Correction method, correction device and processor for a tool

Abstract

Embodiments of the present application provide a correction method, a correction device and a processor for a tool. The correction method comprises: obtaining a first pose matrix corresponding to the positions of the correction device and a base of a to-be-detected device in respective coordinate systems; determining a second pose matrix corresponding to the positions of the tool and the correction device in the respective coordinate systems when the to-be-detected device carrying the tool enters a detection range of the correction device; reading a third pose matrix corresponding to the positions of a six-axis flange and the base of the to-be-detected device in the respective coordinate systems; determining a fourth pose matrix corresponding to the positions of the tool and the six-axis flange in the respective coordinate systems according to the first pose matrix, the second pose matrix and the third pose matrix; and correcting a center point of the tool according to the fourth pose matrix. The center point of the tool is corrected by calculating different pose matrices, without the need to perform specific trajectory movement to calculate the deviation to complete the correction of the coordinates of the center point of the tool, and the correction speed is fast.

Description

Technical Field

[0001] This application relates to the field of posture correction technology, specifically to a correction method, correction device and processor for tools. Background Technology

[0002] Robots face challenges such as collisions, wear, and tool replacements during production. Different types of tools mounted on robots cannot be guaranteed to maintain their correct orientation solely by the robot's inherent precision. Once a tool's position shifts, operational accuracy cannot be guaranteed, necessitating manual intervention for each operation. However, different operators, or even the same operator at different times, will introduce deviations in teaching the tool's center point on the same robot. In high-precision applications, these deviations can lead to inconsistent product quality. Furthermore, operators cannot predict tool position shifts in advance. From the occurrence of a malfunction to its resolution, this process can result in defective products or even production line shutdowns. Existing methods for calibrating robot tool center points suffer from difficulties in calibrating the calibration device, making accuracy uncertain. Different coordinate detections within the robot's coordinate system require intermediate conversions, which are affected by the robot's motion control precision. Current calibration methods often employ point lasers, requiring the end effector of the robot's six-axis flange to move within the calibration device. Moreover, existing calibration methods require pre-set specific movements to detect the tool's center point parameters, resulting in slow calibration efficiency. Summary of the Invention

[0003] The purpose of this application is to provide a tool calibration method, calibration device, and processor for calibrating the pose of the tool center point of the device under test.

[0004] To achieve the above objectives, the first aspect of this application provides a calibration method for a tool, the calibration method comprising:

[0005] Obtain the first pose matrix corresponding to the positions of the base of the calibration device and the device under test in their respective coordinate systems;

[0006] When the tool mounted on the device to be tested enters the detection range of the calibration device, determine the second pose matrix corresponding to the positions of the tool and the calibration device in their respective coordinate systems;

[0007] Read the third pose matrix corresponding to the positions of the six-axis flange and base of the device under test in their respective coordinate systems;

[0008] The fourth pose matrix, corresponding to the positions of the tool and the six-axis flange in their respective coordinate systems, is determined based on the first pose matrix, the second pose matrix, and the third pose matrix.

[0009] The center point of the tool is corrected based on the fourth pose matrix.

[0010] In this embodiment of the application, the calibration device includes a signal device, and the calibration method further includes: when the tool mounted on the device to be tested moves in a direction away from the calibration device and the tool exceeds the detection range of the calibration device, determining a first vertical coordinate value of the tool in the tool coordinate system; when the center point of the tool coincides with the beam emitted by the signal device, determining a second vertical coordinate value of the tool in the tool coordinate system; and performing final calibration on the center point of the tool based on the difference between the first vertical coordinate value and the second vertical coordinate value.

[0011] In this embodiment, the signal device includes a line laser emitter and a line laser receiver, wherein the line laser emitter emits a light beam toward the line laser receiver.

[0012] In this embodiment of the application, determining the second pose matrix corresponding to the positions of the tool and the correction device in their respective coordinate systems includes: detecting multiple coordinates of the tool in the ZY plane of the coordinate system of the correction device and the coordinate point of the tool's central axis; determining the expression of the tool's central axis based on the coordinate point; and determining the second pose matrix based on the multiple coordinates, the coordinate point of the tool's axis, and the expression.

[0013] In this embodiment of the application, reading the third pose matrix corresponding to the positions of the six-axis flange and the base of the device under test in their respective coordinate systems includes: obtaining the first position and the second position of the six-axis flange and the base in their respective coordinate systems; and determining the third pose matrix based on the first position and the second position.

[0014] In this embodiment of the application, obtaining the first pose matrix corresponding to the positions of the calibration device and the base of the device under test in their respective coordinate systems includes: determining the attitude deviation between the coordinate system of the calibration device and the coordinate system of the base; determining the pose coordinates of the origin of the coordinate system of the calibration device in the coordinate system of the base; and determining the first pose matrix based on the attitude deviation and the pose coordinates.

[0015] In this embodiment of the application, determining the fourth pose matrix between the tool and the robot's six-axis flange based on the first pose matrix, the second pose matrix, and the third pose matrix includes: determining the quotient of the product of the third pose matrix and the first pose matrix and the second pose matrix as the fourth pose matrix.

[0016] In this embodiment of the application, the tool further includes a detection probe, and the calibration method further includes: determining the azimuth angle between the calibration device and the detection probe; and self-calibrating the deviation angle of the calibration device based on the deviation angle between the calibration device and the detection probe according to the azimuth angle.

[0017] In this embodiment of the application, the correction method further includes: determining that the tool has entered the detection range of the correction device when the online laser receiver receives the light beam; and determining that the tool has exceeded the detection range of the correction device when the online laser receiver does not receive the light beam.

[0018] A second aspect of this application provides a processor configured to perform the above-described calibration method for a tool.

[0019] A third aspect of this application provides a calibration device, including the processor described above.

[0020] In this embodiment of the application, the correction device further includes a signal device, which includes a line laser emitter and a line laser receiver, wherein the line laser emitter emits a light beam toward the line laser receiver.

[0021] The above technical solution, when the tool on the device under test enters the detection range of the calibration device, corrects the center point of the tool by calculating different pose matrices. It eliminates the need for specific trajectory movements to calculate deviations; simply placing the tool stationary within the detection range of the calibration device is sufficient to calculate the coordinates of the tool's center point, resulting in rapid correction. Furthermore, the calibration device automatically calculates calibration deviations during the correction process, eliminating the need for additional calibration tools, reducing error sources, and achieving higher device calibration and detection accuracy.

[0022] Other features and advantages of the embodiments of this application will be described in detail in the following detailed description section. Attached Figure Description

[0023] The accompanying drawings are provided to further illustrate the embodiments of this application and form part of the specification. They are used together with the following detailed description to explain the embodiments of this application, but do not constitute a limitation on the embodiments of this application. In the drawings:

[0024] Figure 1 A schematic diagram of the structure of the correction device according to an embodiment of this application is shown;

[0025] Figure 2 This illustration shows an application scenario diagram according to an embodiment of the present application;

[0026] Figure 3 A schematic flowchart of a calibration method for a tool according to an embodiment of this application is shown.

[0027] Figure 4 A schematic diagram of projection coordinates according to an embodiment of this application is shown;

[0028] Figure 5 A schematic diagram of a spatial coordinate system according to an embodiment of this application is shown;

[0029] Figure 6 A schematic diagram of vector coordinates according to an embodiment of this application is shown.

[0030] Figure 7 A schematic diagram of the tool structure according to an embodiment of this application is shown;

[0031] Figure 8 The diagram illustrates the orientation relationship between the tool and the detection probe according to an embodiment of this application. Detailed Implementation

[0032] 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. It should be understood that the specific embodiments described herein are only for illustration and explanation of the embodiments of this application and are not intended to limit the embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0033] like Figure 1 As shown, Figure 1 A schematic diagram of a correction device according to an embodiment of this application is shown. The correction device includes:

[0034] The detection module includes a base 103 and a signal device (not shown in the figure). The signal device includes a first laser sensor 101 and a second laser sensor 102. The first laser sensor and the second laser sensor are fixed on the base and are used to detect the tool 2.

[0035] The processor, electrically connected to the detection module, is used to receive detection signals from the first laser sensor and the second laser sensor. When it is determined from the detection signals that the tool mounted on the device to be detected has entered the detection range of the detection module, the processor corrects the tool center point of the device to be detected based on the pose matrix corresponding to the positions of the detection module and the tool in their respective coordinate systems.

[0036] In one specific embodiment, the first laser sensor 101 is a line laser emitter for emitting a laser beam. The second laser sensor 102 is a line laser receiver for receiving the laser beam. The detection module also includes a fixing device 103 for fixing the line laser emitter and the line laser receiver to the base. The line laser emitter and the line laser receiver are installed in pairs to form a laser pair, and the detection module includes at least four laser pairs. Every two laser pairs form a group to form a laser group. Every two laser groups are arranged perpendicularly at a 90-degree angle to form two layers of first laser surfaces. It can be determined that the first laser sensor 101 and the first laser surface are on the same plane, and the second laser sensor 102 and the second laser surface are on the same plane. In one specific embodiment, every two laser pairs are arranged at a preset distance in the horizontal direction to form two layers of second laser surfaces. Taking a robot as an example, when it is determined from the detection signal that the robot-mounted tool 2 has entered the detection range of the detection module, the tool center point of the robot is corrected according to the pose matrix corresponding to the positions of the detection module and the tool 2 in their respective coordinate systems. Figure 1 As shown, Figure 1 The system includes coordinate system A and coordinate system B. Coordinate system A refers to the coordinate system in which the detection module itself is located, and coordinate system B refers to the coordinate system in which tool 2 is located. Both coordinate systems A and B include coordinate axes in the X, Y, and Z directions.

[0037] like Figure 2 As shown, Figure 2 The illustration shows an application scenario diagram according to an embodiment of this application. The calibration method for tools provided in this application can be applied to, for example... Figure 2The application environment is shown below. In this diagram, 1 represents the tool center point correction device, and coordinate system A is the coordinate system of the correction device itself. Taking a robot as the device to be tested as an example, 2 represents the tool; any actuator installed at the end of the six-axis flange of the robot can be considered a tool, and different tools will have different functions. Coordinate system B is the coordinate system of the tool center point (i.e., the TCP coordinate system in the diagram). 3 represents the robot's six-axis flange, and coordinate system C is the six-axis flange coordinate system. 4 represents the processor, 5 represents the robot base, and coordinate system D refers to the robot base coordinate system. In the above application scenario, the detection signal is determined by the detection module in the tool center point correction device 1. Based on the detection signal, it can be determined that the robot carrying tool 2 has entered the detection range of the detection module of the correction device 1. Then, the first pose matrix corresponding to the positions of tool 2 and correction device 1 in their respective coordinate systems, the second pose matrix corresponding to the positions of six-axis flange 3 and robot base 5 in their respective coordinate systems, and the third pose matrix corresponding to the positions of correction device 1 and robot base 6 in their respective coordinate systems can be obtained. Based on the first pose matrix, the second pose matrix, and the third pose matrix, the fourth pose matrix corresponding to the positions of tool 2 and robot six-axis flange 3 in their respective coordinate systems is determined. Finally, the center point of the robot's tool is corrected based on the fourth pose matrix.

[0038] Figure 3 A schematic flowchart illustrating a calibration method for a tool according to an embodiment of this application is shown. Figure 3 As shown, in one embodiment of this application, a calibration method for a tool is provided. This embodiment mainly applies this method to the above-mentioned... Figure 2 Taking a calibration device in an application environment as an example, the following steps are included:

[0039] Step 301: Obtain the first pose matrix corresponding to the positions of the base of the calibration device and the device under test in their respective coordinate systems.

[0040] Step 302: When the tool mounted on the device to be tested enters the detection range of the calibration device, determine the second pose matrix corresponding to the positions of the tool and the calibration device in their respective coordinate systems.

[0041] Step 303: Read the third pose matrix corresponding to the positions of the six-axis flange and base of the device under test in their respective coordinate systems.

[0042] Step 304: Determine the fourth pose matrix corresponding to the positions of the tool and the six-axis flange in their respective coordinate systems based on the first pose matrix, the second pose matrix, and the third pose matrix.

[0043] Step 305: Correct the center point of the tool according to the fourth pose matrix.

[0044] In one embodiment, determining the second pose matrix corresponding to the positions of the tool and the calibration device in their respective coordinate systems includes: detecting multiple coordinates of the tool in the ZY plane of the calibration device's coordinate system and the coordinate point of the tool's central axis; determining an expression for the tool's central axis based on the coordinate point; and determining the second pose matrix based on the multiple coordinates, the coordinate point of the tool's axis, and the expression.

[0045] Specifically, such as Figure 4 As shown, Figure 4 A schematic diagram of the projected coordinates according to an embodiment of this application is shown. When the tool enters the detection device for detection, the line laser receiver can first detect multiple coordinates of the tool in the ZY plane of the coordinate system of the calibration device, as well as the coordinate point of the tool's central axis, based on the beam emitted by the line laser emitter. The line laser detects the tool's coordinates in the ZY and ZX planes as (Y21,L)(Y11,0)(Y22,L)(Y12,0) and (X21,L)(X11,0)(X22,L)(X12,0), respectively. The corresponding coordinates of the tool's axis are (Y1,0), (Y2,L), (X1,0), and (X2,L), where Y1 = (Y11+Y12) / 2, Y2 = (Y21+Y22) / 2, X1 = (X11+X12) / 2, and X2 = (X21+X22) / 2. Therefore, the spatial equation of the tool's central axis in the coordinate system of the calibration device is shown in Formula 1.

[0046]

[0047] Where X, Y, and Z are variables. This allows us to determine the tool's attitude matrix in the coordinate system of the calibration device. and location Then determine the second pose matrix.

[0048] Taking a robot as an example, the robot drives the tool to move along the Z-axis in the direction of detaching from the calibration device. When the tool detaches from the detection device, the line laser signal changes. The processor records the difference between the robot's Z-coordinate value at this time and the robot's Z-coordinate value when the tool's center point coincides with the line laser coordinate. Based on this difference, the position correction of the tool's center point in the Z-axis direction is completed. Thus, the final pose correction of the tool's center point is completed.

[0049] In one embodiment, reading the third pose matrix corresponding to the positions of the six-axis flange and base of the device under test in their respective coordinate systems includes: obtaining the first position and the second position of the six-axis flange and base in their respective coordinate systems; and determining the third pose matrix based on the first position and the second position. The first position and the second position are the initial positions of the six-axis flange and the base. The processor determines the first position and the second position, and then determines the third pose matrix based on the first position and the second position. It should be noted that the third pose matrix This is a readable parameter.

[0050] Further, in one embodiment, obtaining the first pose matrix corresponding to the positions of the calibration device and the base of the device under test in their respective coordinate systems includes: determining the attitude deviation between the coordinate system of the calibration device and the coordinate system of the base; determining the pose coordinates of the origin of the coordinate system of the calibration device in the coordinate system of the base; and determining the first pose matrix based on the attitude deviation and the pose coordinates.

[0051] Specifically, let's take a robot as an example, where the device to be tested is... Figure 5 As shown, Figure 5 A schematic diagram of a spatial coordinate system according to an embodiment of this application is shown. It can be seen that the relationship between the coordinate system ZYX where the robot base is located and the coordinate system Z'Y'X' where the correction device is located is as follows: Figure 4 As shown: The robot base coordinate system (the D coordinate system shown in the figure) has the X-axis as... The Y-axis is The Z-axis is The calibration device coordinate system (coordinate system A shown in the figure) Y'X'Z' plane lies on plane EFG. During calibration, the robot carrying the tool extends into the detection range of the numbered calibration device and moves linearly along the X, Y, and Z axes of the D coordinate system. When the tool enters the line laser detection range, the processor generates and records the coordinate value of point E in the Z'Y'X' coordinate system of the calibration device A. Then, the tool moves along the Y axis in the D coordinate system, setting a distance EO to reach point O. When it moves out of the line laser detection range from point O along the Z axis, the processor generates and records the coordinate value of point F in the Z'Y'X' coordinate system of the calibration device A. Similarly, from point O to point M and then to point G, the coordinate value of point G in the A coordinate system is obtained, and OM = OE. Based on the coordinate values ​​of points E, F, and G in the Z'Y'X' coordinate system of the A coordinate system, the lengths of EF, FG, and EG can be obtained, and then the coordinate values ​​E(X, Y, Z) of E, F, and G in the D coordinate system X, Y, and Z can be calculated. E ,Y E Z E ), F(X) F ,Y F Z F ), G(X) G,Y G Z G The equation of the EFG surface space is: The normal vector of this surface for The attitude deviation between the calibration device coordinate system A and the robot base coordinate system can then be calculated. Coordinates of the origin of coordinate system A in coordinate system D It can be read from the robot teach pendant, and so on. Among them, Once the position of the calibration device is fixed, it will not change. Therefore, in subsequent calibration processes, This will be used as a fixed known quantity in subsequent calculations. Conversely, after calculating... Afterward, the calibration device will no longer change position. Then, the device to be tested—the robot—can carry the tool into the calibration device. Once it is determined that the tool has entered the detection range of the calibration device, the processor can determine the second pose matrix corresponding to the positions of the tool and the calibration device in their respective coordinate systems.

[0052] Among them, attitude deviation The solution method is as follows:

[0053] Figure 6 A schematic diagram illustrating vector coordinates according to an embodiment of this application is shown. Figure 6 As shown, given a vector n in the coordinate system xyz, and the vector (1, 0, 0) between vector n and the x-axis, there is a known equation for the plane passing through the origin and between vector n and the x-axis: A1x + B1y + C1z + D1 = 0; there is also a known equation for the plane passing through the origin and between vector n and the x-axis: A2x + B2y + C2z + D2 = 0; an auxiliary plane parallel to the zy plane is added, with the equation x = D3, where D3 takes any value, and the sign is determined by the direction of the x-axis in the original TCP coordinate system.

[0054] pass This system of equations yields a solution (x1, y1, z1) whose vector is perpendicular to vector n and makes the smallest angle with the x-axis vector of the coordinate system. This vector is denoted as 'a', and its cross product with vector n is vector b. The coordinate system matrix is ​​given by... The attitude matrix of coordinate system abn is Where a, b, and n need to be normalized, this matrix represents the attitude deviation mentioned above.

[0055] Finally, in one embodiment, determining the fourth pose matrix between the tool and the robot's six-axis flange based on the first pose matrix, the second pose matrix, and the third pose matrix includes: determining the fourth pose matrix as the quotient of the product of the third pose matrix and the first and second pose matrices. The specific expression is:

[0056] In one embodiment, the calibration device includes a signaling device, which includes a line laser emitter and a line laser receiver. The line laser emitter emits a light beam toward the line laser receiver. The calibration method further includes: determining a first vertical coordinate value of the tool in a tool coordinate system when the tool mounted on the device under test moves in a direction away from the calibration device and the tool exceeds the detection range of the calibration device; determining a second vertical coordinate value of the tool in the tool coordinate system when the center point of the tool coincides with the light beam emitted by the line laser emitter; and performing final calibration on the center point of the tool based on the difference between the first and second vertical coordinate values.

[0057] Specifically, based on the third pose matrix With the first pose matrix Second pose matrix The quotient of the product is determined as the fourth pose matrix. Then, when the device to be tested, i.e., the robot carrying the tool, moves in the direction of detaching from the calibration device and the tool is outside the detection range of the calibration device, the first vertical coordinate value of the tool in the Z-axis direction of the tool coordinate system is determined; when the center point of the tool coincides with the beam emitted by the line laser emitter, the second vertical coordinate value of the tool in the Z-axis direction of the tool coordinate system is determined; the difference between the first vertical coordinate value and the second vertical coordinate value is recorded by the processor, and the position correction of the center point of the tool in the Z-axis direction is completed based on this difference. At this point, the final pose correction of the center point of the tool is completed, where the direction of the Z-axis here refers to the vertical direction in the coordinate system.

[0058] In one embodiment, the tool further includes a detection probe, and the calibration method further includes: determining the azimuth angle between the calibration device and the detection probe; and performing self-calibration of the deviation angle of the calibration device based on the deviation angle between the calibration device and the detection probe according to the azimuth angle. Figure 7 As shown, Figure 7 A schematic diagram of the tool structure according to an embodiment of this application is shown. Figure 8 A schematic diagram illustrating the orientation relationship between the tool and the detection probe according to an embodiment of this application is shown. Figure 7 In the diagram, number 2 represents the tool, number 6 represents the detection probe fixed in a known orientation hole on the tool, H represents the coordinate point of the tool, and I represents the coordinate point of the detection probe (see attached diagram). The detection principle is as follows: The processor records the two coordinate points H(X) generated by the calibration device for tool 2 and detection probe 6. H ,Y H ), I(X I ,Y I If the line connecting points H and I forms an azimuth angle with the correction device, then the azimuth angle is... According to azimuth Determine the positional relationship between the detection probe and the calibration device to correct the deviation angle between the calibration device and tool 2.

[0059] In one embodiment, the calibration device includes a signaling device, which includes a line laser emitter and a line laser receiver. The line laser emitter emits a light beam to the line laser receiver. The calibration method further includes: determining that the tool has entered the detection range of the calibration device when the line laser receiver receives the light beam; and determining that the tool has exceeded the detection range of the calibration device when the line laser receiver does not receive the light beam.

[0060] The above technical solution, when the tool on the device under test enters the detection range of the calibration device, corrects the tool's center point by calculating different pose matrices. It eliminates the need for specific trajectory movements to calculate deviations; simply placing the tool stationary within the detection range of the calibration device completes the correction calculation, resulting in rapid correction. During the detection calculation, the tool remains stationary, directly calculating the tool coordinates and deviation values ​​without introducing intermediate quantities or mechanical motion, thus avoiding rounding errors and the impact of mechanical motion accuracy and stability on the calculation, achieving higher detection accuracy. The device also features automatic calibration deviation calculation during calibration, eliminating the need for additional calibration tools, reducing error sources, and achieving higher device calibration and detection accuracy. Furthermore, it eliminates the need for specific trajectory movements to calculate deviations, allowing direct calculation of the tool's center point coordinates.

[0061] Figure 3 This is a flowchart illustrating a calibration method for a tool in one embodiment. It should be understood that, although... Figure 3 The steps in the flowchart are shown sequentially as indicated by the arrows, but these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order in which these steps are executed, and they can be performed in other orders. Figure 3 At least some of the steps in the process may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but can be executed in turn or alternately with other steps or at least some of the sub-steps or stages of other steps.

[0062] The processor contains a kernel, which retrieves the corresponding program units from memory. One or more kernels can be configured, and calibration methods for tools can be implemented by adjusting kernel parameters.

[0063] The memory may include non-permanent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM, and the memory includes at least one memory chip.

[0064] This application provides a storage medium storing a program that, when executed by a processor, implements the above-described calibration method for a tool.

[0065] This application provides a processor for running a program, wherein the program executes the above-described correction method for the tool during runtime.

[0066] This application provides an apparatus including a processor, a memory, and a program stored in the memory and executable on the processor. When the processor executes the program, it implements the steps of the above-described calibration method for a tool.

[0067] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0068] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0069] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0070] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0071] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0072] Memory may include non-persistent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0073] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic magnetic disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0074] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Unless otherwise specified, 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 that element.

[0075] The above are merely embodiments of this application and are not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. A method for calibrating tools, characterized in that, The correction method includes: Obtain the first pose matrix corresponding to the positions of the base of the calibration device and the device under test in their respective coordinate systems; When the tool mounted on the device to be tested enters the detection range of the calibration device, a second pose matrix corresponding to the positions of the tool and the calibration device in their respective coordinate systems is determined. Read the third pose matrix corresponding to the positions of the six-axis flange and the base of the device under test in their respective coordinate systems; Based on the first pose matrix, the second pose matrix, and the third pose matrix, a fourth pose matrix corresponding to the positions of the tool and the six-axis flange in their respective coordinate systems is determined; The center point of the tool is corrected based on the fourth pose matrix.

2. The tool calibration method according to claim 1, characterized in that, The calibration device includes a signal device, and the calibration method further includes: When the device under test, equipped with the tool, moves in a direction away from the calibration device and the tool exceeds the detection range of the calibration device, the first vertical coordinate value of the tool in the tool coordinate system is determined. When the center point of the tool coincides with the beam emitted by the signal device, determine the second vertical coordinate value of the tool in the tool coordinate system; The tool's center point is finally corrected based on the difference between the first and second vertical coordinate values.

3. The tool calibration method according to claim 2, characterized in that, The signaling device includes a line laser emitter and a line laser receiver, wherein the line laser emitter emits a beam of light toward the line laser receiver.

4. The tool calibration method according to claim 3, characterized in that, The correction method further includes: When the line laser receiver receives the beam, it is determined that the tool has entered the detection range of the correction device; If the line laser receiver does not receive the beam, it is determined that the tool is outside the detection range of the correction device.

5. The tool calibration method according to claim 1, characterized in that, The second pose matrix for determining the positions of the tool and the correction device in their respective coordinate systems includes: The coordinates of the tool in the ZY plane of the calibration device and the coordinates of the tool's central axis are detected. Determine the expression for the central axis of the tool based on the coordinate points; The second pose matrix is ​​determined based on the plurality of coordinates, the coordinate points of the tool axis, and the expression.

6. The tool calibration method according to claim 1, characterized in that, The third pose matrix for reading the positions of the six-axis flange and the base of the device under test in their respective coordinate systems includes: Obtain the first and second positions of the six-axis flange and the base in their respective coordinate systems; The third pose matrix is ​​determined based on the first position and the second position.

7. The tool calibration method according to claim 1, characterized in that, The step of obtaining the first pose matrix corresponding to the positions of the correction device and the base of the device under test in their respective coordinate systems includes: Determine the attitude deviation between the coordinate system of the correction device and the coordinate system of the base; Determine the pose coordinates of the origin of the coordinate system of the correction device in the coordinate system of the base; The first pose matrix is ​​determined based on the pose deviation and the pose coordinates.

8. The tool calibration method according to claim 1, characterized in that, The step of determining the fourth pose matrix between the tool and the robot's six-axis flange based on the first pose matrix, the second pose matrix, and the third pose matrix includes: The quotient of the product of the third pose matrix and the first pose matrix and the second pose matrix is ​​determined as the fourth pose matrix.

9. The tool calibration method according to claim 1, characterized in that, The tool also includes a detection probe, and the calibration method further includes: Determine the azimuth angle between the calibration device and the detection probe; The deviation angle of the calibration device is self-calibrated based on the deviation angle between the azimuth angle and the detection probe.

10. The tool calibration method according to any one of claims 1 to 9, characterized in that, The device to be tested is a robot.

11. A processor, characterized in that, It is configured to perform the calibration method for the tool as described in any one of claims 1 to 10.

12. A calibration device, characterized in that, Includes the processor according to claim 11.

13. The calibration device according to claim 12, characterized in that, It also includes a signaling device, which comprises a line laser emitter and a line laser receiver, wherein the line laser emitter emits a beam of light toward the line laser receiver.

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