Laser sensor bias determination method, robot motion control method, and related devices

Abstract

This application provides a laser sensor deviation determination method, a robot motion control method, and related equipment, relating to the field of robotics. This application controls a work robot to align a laser sensor with a target calibration point and obtains a first verification position measured by the laser sensor relative to the target calibration point. Then, it controls the work robot to align a work tool with the target calibration point and obtains a second verification position measured by the laser sensor relative to the target calibration point. Based on the first verification position, the second verification position, and the original calibration rotation matrix of the laser sensor at the work robot, the application directly calculates the sensor data deviation between the actual installation position of the laser sensor at the work robot and its original installation position. This allows the work robot to directly utilize the sensor data deviation to achieve subsequent processing operations that meet the desired control effect, without needing to adjust the original calibration transformation matrix.

Description

Technical Field

[0001] This application relates to the field of robotics technology, and more specifically, to a method for determining laser sensing deviation, a robot motion control method, and related equipment. Background Technology

[0002] With the continuous development of science and technology, the application of robotics technology is becoming increasingly widespread in various industries, among which the manufacturing industry is an important application area. Robots used in manufacturing typically require the installation of laser sensors and tools at the robot's end effector. The laser sensors detect the actual end effector pose, and then, based on this pose, adjust the robot's overall movement according to a preset product processing trajectory, enabling the tools to process the object according to the trajectory.

[0003] It is worth noting that during actual use, the laser sensor's actual installation position at the robot's end effector often shifts from its original position due to prolonged use, component collisions, etc. This causes the robot to fail to achieve the expected control effect when moving according to the original calibration transformation matrix of the laser sensor. Currently, to address this issue, engineers need to recalibrate the laser sensor mounted on the robot using a calibration board to re-determine the actual transformation matrix corresponding to the laser sensor. This re-determined transformation matrix is ​​then used to update the robot's original calibration transformation matrix, ensuring the robot achieves the desired control effect in subsequent operations. However, this transformation matrix update scheme requires a complex hand-eye calibration process, resulting in long calibration times and high computational resource consumption, hindering the robot's rapid recovery and use. Summary of the Invention

[0004] In view of this, the purpose of this application is to provide a laser sensing deviation determination method, a robot motion control method, a laser sensing deviation determination device, a robot motion control device, a robot control equipment, and a readable storage medium, which can quickly determine the sensing data deviation of the actual installation position of the laser sensor relative to the original installation position through simple robot control operations. This allows the corresponding work robot to directly use the determined sensing data deviation to perform subsequent processing operations that meet the desired control effect through sensing data compensation, based on the original calibration transformation matrix without adjustment. This avoids the need to perform hand-eye calibration procedures and ensures that the work robot can be quickly restored to use.

[0005] To achieve the above objectives, the technical solutions adopted in the embodiments of this application are as follows:

[0006] In a first aspect, this application provides a method for determining laser sensing deviation, the method comprising:

[0007] The robot is controlled to drive a laser sensor to align with a target calibration point, and the first verification position measured by the laser sensor for the target calibration point is obtained, wherein the laser sensor is installed at the end of the robot.

[0008] The robot is controlled to drive the working tool to align with the target calibration point, and the second verification position measured by the working tool relative to the target calibration point is obtained, wherein the working tool is installed at the end of the robot.

[0009] The original calibration rotation matrix of the laser sensor at the working robot is obtained, and the sensing data deviation of the laser sensor at the current actual installation position at the working robot relative to the original installation position is calculated based on the original calibration rotation matrix, the first verification position, and the second verification position.

[0010] In an optional implementation, the step of calculating the sensing data deviation of the laser sensor's current actual installation position at the working robot relative to its original installation position based on the original calibration rotation matrix, the first verification position, and the second verification position includes:

[0011] Calculate the difference between the second verification position and the first verification position;

[0012] Calculate the inverse of the original calibration rotation matrix to obtain the corresponding target inverse matrix;

[0013] The sensor data deviation is obtained by performing matrix multiplication on the target inverse matrix and the difference in the verification position.

[0014] In an optional implementation, the formula for calculating the sensing data deviation is expressed as follows:

[0015]

[0016] in, This is used to indicate the deviation of the laser sensor's current actual installation position at the working robot from its original installation position. The original calibration rotation matrix used to represent the laser coordinate system L of the laser sensor relative to the base coordinate system B of the robot. This is used to indicate the second verification position of the target calibration point in the base coordinate system B of the working robot. This is used to indicate the first verification position of the target calibration point in the base coordinate system B of the working robot.

[0017] Secondly, this application provides a robot motion control method, the method comprising:

[0018] The original sensing data collected by the laser sensor at the work robot for the object to be processed is obtained, as well as the sensing data deviation of the laser sensor at the work robot, wherein the sensing data deviation is obtained by the laser sensing deviation determination method described in any of the foregoing embodiments.

[0019] The original sensor data is compensated according to the sensor data deviation to obtain the actual sensor data of the object to be processed at the working robot.

[0020] Based on the actual sensing data and the original calibration transformation matrix of the laser sensor at the working robot, the current actual end pose of the working robot's end effector is calculated based on the principles of robot kinematics.

[0021] Based on the actual end-effector pose and the desired end-effector pose of the robot in the desired work trajectory for the object to be processed, the robot's movement is controlled based on the principle of robot inverse kinematics.

[0022] In an optional implementation, the step of compensating the original sensing data according to the sensing data deviation to obtain the actual sensing data of the object to be processed at the working robot includes:

[0023] The actual sensing data is obtained by performing a data addition operation on the sensing data deviation and the original sensing data.

[0024] Thirdly, this application provides a laser sensing deviation determination device, the device comprising:

[0025] The first verification position acquisition module is used to control the working robot to drive the laser sensor to align with the target calibration point and acquire the first verification position measured by the laser sensor for the target calibration point, wherein the laser sensor is installed at the end of the working robot.

[0026] The second verification position acquisition module is used to control the operation robot to drive the operation tool to align with the target calibration point, and to acquire the second verification position measured by the operation tool relative to the target calibration point, wherein the operation tool is installed at the end of the operation robot;

[0027] The sensor data deviation calculation module is used to obtain the original calibration rotation matrix of the laser sensor at the working robot, and calculate the sensor data deviation of the laser sensor's current actual installation position at the working robot relative to the original installation position based on the original calibration rotation matrix, the first verification position, and the second verification position.

[0028] In an optional implementation, the formula for calculating the sensing data deviation is expressed as follows:

[0029]

[0030] in, This is used to indicate the deviation of the laser sensor's current actual installation position at the working robot from its original installation position. The original calibration rotation matrix used to represent the laser coordinate system L of the laser sensor relative to the base coordinate system B of the robot. This is used to indicate the second verification position of the target calibration point in the base coordinate system B of the working robot. This is used to indicate the first verification position of the target calibration point in the base coordinate system B of the working robot.

[0031] Fourthly, this application provides a robot motion control device, the device comprising:

[0032] The laser sensing data acquisition module is used to acquire the original sensing data collected by the laser sensor at the work robot for the object to be processed, and the sensing data deviation corresponding to the laser sensor at the work robot, wherein the sensing data deviation is obtained by the laser sensing deviation determination method described in any of the foregoing embodiments.

[0033] A laser sensing data compensation module is used to compensate the original sensing data according to the sensing data deviation to obtain the actual sensing data of the object to be processed at the working robot.

[0034] The actual end-effector pose calculation module is used to calculate the current actual end-effector pose of the robot based on the robot kinematics principle, according to the actual sensing data and the original calibration transformation matrix of the laser sensor at the robot.

[0035] The desired operation motion control module is used to control the movement of the operation robot based on the robot's inverse kinematics principle, according to the actual end-effector pose and the desired end-effector pose of the operation robot in the desired operation trajectory for the object to be processed.

[0036] Fifthly, this application provides a robot control device, including a processor and a memory. The memory stores a computer program that can be executed by the processor. The processor can execute the computer program to control a work robot to implement the laser sensing deviation determination method described in any of the foregoing embodiments, or to control the work robot to implement the robot motion control method described in the foregoing embodiments. The robot control device is communicatively connected to the work robot, which is equipped with a laser sensor and a work tool. Both the laser sensor and the work tool are installed at the end of the work robot.

[0037] Sixthly, this application provides a readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, it controls a work robot to implement the laser sensing deviation determination method described in any of the foregoing embodiments, or controls the work robot to implement the robot motion control method described in the foregoing embodiments.

[0038] In this case, the beneficial effects of the embodiments of this application may include the following:

[0039] This application controls a work robot to align a laser sensor with a target calibration point and obtains the first calibration position measured by the laser sensor at the target calibration point. Then, the work robot is controlled to align a work tool with the target calibration point and obtains the second calibration position measured by the laser sensor at the target calibration point. Based on the first and second calibration positions and the original calibration rotation matrix of the laser sensor at the work robot, the sensor data deviation of the laser sensor's current actual installation position at the work robot relative to its original installation position is directly calculated. This allows for the rapid determination of the sensor data deviation corresponding to the actual installation position through simple robot control operations. Consequently, the work robot can directly utilize the determined sensor data deviation to perform subsequent processing operations that meet the desired control effect, without needing to adjust the original calibration transformation matrix. This avoids the need for hand-eye calibration procedures and ensures the work robot can be quickly restored to use.

[0040] To make the above-mentioned objectives, features and advantages of this application more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0041] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0042] Figure 1 This is a schematic diagram of the composition of the robot control device provided in the embodiments of this application;

[0043] Figure 2 A schematic flowchart illustrating the laser sensing deviation determination method provided in this application embodiment;

[0044] Figure 3 A flowchart illustrating the robot motion control method provided in an embodiment of this application;

[0045] Figure 4 A schematic diagram of the composition of the laser sensing deviation determination device provided in the embodiments of this application;

[0046] Figure 5 This is a schematic diagram of the composition of the robot motion control device provided in the embodiments of this application.

[0047] Icons: 10-Robot control device; 11-Memory; 12-Processor; 13-Communication unit; 100-Laser sensor deviation determination device; 200-Robot motion control device; 110-First verification position acquisition module; 120-Second verification position acquisition module; 130-Sensor data deviation calculation module; 210-Laser sensor data acquisition module; 220-Laser sensor data compensation module; 230-Actual end-effector pose calculation module; 240-Desired operation motion control module. Detailed Implementation

[0048] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. The components of the embodiments of this application described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0049] Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely to illustrate selected embodiments of the application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0050] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0051] In the description of this application, it should be understood that relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element. Those skilled in the art will understand the specific meaning of the above terms in this application based on the specific circumstances.

[0052] In the description of this application, it should also be noted that, unless otherwise expressly specified and limited, the terms "set up," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0053] The following detailed description of some embodiments of this application is provided in conjunction with the accompanying drawings. Unless otherwise specified, the following embodiments and features described herein can be combined with each other.

[0054] Please refer to Figure 1 , Figure 1This is a schematic diagram of the robot control device 10 provided in this embodiment. In this embodiment, the robot control device 10 can communicate with a work robot and control the work robot to perform processing operations on the object to be processed. The robot control device 10 can also quickly determine the sensor data deviation between the laser sensor at the work robot and its actual installation position through simple robot control operations. This allows the work robot to directly utilize the determined sensor data deviation to perform subsequent processing operations that meet the desired control effect, based on the original calibration transformation matrix without adjustment, through sensor data compensation. This avoids the need for hand-eye calibration and ensures the work robot can be quickly restored to use. The robot employing the task has a laser sensor and a task tool mounted on its end effector. The laser sensor can be mounted on the end effector of the task robot via the task tool. The robot control device 10 can be a computer device independent of the task robot, or it can be integrated with the task robot. The sensing data deviation is used to characterize the difference between the laser sensing data measured by the laser sensor at its actual installation position on the task robot and the laser sensing data measured by the laser sensor at its original installation position on the task robot. The original calibration transformation matrix is ​​used to characterize the transformation matrix of the laser sensor relative to the task robot under the condition of maintaining its original installation position.

[0055] In this embodiment, the robot control device 10 may include a memory 11, a processor 12, and a communication unit 13. The memory 11, processor 12, and communication unit 13 are electrically connected directly or indirectly to each other to achieve data transmission or interaction. For example, these components may be electrically connected via one or more communication buses or signal lines.

[0056] In this embodiment, the memory 11 may be, but is not limited to, random access memory (RAM), read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), etc. The memory 11 is used to store computer programs, and the processor 12 can execute the computer programs accordingly after receiving execution instructions.

[0057] In this embodiment, the processor 12 can be an integrated circuit chip with signal processing capabilities. The processor 12 can be a general-purpose processor, including at least one of a Central Processing Unit (CPU), Graphics Processing Unit (GPU), Network Processor (NP), Digital Signal Processor (DSP), Application-Specific Integrated Circuit (ASIC), Field-Programmable Gate Array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. The general-purpose processor can be a microprocessor or any conventional processor, capable of implementing or executing the methods, steps, and logic block diagrams disclosed in the embodiments of this application.

[0058] In this embodiment, the communication unit 13 is used to establish a communication connection between the robot control device 10 and other electronic devices through a wireless communication network, and to send and receive data through the wireless communication network. For example, the robot control device 10 obtains the current laser sensing data of the robot's laser sensor through the communication unit 13.

[0059] In this embodiment, the robot control device 10 may further include a laser sensing deviation determination device 100. The laser sensing deviation determination device 100 may include at least one software function module that can be stored in the memory 11 in the form of software or firmware, or embedded in the operating system of the robot control device 10. The processor 12 can be used to execute executable modules stored in the memory 11, such as the software function modules and computer programs included in the laser sensing deviation determination device 100. The robot control device 10 can quickly determine the sensing data deviation of the laser sensor corresponding to its actual installation position using simple robot control operations through the laser sensing deviation determination device 100. This allows the corresponding robot to directly utilize the determined sensing data deviation to perform subsequent processing operations that meet the desired control effect based on the original calibration transformation matrix without adjustment, thereby avoiding the need for hand-eye calibration and ensuring the robot can be quickly restored to use.

[0060] In this embodiment, the robot control device 10 may further include a robot motion control device 200. The robot motion control device 200 may include at least one software function module that can be stored in the memory 11 in the form of software or firmware, or embedded in the operating system of the robot control device 10. The processor 12 can be used to execute executable modules stored in the memory 11, such as the software function modules and computer programs included in the robot motion control device 200. The robot control device 10 can directly control the robot to perform subsequent processing operations that meet the desired control effect by using the determined sensor data deviation through sensor data compensation, based on the original calibration transformation matrix without adjustment, thereby eliminating the need for a cumbersome and time-consuming hand-eye calibration process and ensuring that the corresponding robot can be quickly restored to use.

[0061] Understandable, Figure 1 The block diagram shown is only a schematic diagram of one composition of the robot control device 10. The robot control device 10 may also include... Figure 1 The more or fewer components shown, or having the same Figure 1 The different configurations shown. Figure 1 The components shown can be implemented using hardware, software, or a combination thereof.

[0062] In this application, to ensure that the robot control device 10 can quickly determine the sensing data deviation of the laser sensor corresponding to its actual installation position using simple robot control operations, so that the corresponding work robot can directly use the determined sensing data deviation to perform subsequent processing operations that meet the desired control effect based on the original calibration transformation matrix without adjustment, thereby avoiding the need to perform the hand-eye calibration process and ensuring that the work robot can be quickly restored to use, this application embodiment achieves the aforementioned objective by providing a laser sensing deviation determination method. The laser sensing deviation determination method provided in this application will be described in detail below.

[0063] Please refer to Figure 2 , Figure 2 This is a schematic flowchart of a laser sensing deviation determination method provided in an embodiment of this application. In this embodiment, the laser sensing deviation determination method may include steps S310 to S330.

[0064] Step S310: Control the robot to align the laser sensor with the target calibration point and obtain the first verification position measured by the laser sensor for the target calibration point.

[0065] In this embodiment, the target calibration point is a specific point on the target workpiece used to calibrate the sensor data deviation corresponding to the current laser sensor of the working robot. The robot control device 10 can control the robot posture of the working robot so that the laser sensor installed at the end of the working robot can be aligned with the target calibration point. At this time, the robot control device 10 can obtain the laser sensing data corresponding to the target calibration point from the laser sensor through the communication unit 13, and then process the obtained laser sensing data based on the robot kinematics principle to obtain the first verification position measured by the laser sensor for the target calibration point. At this time, the first verification position is the specific spatial position of the target calibration point measured by the laser sensor in the base coordinate system B of the working robot.

[0066] Step S320: Control the robot to align the work tool with the target calibration point and obtain the second verification position measured by the laser sensor for the target calibration point.

[0067] In this embodiment, the robot control device 10 can control the robot posture of the working robot so that the working tool installed at the end of the working robot can be aligned with the target calibration point. At this time, the robot control device 10 can obtain the tool end position data corresponding to the target calibration point from the working tool through the communication unit 13, and obtain the second verification position measured by the working tool for the target calibration point. At this time, the second verification position is the specific spatial position of the target calibration point measured by the working tool in the base coordinate system B of the working robot.

[0068] Step S330: Obtain the original calibration rotation matrix of the laser sensor at the working robot, and calculate the sensing data deviation of the laser sensor's current actual installation position at the working robot relative to the original installation position based on the original calibration rotation matrix, the first verification position, and the second verification position.

[0069] In this embodiment, the original calibration transformation matrix of the laser sensor at the working robot can be adopted. The original calibration transformation matrix can be decomposed into the original calibration rotation matrix and the original calibration translation matrix of the laser sensor at the working robot. The original calibration rotation matrix can be represented as... The original calibration translation matrix can be represented as follows: The robot control device 10 can obtain the original calibration transformation matrix from the working robot through the communication unit 13, and decompose the original calibration transformation matrix from the original calibration transformation matrix. Then, using the preset data correlation between the calibration point position difference, the original calibration transformation matrix, and the laser sensing data deviation, it solves the equation based on the current original calibration transformation matrix of the laser sensor and the first and second verification positions corresponding to the target calibration point. This yields the sensing data deviation of the laser sensor's current actual installation position on the working robot relative to its original installation position. This effectively determines the laser sensing data deviation of the laser sensor on the corresponding working robot that matches its actual installation position, without requiring adjustments to the original calibration transformation matrix. This allows the corresponding working robot to directly use the determined sensing data deviation to perform subsequent processing operations that meet the desired control effect through sensing data compensation, ensuring that the corresponding working robot can be quickly restored to use.

[0070] The data correlation between the calibration point position difference, the original calibration transformation matrix, and the laser sensing data deviation can be expressed by the following formula:

[0071]

[0072] in, This is used to indicate the deviation of the laser sensor's current actual installation position at the working robot from its original installation position. The original calibration rotation matrix used to represent the laser coordinate system L of the laser sensor relative to the base coordinate system B of the robot. This is used to indicate the difference in the position of the target calibration point under the base coordinate system B of the working robot.

[0073] Therefore, step S330, "calculating the sensing data deviation of the laser sensor's current actual installation position at the robot relative to its original installation position based on the original calibration rotation matrix, the first verification position, and the second verification position," may include:

[0074] Calculate the difference between the second verification position and the first verification position;

[0075] Calculate the inverse of the original calibration rotation matrix to obtain the corresponding target inverse matrix;

[0076] The sensor data deviation is obtained by performing matrix multiplication on the target inverse matrix and the difference in the verification position.

[0077] At this point, the formula for calculating the sensor data deviation is expressed as follows:

[0078]

[0079] in, This is used to indicate the deviation of the laser sensor's current actual installation position at the working robot from its original installation position. The original calibration rotation matrix used to represent the laser coordinate system L of the laser sensor relative to the base coordinate system B of the robot. This is used to indicate the second verification position of the target calibration point in the base coordinate system B of the working robot. This is used to represent the first verification position of the target calibration point in the base coordinate system B of the working robot. The difference of the above verification position can be used as... The target inverse matrix can then be represented as follows: To express.

[0080] In this case, by executing the above steps S310 to S330, this application can quickly determine the sensor data deviation between the laser sensor and the actual installation position using simple robot control operations. This allows the corresponding work robot to directly use the determined sensor data deviation to perform subsequent processing operations that meet the desired control effect through sensor data compensation, based on the original calibration transformation matrix without adjustment. This avoids the need to perform the hand-eye calibration process and ensures that the work robot can be quickly restored to use.

[0081] In this application, to ensure that the robot control device 10 can directly control the robot to perform subsequent processing operations that meet the desired control effect by using the determined sensor data deviation through sensor data compensation based on the original calibration transformation matrix without adjustment, thereby eliminating the need for the cumbersome and time-consuming hand-eye calibration process and ensuring that the corresponding robot can be quickly restored to use, this application embodiment achieves the aforementioned objective by providing a robot motion control method. The robot motion control method provided in this application will be described in detail below.

[0082] Please refer to Figure 3 , Figure 3 This is a schematic flowchart of a robot motion control method provided in an embodiment of this application. In this embodiment, the robot motion control method may include steps S410 to S440.

[0083] Step S410: Obtain the raw sensing data collected by the laser sensor at the work robot for the object to be processed, and the corresponding sensing data deviation of the laser sensor at the work robot.

[0084] In this embodiment, the current sensing data deviation of the laser sensor at the working robot can be determined by the robot control device 10 using the laser sensing deviation determination method described above, and then stored in the memory 11 of the robot control device 10, so that the robot control device 10 can directly read the current sensing data deviation of the laser sensor when it needs to control the working robot to perform the desired processing operation.

[0085] Step S420: Compensate the original sensor data according to the sensor data deviation to obtain the actual sensor data of the object to be processed at the working robot.

[0086] In this embodiment, the robot control device 10 can obtain the actual sensing data of the object to be processed at the work robot relative to the original installation position of the laser sensor by using the deviation of the current sensing data of the laser sensor matching the actual installation position, based on the original sensing data collected by the laser sensor at the actual installation position. At this time, the actual sensing data substantially matches the original calibration transformation matrix of the laser sensor at the work robot. If the robot control device 10 is integrated with the work robot, the robot control device 10 can automatically execute the above step S420 through the laser sensor.

[0087] In this case, the step of compensating the original sensor data according to the sensor data deviation to obtain the actual sensor data of the object to be processed at the work robot may include:

[0088] The actual sensing data is obtained by performing a data addition operation on the sensing data deviation and the original sensing data.

[0089] Step S430: Based on the actual sensing data and the original calibration transformation matrix of the laser sensor at the working robot, calculate the current actual end pose of the working robot's end effector based on the principles of robot kinematics.

[0090] In this embodiment, after the robot control device 10 calculates the actual sensing data and original calibration transformation matrix of the laser sensor corresponding to the original installation position, the robot control device 10 can use the principles of robot kinematics to calculate the actual end pose of the robot end that substantially matches the actual sensing data and the original calibration transformation matrix.

[0091] Step S440: Based on the actual end-effector pose and the desired end-effector pose of the robot in the desired work trajectory for the object to be processed, control the movement of the robot based on the principle of robot inverse kinematics.

[0092] In this embodiment, after determining the current actual end-effector pose of the robot using the original calibration transformation matrix, the robot control device 10 can extract the desired end-effector pose matching the current end-effector pose from the desired work trajectory of the robot, and calculate the specific pose difference between the desired end-effector pose and the actual end-effector pose. Then, based on the current actual joint running parameters of the robot, the joint parameters are solved using the principle of robot inverse kinematics to eliminate the specific pose difference, obtaining the desired joint running parameters that can achieve the desired end-effector pose. Then, the robot is controlled to move according to the desired joint running parameters, thereby ensuring that the robot can achieve the desired motion effect corresponding to the desired end-effector pose. Based on the original calibration transformation matrix that does not need to be adjusted, the robot can be directly controlled to perform subsequent processing operations that meet the desired control effect by using the determined sensor data deviation through sensor data compensation, thereby eliminating the need to perform the cumbersome and time-consuming hand-eye calibration process and ensuring that the corresponding robot can be quickly restored to use.

[0093] Therefore, by executing the above steps S410 to S440, this application can directly use the determined sensor data deviation to control the robot to perform subsequent processing operations that meet the desired control effect through sensor data compensation, based on the original calibration transformation matrix that does not need to be adjusted. This eliminates the need to perform the cumbersome and time-consuming hand-eye calibration process and ensures that the corresponding robot can be quickly restored to use.

[0094] In this application, to ensure that the robot control device 10 can execute the aforementioned laser sensing deviation determination method through the laser sensing deviation determination device 100, this application implements the aforementioned function by dividing the laser sensing deviation determination device 100 into functional modules. The specific composition of the laser sensing deviation determination device 100 provided in this application will be described below.

[0095] Please refer to Figure 4 , Figure 4 This is a schematic diagram of the composition of the laser sensing deviation determination device 100 provided in an embodiment of this application. In this embodiment, the laser sensing deviation determination device 100 may include a first verification position acquisition module 110, a second verification position acquisition module 120, and a sensing data deviation calculation module 130.

[0096] The first verification position acquisition module 110 is used to control the working robot to drive the laser sensor to align with the target calibration point and acquire the first verification position measured by the laser sensor for the target calibration point, wherein the laser sensor is installed at the end of the working robot.

[0097] The second verification position acquisition module 120 is used to control the operation robot to drive the operation tool to align with the target calibration point, and to acquire the second verification position measured by the operation tool relative to the target calibration point, wherein the operation tool is installed at the end of the operation robot.

[0098] The sensor data deviation calculation module 130 is used to obtain the original calibration rotation matrix of the laser sensor at the working robot, and calculate the sensor data deviation of the laser sensor's current actual installation position at the working robot relative to the original installation position based on the original calibration rotation matrix, the first verification position, and the second verification position.

[0099] The formula for calculating the sensor data deviation is expressed as follows:

[0100]

[0101] in, This is used to indicate the deviation of the laser sensor's current actual installation position at the working robot from its original installation position. The original calibration rotation matrix used to represent the laser coordinate system L of the laser sensor relative to the base coordinate system B of the robot. This is used to indicate the second verification position of the target calibration point in the base coordinate system B of the working robot. This is used to indicate the first verification position of the target calibration point in the base coordinate system B of the working robot.

[0102] It should be noted that the laser sensing deviation determination device 100 provided in this embodiment has the same basic principle and technical effect as the aforementioned laser sensing deviation determination method. For the sake of brevity, any parts not mentioned in this embodiment can be referred to the above description of the laser sensing deviation determination method.

[0103] In this application, to ensure that the robot control device 10 can execute the aforementioned robot motion control method through the robot motion control device 200, this application implements the aforementioned functions by dividing the robot motion control device 200 into functional modules. The specific composition of the robot motion control device 200 provided in this application is described below.

[0104] Please refer to Figure 5 , Figure 5This is a schematic diagram of the robot motion control device 200 provided in an embodiment of this application. In this embodiment, the robot motion control device 200 may include a laser sensor data acquisition module 210, a laser sensor data compensation module 220, an actual end-effector pose calculation module 230, and a desired operation motion control module 240.

[0105] The laser sensing data acquisition module 210 is used to acquire the original sensing data collected by the laser sensor at the work robot for the object to be processed, and the sensing data deviation corresponding to the laser sensor at the work robot, wherein the sensing data deviation is obtained by the laser sensing deviation determination method described above.

[0106] The laser sensing data compensation module 220 is used to compensate the original sensing data according to the sensing data deviation to obtain the actual sensing data of the object to be processed at the working robot.

[0107] The actual end-effector pose calculation module 230 is used to calculate the current actual end-effector pose of the robot based on the robot kinematics principle, according to the actual sensing data and the original calibration transformation matrix of the laser sensor at the robot.

[0108] The desired operation motion control module 240 is used to control the movement of the operation robot based on the robot inverse kinematics principle, according to the actual end-effector pose and the desired end-effector pose of the operation robot in the desired operation trajectory for the object to be processed.

[0109] It should be noted that the robot motion control device 200 provided in this embodiment has the same basic principle and technical effects as the aforementioned robot motion control method. For the sake of brevity, any parts not mentioned in this embodiment can be referred to the above description of the robot motion control method.

[0110] In the embodiments provided in this application, it should be understood that the disclosed apparatus and methods can also be implemented in other ways. The apparatus embodiments described above are merely illustrative. For example, the flowcharts and block diagrams in the accompanying drawings show the architecture, functionality, and operation of possible implementations of the apparatus, methods, and computer program products according to embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in a different order than those marked in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in a block diagram and / or flowchart, and combinations of blocks in block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or action, or using a combination of dedicated hardware and computer instructions.

[0111] Furthermore, the functional modules in the various embodiments of this application can be integrated together to form an independent part, or each module can exist independently, or two or more modules can be integrated to form an independent part. If the function is implemented as a software functional module and sold or used as an independent product, it can be stored in a readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a readable storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned readable storage medium includes: USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, optical disks, and other media capable of storing program code.

[0112] In summary, the laser sensing deviation determination method, robot motion control method, laser sensing deviation determination device, robot motion control device, robot control equipment, and readable storage medium provided in this application embodiment control the working robot to align the laser sensor with the target calibration point and obtain the first verification position measured by the laser sensor with respect to the target calibration point. Then, the working robot is controlled to align the working tool with the target calibration point and obtain the second verification position measured by the laser sensor with respect to the target calibration point. Then, based on the first verification position, the second verification position, and the original calibration rotation matrix of the laser sensor at the working robot, the sensing data deviation of the laser sensor's current actual installation position at the working robot relative to the original installation position is directly calculated. This allows for the rapid determination of the sensing data deviation of the laser sensor corresponding to the actual installation position through simple robot control operations. As a result, the corresponding working robot can directly use the determined sensing data deviation to perform subsequent processing operations that meet the desired control effect through sensing data compensation, without needing to adjust the original calibration transformation matrix. This avoids the need for hand-eye calibration procedures and ensures that the working robot can be quickly restored to use.

[0113] The above descriptions are merely various embodiments of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A method for determining laser sensing deviation, characterized in that, The method includes: The robot is controlled to drive a laser sensor to align with a target calibration point, and the first verification position measured by the laser sensor for the target calibration point is obtained, wherein the laser sensor is installed at the end of the robot. The robot is controlled to drive the working tool to align with the target calibration point, and the second verification position measured by the working tool relative to the target calibration point is obtained, wherein the working tool is installed at the end of the robot. The original calibration rotation matrix of the laser sensor at the work robot is obtained, and the sensing data deviation of the laser sensor at the current actual installation position at the work robot relative to the original installation position is calculated based on the original calibration rotation matrix, the first verification position, and the second verification position. The sensing data deviation characterizes the difference between the laser sensing data measured at the actual installation position of the laser sensor at the work robot and the laser sensing data measured at the original installation position of the laser sensor at the work robot. The original calibration rotation matrix characterizes the rotation matrix in the transformation matrix of the laser sensor initially calibrated relative to the work robot while maintaining the original installation position.

2. The method according to claim 1, characterized in that, The step of calculating the sensing data deviation of the laser sensor's current actual installation position at the working robot relative to its original installation position based on the original calibration rotation matrix, the first verification position, and the second verification position includes: Calculate the difference between the second verification position and the first verification position; Calculate the inverse of the original calibration rotation matrix to obtain the corresponding target inverse matrix; The sensor data deviation is obtained by performing matrix multiplication on the target inverse matrix and the difference in the verification position.

3. The method according to claim 1 or 2, characterized in that, The formula for calculating the sensor data deviation is expressed as follows: ； in, This is used to indicate the deviation of the laser sensor's current actual installation position at the working robot from its original installation position. Laser coordinate system used to represent the laser sensor L Relative to the base coordinate system of the robot B The original calibration rotation matrix, Used to represent the target calibration point in the base coordinate system of the working robot. B The second verification position below, Used to represent the target calibration point in the base coordinate system of the working robot. B The first verification position below.

4. A robot motion control method, characterized in that, The method includes: The method acquires the raw sensing data collected by the laser sensor at the work robot for the object to be processed, and the corresponding sensing data deviation of the laser sensor at the work robot, wherein the sensing data deviation is obtained by the laser sensing deviation determination method according to any one of claims 1-3. The original sensor data is compensated according to the sensor data deviation to obtain the actual sensor data of the object to be processed at the working robot. Based on the actual sensing data and the original calibration transformation matrix of the laser sensor at the working robot, the current actual end pose of the working robot's end effector is calculated based on the principles of robot kinematics. Based on the actual end-effector pose and the desired end-effector pose of the robot in the desired work trajectory for the object to be processed, the robot's movement is controlled based on the principle of robot inverse kinematics.

5. The method according to claim 4, characterized in that, The step of compensating the original sensing data according to the sensing data deviation to obtain the actual sensing data of the object to be processed at the working robot includes: The actual sensing data is obtained by performing a data addition operation on the sensing data deviation and the original sensing data.

6. A laser sensing deviation determination device, characterized in that, The device includes: The first verification position acquisition module is used to control the working robot to drive the laser sensor to align with the target calibration point and acquire the first verification position measured by the laser sensor for the target calibration point, wherein the laser sensor is installed at the end of the working robot. The second verification position acquisition module is used to control the operation robot to drive the operation tool to align with the target calibration point, and to acquire the second verification position measured by the operation tool relative to the target calibration point, wherein the operation tool is installed at the end of the operation robot; The sensor data deviation calculation module is used to obtain the original calibration rotation matrix of the laser sensor at the working robot, and calculate the sensor data deviation of the laser sensor's current actual installation position at the working robot relative to its original installation position based on the original calibration rotation matrix, the first verification position, and the second verification position; wherein, the sensor data deviation is used to characterize the sensor data difference between the laser sensor measured at the actual installation position at the working robot and the laser sensor measured at the original installation position at the working robot, and the original calibration rotation matrix is ​​used to characterize the rotation matrix in the transformation matrix of the laser sensor initially calibrated relative to the working robot while maintaining its original installation position.

7. The apparatus according to claim 6, characterized in that, The formula for calculating the sensor data deviation is expressed as follows: ； in, This is used to indicate the deviation of the laser sensor's current actual installation position at the working robot from its original installation position. Laser coordinate system used to represent the laser sensor L Relative to the base coordinate system of the robot B The original calibration rotation matrix, Used to represent the target calibration point in the base coordinate system of the working robot. B The second verification position below, Used to represent the target calibration point in the base coordinate system of the working robot. B The first verification position below.

8. A robot motion control device, characterized in that, The device includes: A laser sensing data acquisition module is used to acquire the original sensing data collected by the laser sensor at the work robot for the object to be processed, and the sensing data deviation corresponding to the laser sensor at the work robot, wherein the sensing data deviation is obtained by the laser sensing deviation determination method according to any one of claims 1-3. A laser sensing data compensation module is used to compensate the original sensing data according to the sensing data deviation to obtain the actual sensing data of the object to be processed at the working robot. The actual end-effector pose calculation module is used to calculate the current actual end-effector pose of the robot based on the robot kinematics principle, according to the actual sensing data and the original calibration transformation matrix of the laser sensor at the robot. The desired operation motion control module is used to control the movement of the operation robot based on the robot's inverse kinematics principle, according to the actual end-effector pose and the desired end-effector pose of the operation robot in the desired operation trajectory for the object to be processed.

9. A robot control device, characterized in that, The device includes a processor and a memory, the memory storing a computer program executable by the processor. The processor can execute the computer program to control the robot to implement the laser sensing deviation determination method according to any one of claims 1-3, or to control the robot to implement the robot motion control method according to claim 4 or 5. The robot control device is communicatively connected to the robot equipped with a laser sensor and a working tool, and both the laser sensor and the working tool are installed at the end of the robot.

10. A readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it controls the working robot to implement the laser sensing deviation determination method according to any one of claims 1-3, or controls the working robot to implement the robot motion control method according to claim 4 or 5.

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