0103] Specifically, since the first carrier and the second carrier may be tilted during actual operation, the first reference object set on the first carrier and the second reference object set on the second carrier may also be tilted. In order to ensure that the robot can control the robotic arm to move the camera to the first reference surface, the second reference surface and the third reference surface of the first reference object and the second reference object for image recognition, the embodiment of the present application evenly provides multiple auxiliary correction points around the main correction point at the center on the first reference surface, the second reference surface and the third reference surface of the first reference object and the second reference object. When the points on the image recognized by the camera correspond to the center points and auxiliary correction points on the first reference surface, the second reference surface and the third reference surface of the first reference object and the second reference object, respectively, it can be determined that the robotic arm has driven the camera to move to the first reference surface, the second reference surface and the third reference surface of the first reference object and the second reference object. In addition, when obtaining the first coordinate, the second coordinate, the third coordinate, the fourth coordinate, the fifth coordinate and the sixth coordinate, in addition to considering the translation of the robotic arm on the first coordinate axis, the second coordinate axis and the third coordinate axis, it is also necessary to consider the angle at which the camera rotates relative to the first coordinate axis, the second coordinate axis and the third coordinate axis. Figure 5As shown above, when the robot arm drives the camera to the position of the first reference surface of the first reference object for calibration, there is an angle γ between the point on the image recognized by the camera and the main calibration point and the auxiliary calibration point of the first reference surface of the first reference object in the direction of the first coordinate axis. Then, after the robot arm drives the camera to rotate around the first coordinate axis so that the point on the image recognized by the camera is completely aligned with the main calibration point and the auxiliary calibration point of the first reference surface of the first reference object, the actual value of the first coordinate (X, Y, Z) is obtained. γ ) and the current values ​​(X, Y, Z) obtained by moving the camera with the robotic arm are as follows:

[0104]

[0105] In this way, when the robotic arm drives the camera to move to the position facing the first reference surface, second reference surface and third reference surface of the first reference object and the second reference object for image recognition, by considering the inclination of the first carrier and the second carrier, and taking the angle of rotation of the camera relative to the first coordinate axis, the second coordinate axis and the third coordinate axis as the necessary calculation factor for obtaining the first coordinate, the second coordinate, the third coordinate, the fourth coordinate, the fifth coordinate and the sixth coordinate, the accuracy of the final coordinates of the first calibration point and the second calibration point is further guaranteed.

[0106] See also Figure 6 In the embodiment of the present application, step S2 may specifically include the following steps:

[0107] Step S21, the coordinate relationship between the first coordinate and the fourth coordinate is calculated based on the movement distance of the camera in the first coordinate axis direction, the second coordinate axis direction and the third coordinate axis direction when the camera moves from the first coordinate position to the fourth coordinate position, and the rotation angle of the camera when performing image recognition at the facing position of the first reference surface, the second reference surface and the third reference surface of the second reference object.

[0108] For example, the first coordinate is (X1, Y1, Z1), the second coordinate is (X2, Y2, Z2), and the movement distances of the camera in the directions of the first coordinate axis, the second coordinate axis, and the third coordinate axis when moving from the first coordinate position to the fourth coordinate position are r, q, and p respectively. When the camera performs image recognition at the position facing the first reference surface, the second reference surface, and the third reference surface, the rotation angles with the first coordinate axis, the second coordinate axis, and the third coordinate axis are γ, β, and α respectively. Then, the coordinate relationship between the first coordinate (X1, Y1, Z1) and the second coordinate (X2, Y2, Z2) is:

[0109]

[0110] Step S22: determining the coordinate relationship between the fourth coordinate and the first coordinate as the coordinate relationship between the second calibration point and the first calibration point.

[0111] Specifically, since the camera is facing the first reference surface of the first reference object when performing image recognition on the first reference surface of the first reference object to obtain the first coordinate, and the camera is facing the first reference surface of the second reference object when performing image recognition on the first reference surface of the second reference object to obtain the fourth coordinate, the coordinate relationship between the fourth coordinate and the first coordinate is the same as the coordinate relationship between the second calibration point and the first calibration point. In this way, the coordinate relationship between the fourth coordinate and the first coordinate can be used as the coordinate relationship between the second calibration point and the first calibration point.

[0112] See also Figure 6 In the embodiment of the present application, step S3 may specifically include the following steps:

[0113] Step S31 : establishing a coordinate relationship between the position information of the operating point set on the first carrier and the coordinates of the first calibration point based on the basic coordinate system.

[0114] Specifically, since the position information of the operating point set on the first carrier is also acquired based on the basic coordinate system, a coordinate relationship can be established between the position information of the operating point set on the first carrier and the coordinates of the first calibration point.

[0115] See also Figure 6 In the embodiment of the present application, step S4 may specifically include the following steps:

[0116] Step S41 : establishing a coordinate relationship between the position information of the operating point set on the first carrier and the coordinates of the second calibration point according to the coordinate relationship between the second calibration point and the first calibration point.

[0117] Specifically, the coordinate relationship between the second calibration point and the first calibration point is multiplied by the coordinate relationship between the position information of the operating point set on the first carrier and the coordinate of the first calibration point to obtain the coordinate relationship between the position information of the operating point set on the first carrier and the coordinate of the second calibration point.

[0118] Step S42 , performing a product operation based on the coordinates of the second calibration point and the coordinate relationship between the coordinates of the second calibration point and the position information of the operating point set on the first carrier to obtain the coordinate information of the operating point on the first carrier.

[0119] Specifically, since step S41 obtains the coordinates of the second calibration point and the coordinate relationship between the coordinates of the second calibration point and the position information of the operating point set on the first carrier, the coordinate information of the operating point on the first carrier can be obtained by multiplying the two, thereby realizing the direct conversion of the position information of the robot operating point set on the first carrier to the second carrier, so that the robot can perform the same operation on the second carrier as on the first carrier.

[0120] In the implementation of the present application, preferably, the first reference object is located at an operating point set on the first carrier.

[0121] Specifically, when adjusting the position information of all operating points on the first carrier, it is necessary to establish a coordinate relationship between all operating points according to a series of operating actions planned by the robot's robotic arm on the first carrier. If the first reference object is placed on an operating point set on the first carrier, the position information of all operating points set on the first carrier can be directly established with the first position information on the first carrier. This simplifies the calculation steps of establishing a position relationship between the position information of the operating points set on the first carrier and the first position information.

[0122] See also Figure 7 and Figure 8 An embodiment of the present application provides a production system 100, including a robot 10, a processor 20, a memory 30, a first carrier 40, a second carrier 50 and a positioning member 60, wherein the robot 10, the memory 30 and the positioning member 60 are respectively coupled to the processor 20.

[0123] The processor 20 primarily provides computing, data processing, and control functions for the entire production system 100. In the embodiments of the present application, the processor 20 may be a central processing unit (CPU), a microprocessor, a digital processing chip, or any other processor chip capable of performing data processing functions. In one embodiment, to facilitate control of the robot 10, the processor 20 may be located on the robot 10, although this is not a specific limitation of the embodiments of the present application.

[0124] The memory 30 is used to store various data circulating in the production system and stores a program module. The program module is loaded by the processor 20 and executes the robot operation point position determination method of the above embodiment. In the embodiment of the present application, the memory 30 may include but is not limited to read-only memory (ROM), random access memory (RAM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), one-time programmable read-only memory (OTPROM), electronically erasable programmable read-only memory (EEPROM), compact disc read-only memory (CD-ROM) or other optical disc memory, magnetic disk memory, magnetic tape memory, or any other computer-readable medium capable of carrying or storing data. In one embodiment, in order to facilitate the storage of data generated by the robot 10 during operation, the memory 30 may also be set on the robot.

[0125] In the embodiment of the present application, the robot 10 includes a drive assembly 11 and a robotic arm 12 connected to the drive assembly 11. The drive assembly 11 is used to drive the robotic arm 12 to move, and the robotic arm 12 is used to manipulate materials based on the position information of the set operating points. A first carrier 40 and a second carrier 50 are provided on one side of the robot 10 to support the materials. A positioning member 60 is provided on the robotic arm 12 and coupled to the processor 20. The positioning member 60 is used to obtain the position information of the materials and feedback this position information to the processor 20.

[0126] Specifically, the first carrier 40 and the second carrier 50 can be workstations for carrying materials to be manipulated by the robot 10. Both the first carrier 40 and the second carrier 50 have two operating points that the robot 10 needs to operate. The drive assembly 11 can be a plurality of drive motors that drive the robotic arm 12 to move, allowing the robotic arm 12 to manipulate the materials based on the positional information of the operating points set on the first carrier 40 and the second carrier 50. The positioning member 60 can be a calibration device or positioning sensor, such as an industrial camera, an infrared sensor, or an acoustic sensor. This can acquire the positional information of the materials placed on the first and second carriers 40 and 50 through camera calibration, infrared positioning, acoustic positioning, or the like, facilitating adjustment of the positions of the operating points on the first and second carriers 40 and 50 before the robot 10 operates on the materials.

[0127] In some embodiments, there may be multiple robot operating points on the first carrier 40 and the second carrier 50 according to actual operational needs, and this embodiment of the present application does not specifically limit this. In the production system 100 of the embodiment of the present application, since the memory 30 stores a program module that can implement the above-mentioned method for determining the position of the robot operating point, when adjusting the robot operating point on the first carrier 40 and the second carrier 50, the position information of the robot operating point adjusted on the first carrier 40 can be directly transferred to the second carrier 50 by placing a reference object on the first carrier 40 and the second carrier 50 and cooperating with the positioning member 60, thereby reducing the time required to adjust the robot operating point when the robot 10 performs the same operation on the first carrier 40 and the second carrier 50, thereby improving the efficiency of the machine.

[0128] In one embodiment, the first carrier 40 and the second carrier 50 can also be jigs placed on the workstation for carrying materials that the robot needs to operate. The first carrier 40 and the second carrier 50 are respectively provided with a first jig 41 and a second jig 51 for carrying materials. The first jig 41 and the second jig 51 have the same specifications, and the position of the first jig 41 on the first carrier 40 corresponds to the position of the second jig 51 on the second carrier 50.

[0129] Specifically, the first carrier 40 and the second carrier 50 form two workstations, each with two first jigs 41 and two second jigs 51. The arrangement of the first jigs 41 on the first carrier 40 is identical to the arrangement of the second jigs 51 on the second carrier 50. Each first jig 41 and each second jig 51 has at least one robot operation point. The placement of the first jigs 41 and the second jig 51 on the first carrier 40 and the second carrier 50 facilitates positioning of materials, enabling the robot 10 to more accurately manipulate materials according to the defined operation points. Furthermore, when there are multiple first jigs 41 and second jigs 51, it facilitates the robot 10 to manipulate multiple materials simultaneously according to the defined operation points, improving operational efficiency.

[0130] See also Figure 8 In the embodiment of the present application, the production system 100 further includes a calibration block 70 having a cubic structure. The calibration block 70 is placed on the first carrier 40 and the second carrier 50, respectively, and cooperates with the positioning member 60 to obtain the first position information and the second position information. Thus, by placing the calibration block 70 on the first carrier 40 and the second carrier 50, it is convenient to cooperate with the positioning member 60 to obtain the first position information and the second position information. The first position information and the second position information are then used as a medium to transfer the position information of the operating point set on the first carrier 40 to the second carrier 50.

[0131] See also Figure 9 In the embodiment of the present application, a main correction point 71 is provided at the center of each side of the calibration block 70, and a plurality of auxiliary correction points 72 are evenly provided on each side of the calibration block 70 around the corresponding main correction point 71. The main correction point 71 is used to be calibrated by the positioning member 60 to obtain the first position information and the second position information. The auxiliary correction point 72 is used to be identified by the positioning member 60 when the positioning member 60 calibrates the main correction point 71, so as to correct the position of the robot arm 12 driving the positioning member 60 to move to the side of the calibration block 70 where the main correction point 71 is located.

[0132] Specifically, there may be four auxiliary calibration points 72 arranged around the corresponding main calibration point 71 on each side of the calibration block 70, and the four auxiliary calibration points 72 are respectively located at the four corners of each side. By respectively arranging the main calibration point 71 at the center of each side of the calibration block 70, it is convenient to calibrate the positioning member 60 to obtain the first position information and the second position information. By evenly arranging a plurality of auxiliary calibration points 72 around the corresponding main calibration point 71 on each side of the calibration block 70, when the robot 12 drives the positioning member 60 to move to the corresponding side of the calibration block 70 to calibrate the main calibration point 71, if the positioning member 60 is not exactly corresponding to the side of the calibration block 70 where the main calibration point 71 to be calibrated is located, the auxiliary calibration through the auxiliary calibration points 72 can enable the robot 12 to drive the positioning member 60 to move to a position exactly corresponding to the side of the calibration block 70 where the main calibration point 71 is located, thereby ensuring the accuracy of the calibration.

[0133] See also Figure 8 In the embodiment of the present application, the positioning member 60 is a camera, and the positioning member 60 is rotatably provided on the robotic arm 12. The positioning member 60 is used to calibrate the main correction point 71 of the corresponding side of the calibration block 70 under the drive of the robotic arm 12, and feed back the calibration information to the processor 20 to obtain the first position information, the second position information, and the positional relationship between the first position information and the second position information.

[0134] Specifically, after calibrating the main calibration points 71 on the corresponding side of the calibration block 70 using a camera, the camera's position information and the movement distance and rotation angle of the camera driven by the robot arm 12 on each coordinate axis can be obtained. The processor 20 can obtain the first position information, the second position information, and the positional relationship between the first position information and the second position information based on this calibration information. Then, the processor 20 can transfer the position information of the robot operating point set on the first carrier 40 to the second carrier 50 based on the positional relationship between the first position information and the second position information. This reduces the time required to adjust the robot operating point when the robot 10 performs the same operation on the first carrier 40 and the second carrier 50, thereby improving the efficiency of the machine setup. In addition, calibrating the calibration block 70 using a camera is more cost-effective. In addition, the placement position and placement method of the calibration block 70 on the first carrier 40 and the second carrier 50 are not strictly restricted and can be calibrated by the camera, making it easier for operators to operate.

[0135] It will be apparent to those skilled in the art that the present application is not limited to the details of the exemplary embodiments described above, and that the present application can be implemented in other specific forms without departing from the spirit or essential characteristics of the present application. Therefore, the embodiments should be considered in all respects as illustrative and non-restrictive, and the scope of the present application is defined by the appended claims rather than the foregoing description, and all variations that come within the meaning and range of equivalents of the claims are intended to be embraced herein.

[0136] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application and are not intended to limit the present application. Although the present application has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present application may be modified or replaced by equivalents without departing from the spirit and scope of the technical solutions of the present application.

Claims

1. A method for determining the position of a robot operating point, characterized in that: include: Based on the basic coordinate system of the robot, obtaining first position information of a first reference object on the first carrier and second position information of a second reference object on the second carrier; Acquire a positional relationship between the first position information and the second position information; Associating position information of an operating point set on the first carrier with the first position information based on the basic coordinate system; Calculating position information of an operating point on the second carrier based on a positional relationship between the first position information and the second position information; The step of “obtaining first position information of a first reference object on a first carrier and second position information of a second reference object on a second carrier based on a basic coordinate system of the robot” includes: Acquire the coordinates of a first calibration point on the first reference object and the coordinates of a second calibration point on the second reference object by using a positioning member preset on the robotic arm of the robot; The coordinates of the first calibration point and the coordinates of the second calibration point are determined as the first position information and the second position information respectively; wherein, The first reference object and the second reference object have the same specifications, and the position of the first calibration point on the first reference object corresponds to the position of the second calibration point on the second reference object; The positioning member is a camera provided on the robotic arm, the first reference object and the second reference object are both calibration blocks, and the first reference surface, the second reference surface, and the third reference surface of the first reference object and the second reference object are respectively oriented in the first coordinate axis direction, the second coordinate axis direction, and the third coordinate axis direction of the basic coordinate system; The step of “obtaining the coordinates of a first calibration point on the first reference object and the coordinates of a second calibration point on the second reference object by using a positioning member preset on the robot arm” includes: Acquire the coordinates of a first calibration point on the first reference object by camera calibration; The coordinates of the second calibration point on the second reference object are obtained by camera calibration.

2. The method for determining the position of a robot operating point according to claim 1, wherein: The step of “obtaining the coordinates of the first calibration point on the first reference object by camera calibration” includes: controlling the robotic arm to move the camera to a position facing the first reference surface of the first reference object for image recognition, and recording the position information of the camera at this time as a first coordinate; controlling the robotic arm to move the camera to a position facing the second reference surface of the first reference object for image recognition, and recording the position information of the camera at this time as a second coordinate; Calculate the coordinates of the center point on the first reference surface of the first reference object according to the first coordinates and the second coordinates, and use the coordinates as the first calibration point coordinates; The coordinates of the first correction point are determined as the coordinates of the first calibration point.

3. The method for determining the position of a robot operating point according to claim 2, wherein: Before the step of “determining the coordinates of the first correction point as the coordinates of the first calibration point”, the method for determining the position of the robot operating point further includes: controlling the robotic arm to move the camera to a position facing the third reference surface of the first reference object for image recognition, and recording the position information of the camera at this time as a third coordinate; Determine whether the coordinates of the first calibration point are correct based on the correspondence between the first coordinates, the second coordinates, and the third coordinates. If correct, the coordinates of the first correction point are determined as the coordinates of the first calibration point. If incorrect, repeat the step of "obtaining the coordinates of the first calibration point on the first reference object by camera calibration".

4. The method for determining the position of a robot operating point according to claim 2, wherein: The step of “obtaining the coordinates of the second calibration point on the second reference object by camera calibration” includes: controlling the robotic arm to move the camera from the position of the first coordinate to a position facing the first reference surface of the second reference object for image recognition, and recording the position information of the camera at this time as a fourth coordinate; controlling the robotic arm to move the camera to a position facing the second reference surface of the second reference object for image recognition, and recording the position information of the camera at this time as a fifth coordinate; controlling the robotic arm to move the camera to a position facing the third reference surface of the second reference object for image recognition, and recording the position information of the camera at this time as a sixth coordinate; Calculate the coordinates of the center point on the first reference surface of the second reference object according to the fourth coordinate and the fifth coordinate, and use the coordinates as the second correction point coordinates; Determine whether the coordinates of the second calibration point are correct based on the correspondence between the fourth coordinate, the fifth coordinate, and the sixth coordinate; If correct, the coordinates of the second correction point are determined as the coordinates of the second calibration point. If incorrect, repeat the step of "obtaining the coordinates of the second calibration point on the second reference object by camera calibration".

5. The method for determining the position of the robot operating point according to claim 4, wherein: Before the step of “determining the coordinates of the second correction point as the coordinates of the second calibration point”, the method for determining the position of the robot operating point further includes: Determine whether the coordinates of the second calibration point are correct based on the difference d1 between the first coordinate and the second coordinate in the direction of the first coordinate axis, the difference d2 between the fourth coordinate and the fifth coordinate in the direction of the first coordinate axis, and the movement distance dz of the camera in the direction of the first coordinate axis when the camera moves from the first coordinate to the fourth coordinate, If d2= d1+dz, the coordinates of the second correction point are determined as the coordinates of the second calibration point. If d2≠d1+dz, repeat the step of "obtaining the coordinates of the second calibration point on the second reference object by camera calibration." 6. The method for determining the position of a robot operating point according to claim 4 or 5, wherein: A plurality of auxiliary calibration points are evenly arranged around a center point on the first reference surface, the second reference surface, and the third reference surface of the first reference object and the second reference object; In the steps of "obtaining the coordinates of the first calibration point on the first reference object by camera calibration" and "obtaining the coordinates of the second calibration point on the second reference object by camera calibration", when the robotic arm is controlled to move the camera to a position facing the first reference surface, the second reference surface and the third reference surface of the first reference object and the second reference object for image recognition, the camera is controlled to rotate based on the inclination of the first carrier and the second carrier so that the points on the image correspond to the center points and the auxiliary correction points on the first reference surface, the second reference surface and the third reference surface of the first reference object and the second reference object, respectively, and the rotation angle of the camera is recorded.

7. The method for determining the position of a robot operating point according to claim 6, wherein: The step of “obtaining a positional relationship between the first position information and the second position information” includes: The coordinate relationship between the first coordinate and the fourth coordinate is calculated based on the movement distance of the camera in the first coordinate axis direction, the second coordinate axis direction, and the third coordinate axis direction when the camera moves from the first coordinate position to the fourth coordinate position, and the rotation angle of the camera when performing image recognition at a position directly facing the first reference surface, the second reference surface, and the third reference surface of the second reference object; The coordinate relationship between the first coordinate and the fourth coordinate is determined as the coordinate relationship between the second calibration point and the first calibration point.

8. The method for determining the position of a robot operating point according to claim 7, wherein: The step of “associating the position information of the operating point set on the first carrier with the first position information based on the basic coordinate system” includes: Based on the basic coordinate system, a coordinate relationship is established between the position information of the operating point set on the first carrier and the coordinates of the first calibration point.

9. The method for determining the position of a robot operating point according to claim 8, wherein: The step of “calculating the position information of the operating point on the second carrier based on the positional relationship between the first position information and the second position information” includes: According to the coordinate relationship between the second calibration point and the first calibration point, a coordinate relationship is established between the position information of the operating point set on the first carrier and the coordinates of the second calibration point; The coordinate information of the operating point on the first carrier is obtained by performing a product operation based on the coordinates of the second calibration point and the coordinate relationship between the coordinates of the second calibration point and the coordinate information of the position of the operating point set on the first carrier.

10. The method for determining the position of a robot operating point according to claim 1, wherein: The first reference object is located at an operating point set on the first carrier.

11. A production system, characterized in that: include: processor; A memory, wherein a program module is stored in the memory, and the program module is loaded by the processor and executes the method for determining the position of the robot operating point according to any one of claims 1 to 10; A robot comprising a drive assembly and a robotic arm connected to the drive assembly, wherein the drive assembly is used to drive the robotic arm to move, and the robotic arm is used to manipulate materials according to position information of a set operating point; A first carrier and a second carrier, wherein the first carrier and the second carrier are provided on one side of the robot and are used to carry materials; A positioning member is provided on the robotic arm and coupled to the processor, and is used to obtain position information of the material and feed the position information back to the processor.

12. The production system according to claim 11, wherein: The production system further includes a calibration block having a cube structure. The calibration block is used to be placed on the first carrier and the second carrier respectively, and cooperate with the positioning member to obtain the first position information and the second position information.

13. The production system according to claim 12, wherein: A main correction point is provided at the center of each side of the calibration block, and a plurality of auxiliary correction points are evenly provided on each side of the calibration block around the corresponding main correction point. The main correction point is used to be calibrated by the positioning member to obtain the first position information and the second position information. The auxiliary correction point is used to be identified by the positioning member when the positioning member calibrates the main correction point, so as to correct the position of the positioning member driven by the robotic arm to move to the side of the calibration block where the main correction point is located.

14. The production system according to claim 13, wherein: The positioning member is a camera, which is rotatably arranged on the robotic arm. The positioning member is used to calibrate the main correction points on the corresponding side of the calibration block under the drive of the robotic arm, and feed back the calibration information to the processor to obtain the first position information, the second position information and the positional relationship between the first position information and the second position information.

15. The production system according to claim 11, wherein: The first carrier and the second carrier are respectively provided with a first jig and a second jig for carrying materials. The first jig and the second jig have the same specifications, and the position of the first jig on the first carrier corresponds to the position of the second jig on the second carrier.

Images