Workpiece positioning method, robot control device, and computer-readable storage medium

Abstract

The application discloses a workpiece positioning method, a robot control device and a computer readable storage medium. The method comprises the following steps: acquiring a first image of a target workpiece photographed by a two-dimensional vision device at a current time and determining a first pose of the target workpiece in a vision coordinate system; acquiring a first historical pose of the target workpiece in the vision coordinate system when the target workpiece is in a historical pose and a second historical pose of a tool center point of a robot in the vision coordinate system when a work is performed on the target workpiece in the historical pose; determining a pose change of the target workpiece in the vision coordinate system according to the first pose and the first historical pose; and determining a target pose of the tool center point of the robot in the vision coordinate system when the work is performed on the target workpiece at the current time according to the pose change and the second historical pose. In the foregoing manner, the application avoids complex matrix operation conversion between the vision coordinate system and the robot coordinate system, and improves the efficiency of workpiece positioning.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of robots, and particularly relates to a workpiece positioning method, a robot control device, and a computer readable storage medium. BACKGROUND

[0002] When a robot cooperates with a two-dimensional vision system, the two-dimensional vision system photographs a workpiece, and then the robot quickly positions a new workpiece position for processing according to an image photographed by the two-dimensional vision system. However, the present inventors have found that, when the robot positions the new workpiece position, the calculation is large and the process is complicated, thereby reducing work efficiency. SUMMARY

[0003] The present application provides a workpiece positioning method, a robot control device, and a computer readable storage medium, which can efficiently position a new workpiece position.

[0004] A first aspect of an embodiment of the present application provides a workpiece positioning method, which comprises: acquiring a first image of a target workpiece photographed by a two-dimensional vision device at a current time; determining a first pose of the target workpiece in a vision coordinate system according to the first image; acquiring a first historical pose of the target workpiece in the vision coordinate system when the target workpiece is in a historical pose, and a second historical pose of a tool center point of a robot in the vision coordinate system when a workpiece in the historical pose is worked on; determining a pose change of the target workpiece in the vision coordinate system according to the first pose and the first historical pose; and determining a target pose of the tool center point of the robot in the vision coordinate system when the target workpiece is worked on at the current time according to the pose change and the second historical pose.

[0005] A second aspect of an embodiment of the present application provides a workpiece positioning system, which comprises: a two-dimensional vision device configured to photograph a target workpiece; and a robot control device connected to the two-dimensional vision device and configured to acquire a first image of the target workpiece photographed by the two-dimensional vision device at a current time; determine a first pose of the target workpiece in a vision coordinate system according to the first image; acquire a first historical pose of the target workpiece in the vision coordinate system when the target workpiece is in a historical pose, and a second historical pose of a tool center point of a robot in the vision coordinate system when a workpiece in the historical pose is worked on; determine a pose change of the target workpiece in the vision coordinate system according to the first pose and the first historical pose; and determine a target pose of the tool center point of the robot in the vision coordinate system when the target workpiece is worked on at the current time according to the pose change and the second historical pose.

[0006] The third aspect of the embodiments of the present application provides a robot control device, the robot control device comprising a processor, a memory and a communication circuit, the processor being coupled to the memory and the communication circuit respectively, the memory storing program data, and the processor implementing the steps in the above method by executing the program data in the memory.

[0007] The fourth aspect of the embodiments of the present application provides a computer readable storage medium, the computer readable storage medium storing a computer program, the computer program being executable by a processor to implement the steps in the above method.

[0008] The beneficial effect is that the present application only uses one coordinate system, i.e. the visual coordinate system, in the process of positioning the workpiece, and the whole process is through calculating the pose change of the target workpiece in the visual coordinate system. Since the pose change of the robot tool center point is the same as the pose change of the target workpiece, the pose of the robot tool center point after the pose change of the target workpiece can be determined, and then the robot can perform work on the target workpiece. Since only one visual coordinate system is used, the present application can avoid complex matrix operation conversion between the visual coordinate system and the robot coordinate system, reduce the calculation amount, and improve the work efficiency. BRIEF DESCRIPTION OF DRAWINGS

[0009] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0010] Figure 1 is a flowchart of an embodiment of the workpiece positioning method of the present application;

[0011] Figure 2 is a schematic diagram of an embodiment of the workpiece pose change of the present application;

[0012] Figure 3 is a structural schematic diagram of the workpiece positioning system of the present application;

[0013] Figure 4 is a structural schematic diagram of an embodiment of the robot control device of the present application;

[0014] Figure 5 is a structural schematic diagram of an embodiment of the computer readable storage medium of the present application. DETAILED DESCRIPTION

[0015] With reference to the drawings of the embodiments of the present application, the technical solutions in the embodiments of the present application will be clearly and completely described. Obviously, the described embodiments are only a part of the embodiments of the present application, but not all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work are within the scope of protection of the present application.

[0016] With reference to Figure 1 , Figure 1 is a flowchart of an embodiment of the workpiece positioning method of the present application. The positioning method comprises:

[0017] S110: obtaining a first image of the target workpiece captured by a two-dimensional vision device at the current time.

[0018] The two-dimensional vision device comprises a 2D camera, and can obtain two-dimensional planar image information of the target workpiece. Meanwhile, the two-dimensional vision device should be fixedly installed at a position and will not change with the movement of the robot, so as to ensure that the captured first image is clear and stable.

[0019] The first image of the target workpiece captured by the two-dimensional vision device can be a grayscale image or a color image. The robot control device obtains the first image captured by the two-dimensional vision device.

[0020] S120: determining a first pose of the target workpiece in a vision coordinate system according to the first image.

[0021] The vision coordinate system is the coordinate system of the two-dimensional vision device itself, and is only related to the parameters of the two-dimensional vision device itself, and is irrelevant to other factors.

[0022] Comprehensive determination of the state of an object in a three-dimensional space requires three position (Position) degrees of freedom and three orientation (Orientation) degrees of freedom. The former is used to determine the specific position of the object in space, and the latter is used to determine the pointing direction of the object. The state of the six degrees of freedom of the object is called the posture of the object.

[0023] After obtaining the first image, target recognition is performed on the first image to obtain the first pose of the target workpiece in the vision coordinate system.

[0024] S130: obtaining a first historical pose of the target workpiece in the vision coordinate system when the target workpiece is in a historical pose, and a second historical pose of the tool center point of the robot in the vision coordinate system when the target workpiece in the historical pose is subjected to work.

[0025] The target workpiece in step S130 can be the same workpiece as in step S120, or can not be the same workpiece, but has the same shape.

[0026] For example, when the robot needs to work on the same workpiece at the same work point for multiple times, but the workpiece needs to go through other working procedures between the two adjacent working procedures of the robot, the position of the workpiece will change each time the robot works on the workpiece, and the robot needs to reposition the workpiece each time. At this time, it is determined that the workpiece is in a historical pose when the robot works on the workpiece last time. At this time, the pose of the target workpiece in the vision coordinate system when the robot works on the target workpiece last time is obtained, that is, the first historical pose, and the pose of the tool center point of the robot in the vision coordinate system when the robot works on the target workpiece last time is obtained, that is, the second historical pose.

[0027] For example, when the robot works on multiple target workpieces of the same type and consistent shape in sequence, in order to ensure that the robot can work on the same position point on different target workpieces each time, the robot needs to determine the historical pose of the previous target workpiece in the vision coordinate system when working on the previous target workpiece, that is, the first historical pose, and the pose of the tool center point of the robot in the vision coordinate system when working on the previous target workpiece, that is, the second historical pose.

[0028] Among them, the situation of working on the historical pose target workpiece can be welding the target workpiece with a welding gun, or sucking the target workpiece with a suction cup group and transporting it.

[0029] S140: determining the pose change of the target workpiece in the vision coordinate system according to the first pose and the first historical pose.

[0030] Among them, the pose change of the target workpiece in the vision coordinate system includes the change of the position and the change of the attitude angle.

[0031] S150: determining the target pose of the tool center point of the robot in the vision coordinate system when working on the target workpiece at the current time according to the pose change and the second historical pose.

[0032] Among them, when the robot works on the target workpiece, it is working on the same work point on the target workpiece, and the work point is on the target workpiece, so the pose change of the target workpiece in the vision coordinate system is also the pose change of the work point in the vision coordinate system. Therefore, in order for the robot to be able to work on the same work point, the pose change of the tool center point of the robot in the vision coordinate system needs to be synchronized with the pose change of the work point, so the pose change of the tool center point of the robot is the same as the pose change of the target workpiece, and then according to the pose change of the target workpiece and the second historical pose of the tool center point of the robot, the target pose of the tool center point of the robot in the vision coordinate system when working on the target workpiece at the current time can be determined.

[0033] As can be seen from the above, this application uses only one coordinate system, the visual coordinate system, in the workpiece positioning process. The entire process calculates the pose change of the target workpiece in the visual coordinate system. Since the pose change of the robot tool's center point is the same as that of the target workpiece, the pose of the robot tool's center point after the target workpiece's pose change can be determined, allowing the robot to perform operations on the target workpiece. Because only a single visual coordinate system is used, this application avoids complex matrix operations and transformations between the visual coordinate system and the robot coordinate system, reducing computational load and improving operational efficiency.

[0034] In this embodiment, step S120, which determines the first pose of the target workpiece in the visual coordinate system based on the first image, includes:

[0035] S121: Based on the first image, determine the first coordinates of the first feature point in the visual coordinate system and the second coordinates of the second feature point in the visual coordinate system, wherein the relative poses of the first feature point and the second feature point with respect to the target workpiece are fixed.

[0036] Specifically, the first feature point and the second feature point can be points with obvious features on the target workpiece itself. For example, the first feature point and the second feature point can be vertices of the target workpiece. Alternatively, when the target workpiece itself does not have points with obvious features, obvious feature points can be artificially set on the target workpiece. For example, the first feature point and the second feature point can be drawn on the target workpiece with a marker. Or, the first feature point and the second feature point can also be feature points outside the target workpiece, as long as the relative pose of the first feature point and the second feature point with the target workpiece is fixed. That is, when the pose of the target workpiece changes, the pose of the first feature point and the second feature point will also change, and the pose change of the target workpiece is the same as the pose change of the first feature point and the pose change of the second feature point.

[0037] Please see Figure 2 When the target workpiece is in the first pose, the first feature point on it is denoted as A', and the first coordinate of the first feature point A' is (x3, y3). The second feature point on it is denoted as B', and the second coordinate of the second feature point B' is (x4, y4).

[0038] In this embodiment, step S130, which involves acquiring the first historical pose of the target workpiece in the visual coordinate system when the target workpiece is in a historical pose, includes:

[0039] S131: Obtain the first historical coordinates of the first feature point in the visual coordinate system and the second historical coordinates of the second feature point in the visual coordinate system when the target workpiece is in the historical pose.

[0040] Specifically, see Figure 2 When the target workpiece is in a historical pose, its first feature point is denoted as A, its second feature point is denoted as B, the first historical coordinates of the first feature point A are denoted as (x1, y1), and the second historical coordinates of the second feature point B are denoted as (x2, y2).

[0041] Further, step S140, based on the first pose and the first historical pose, determines the pose change of the target workpiece in the visual coordinate system, including:

[0042] S141: Based on the first coordinate, the second coordinate, the first historical coordinate, and the second historical coordinate, determine the translation and rotation angle of the target workpiece in the visual coordinate system.

[0043] Specifically, the first pose of the target workpiece is calculated based on the first coordinate and the second coordinate, and the first historical pose of the target workpiece is calculated based on the first historical coordinate and the second historical coordinate. Then, based on the first pose and the first historical pose of the target workpiece, the translation and rotation angle of the target workpiece in the visual coordinate system are determined through vector operations, thereby determining the pose change of the target workpiece in the visual coordinate system.

[0044] The steps of determining the translation and rotation angle of the target workpiece in the visual coordinate system based on the first coordinate, the second coordinate, the first historical coordinate, and the second historical coordinate include:

[0045] (a) Based on the first coordinate and the first historical coordinate, determine the first translation amount in the first direction and the second translation amount in the second direction of the target workpiece in the visual coordinate system, wherein the first direction and the second direction are perpendicular.

[0046] (b) Determine the first vector based on the first coordinate and the second coordinate.

[0047] (c) Determine the second vector based on the first historical coordinates and the second historical coordinates.

[0048] (d) Determine the rotation angle of the target workpiece in the visual coordinate system based on the first vector and the second vector.

[0049] Please see Figure 2 The visual coordinate system is OXY, with the positive direction of the X-axis as the first direction and the positive and negative directions of the Y-axis as the second direction. The first and second directions are perpendicular.

[0050] The first translation of the target workpiece in the first direction is (x3 - x1), and the second translation in the second direction is (y3 - y1).

[0051] Determine the first vector based on the first historical coordinates and the second historical coordinates.

[0052] Determine the second vector based on the first and second coordinates.

[0053] According to the first vector Second vector Determine the rotation angle α of the target workpiece in the visual coordinate system, which can be determined using the following formula:

[0054]

[0055]

[0056] Vector calculations can quickly calculate the translation and rotation angles of workpiece pose changes.

[0057] In this embodiment, step S130, which involves acquiring the first historical pose of the target workpiece in the visual coordinate system when the target workpiece is in a historical pose, includes:

[0058] (e) When the target workpiece is in a historical pose, control the two-dimensional vision device to take a picture of the target workpiece to obtain a second image.

[0059] (f) Based on the second image, determine the first historical pose of the target workpiece in the visual coordinate system.

[0060] Specifically, similar to determining the first pose, when the target workpiece is in a historical pose, the two-dimensional vision device is controlled to take a picture of the target workpiece to obtain a second image. Then, the second image is recognized to obtain the first historical pose of the target workpiece in the visual coordinate system.

[0061] Furthermore, the process of obtaining the second historical pose of the robot's tool center point in the visual coordinate system in step S130 includes:

[0062] S132: When the target workpiece is in a historical pose, drag the robot's tool center point to the teaching point on the target workpiece to determine the second historical pose of the tool center point in the visual coordinate system.

[0063] In this process, when the target workpiece is in a historical pose, the robot's tool center point is dragged to the teaching point on the target workpiece. This is called drag teaching. Once the teaching point is determined, the second historical pose of the robot's tool center point in the visual coordinate system is the same as the pose of the teaching point.

[0064] Specifically, the teaching point can be a point on the target workpiece that needs to be worked on.

[0065] Obtaining the second historical pose of the robot tool's center point facilitates subsequent calculation of the target pose of the robot tool's center point after the target workpiece's position changes.

[0066] Specifically, the target pose of the robot tool center point is calculated based on the first translation, the second translation, and the rotation angle calculated in step S140.

[0067] See Figure 2 When the target workpiece is in a historical pose, assuming the robot tool center point is dragged to the teaching point P0 on the target workpiece, the second historical pose of the robot tool center point in the visual coordinate system is the pose of the teaching point P0 in the visual coordinate system. Assuming the pose of the teaching point P0 in the visual coordinate system is (x0, y0, z0, a0, b0, c0), where x0 is the component of P0 on the X-axis in the visual coordinate system, y0 is the component of P0 on the Y-axis in the visual coordinate system, z0 is the component of P0 on the Z-axis in the visual coordinate system, a0 is the pitch angle of P0 in the visual coordinate system, b0 is the yaw angle of P0 in the visual coordinate system, and c0 is the roll angle of P0 in the visual coordinate system, then the second historical pose of the robot tool center point in the visual coordinate system is (x0, y0, z0, a0, b0, c0).

[0068] Simultaneously, since a two-dimensional vision device is used to photograph the target workpiece, the change in the pose of the robot tool's center point along the Z-axis is not considered. Furthermore, because the positional relationship between the teaching point and the first and second feature points on the target workpiece is a fixed relative relationship, the pose of the teaching point at the current moment can be calculated using the principle of translation plus rotation: (x0+x3-x1, y0+y3-y1, z0, a0+α, b0, c0). Thus, the target pose of the robot tool's center point is obtained as (x0+x3-x1, y0+y3-y1, z0, a0+α, b0, c0). In addition to the above, the workpiece positioning method of this application also includes:

[0069] (g) Calibrate the visual coordinate system of the two-dimensional vision device.

[0070] Currently, many calibration methods use a black and white checkerboard calibration board. Two-dimensional vision device calibration refers to establishing the relationship between the pixel positions of an image on a two-dimensional vision device and the positions of points in the scene. Specifically, a standard black and white checkerboard calibration board (e.g., each square is 5mm) can be used. The origin O on the calibration board is determined, and a point on the X-axis is defined as the positive direction of the X-axis, and a point on the Y-axis is defined as the positive direction of the Y-axis. The X-axis and Y-axis are perpendicular.

[0071] (h) Control the robot's tool center point to sequentially reach the origin of the visual coordinate system, a point on the X-axis, and a point on the Y-axis, thereby setting the robot's coordinate system and the visual coordinate system to be the same coordinate system.

[0072] Specifically, the robot tool's center point can be controlled to sequentially reach the origin of the visual coordinate system, a point on the X-axis, and a point on the Y-axis. This can be achieved by dragging and teaching the robot tool's center point to move its position, thereby calibrating the robot coordinate system.

[0073] The purpose of this step is to jointly calibrate the visual coordinate system and the robot coordinate system, making them the same coordinate system. This eliminates the need for complex matrix operations and transformations between the two systems. Essentially, after calibrating the visual and robot coordinate systems to be the same, the pose of the robot's tool center point is the same as its pose in the visual coordinate system, allowing the entire localization method to use only one visual coordinate system.

[0074] Furthermore, before determining the target workpiece's pose pose in the visual coordinate system based on the pose change and the second historical pose, step S150 also includes:

[0075] (i) Determine whether the pose change exceeds the change threshold.

[0076] The purpose of this step is that if the pose change of the target workpiece does not exceed the change threshold, the robot can still perform operations on the target workpiece after the pose change, so there is no need to recalculate the position of the tool center point after the workpiece pose change, thus improving the work efficiency.

[0077] The change threshold can be set by the operator using the translation amount and rotation angle between the first and second poses.

[0078] (j) If the judgment result is yes, then execute the step of determining the target pose of the robot's tool center point in the visual coordinate system when performing operations on the target workpiece at the current moment, based on the pose change and the second historical pose.

[0079] In other words, if the pose change of the target workpiece exceeds the change threshold, it is necessary to determine the target pose of the robot's tool center point in the visual coordinate system, i.e., P0' = (x0 + x3 - x1, y0 + y3 - y1, z0, a0 + α, b0, c0).

[0080] After the above steps, the target pose of the robot tool's center point can be determined, thus achieving workpiece positioning.

[0081] See Figure 3 The workpiece positioning system 1000 includes a two-dimensional vision device 100 and a robot control device 200.

[0082] The two-dimensional vision device 100 is used to photograph the target workpiece.

[0083] The two-dimensional vision device 100 includes a 2D camera, which can obtain two-dimensional planar image information of the target workpiece.

[0084] The robot control device 200 is connected to a two-dimensional vision device to acquire a first image of the target workpiece captured by the two-dimensional vision device at the current moment; based on the first image, it determines the first pose of the target workpiece in the visual coordinate system; it acquires the first historical pose of the target workpiece in the visual coordinate system when the target workpiece is in a historical pose, and the second historical pose of the robot's tool center point in the visual coordinate system when performing operations on the target workpiece in the historical pose; based on the first pose and the first historical pose, it determines the pose change of the target workpiece in the visual coordinate system; based on the pose change and the second historical pose, it determines the target pose of the robot's tool center point in the visual coordinate system when performing operations on the target workpiece at the current moment.

[0085] In other words, the 2D vision device transmits the first and second images of the target workpiece to the robot control device 200. Based on these images, the robot control device 200 determines the first pose and first historical pose of the target workpiece. Through vector operations, it calculates the pose change of the target workpiece. Then, it determines the second historical pose of the robot's tool center point in the visual coordinate system. Since the pose changes of the target workpiece and the robot's tool center point are the same, it further determines the target pose of the robot's tool center point in the visual coordinate system.

[0086] The two-dimensional vision device 100 and the robot control device 200 cooperate with each other to implement the steps of the workpiece positioning method in any of the above embodiments. For detailed steps, please refer to the above embodiments, which will not be repeated here.

[0087] See Figure 4 , Figure 4 This is a schematic diagram of one embodiment of the robot control device of this application. The robot control device 200 includes a processor 210, a memory 220, and a communication circuit 230. The processor 210 is coupled to both the memory 220 and the communication circuit 230. The memory 220 stores program data. The processor 210 executes the program data in the memory 220 to implement the steps in any of the above-described embodiments. Detailed steps can be found in the above-described embodiments and will not be repeated here. The robot control device can be a robot control cabinet.

[0088] See Figure 5 , Figure 5This is a schematic diagram of one embodiment of the computer-readable storage medium of this application. The computer-readable storage medium 400 stores a computer program 410, which can be executed by a processor to implement the steps in any of the above methods.

[0089] Specifically, the computer-readable storage medium 400 can be a USB flash drive, a portable hard drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk, or a device that can store the computer program 410. Alternatively, it can be a server that stores the computer program 410, which can send the stored computer program 410 to other devices for execution, or it can run the stored computer program 410 itself.

[0090] The above description is merely an embodiment of this application and does not limit the patent scope of this application. Any equivalent structural or procedural transformations made using the content of this application's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this application.

Claims

1. A workpiece positioning method, characterized in that, The method includes: Acquire the first image of the target workpiece captured by the 2D vision device at the current moment; Based on the first image, determine the first pose of the target workpiece in the visual coordinate system; The robot obtains the first historical pose of the target workpiece in the visual coordinate system when the target workpiece is in a historical pose, and the second historical pose of the robot's tool center point in the visual coordinate system when the robot performs operations on the target workpiece in the historical pose. Based on the first pose and the first historical pose, determine the pose change of the target workpiece in the visual coordinate system; Based on the pose change and the second historical pose, the target pose of the robot's tool center point in the visual coordinate system is determined when the robot is performing operations on the target workpiece at the current moment. The step of determining the first pose of the target workpiece in the visual coordinate system based on the first image includes: determining the first coordinates of the first feature point in the visual coordinate system and the second coordinates of the second feature point in the visual coordinate system based on the first image, wherein the first feature point and the second feature point are fixed relative to the pose of the target workpiece. The step of obtaining the first historical pose of the target workpiece in the visual coordinate system when the target workpiece is in the historical pose includes: obtaining the first historical coordinates of the first feature point in the visual coordinate system and the second historical coordinates of the second feature point in the visual coordinate system when the target workpiece is in the historical pose. The step of determining the pose change of the target workpiece in the visual coordinate system based on the first pose and the first historical pose includes: determining the translation amount and rotation angle of the target workpiece in the visual coordinate system based on the first coordinate, the second coordinate, the first historical coordinate, and the second historical coordinate.

2. The method according to claim 1, characterized in that, The step of determining the translation and rotation angle of the target workpiece in the visual coordinate system based on the first coordinate, the second coordinate, the first historical coordinate, and the second historical coordinate includes: Based on the first coordinates and the first historical coordinates, the first translation amount in the first direction and the second translation amount in the second direction of the target workpiece are determined in the visual coordinate system, wherein the first direction and the second direction are perpendicular. Determine the first vector based on the first coordinate and the second coordinate; Determine the second vector based on the first historical coordinates and the second historical coordinates; The rotation angle of the target workpiece in the visual coordinate system is determined based on the first vector and the second vector.

3. The method according to claim 1, characterized in that, The step of obtaining the first historical pose of the target workpiece in the visual coordinate system when the target workpiece is in a historical pose includes: When the target workpiece is in the historical pose, the two-dimensional vision device is controlled to capture an image of the target workpiece to obtain a second image; Based on the second image, the first historical pose of the target workpiece in the visual coordinate system is determined.

4. The method according to claim 1, characterized in that, The step of obtaining the second historical pose of the robot's tool center point in the visual coordinate system includes: When the target workpiece is in the historical pose, the tool center point of the robot is dragged to the teaching point on the target workpiece, thereby determining the second historical pose of the tool center point in the visual coordinate system.

5. The method according to claim 1, characterized in that, The method further includes: Calibrate the visual coordinate system of the two-dimensional vision device; The robot's tool center point is controlled to sequentially reach the origin of the visual coordinate system, a point on the X-axis, and a point on the Y-axis, thereby setting the robot's coordinate system and the visual coordinate system to be the same coordinate system.

6. The method according to claim 1, characterized in that, When determining the current moment for performing operations on the target workpiece based on the pose change and the second historical pose, before the target pose in the visual coordinate system is reached, the robot's tool center point further includes: Determine whether the pose change exceeds a change threshold; If the determination result is yes, then the step of determining the target pose of the robot's tool center point in the visual coordinate system when performing operations on the target workpiece at the current moment based on the pose change and the second historical pose is executed.

7. A workpiece positioning system, characterized in that, For performing the method as described in any one of claims 1 to 6, the workpiece positioning system comprises: Two-dimensional vision equipment is used to photograph target workpieces; A robot control device, connected to the two-dimensional vision device, is used to acquire a first image of the target workpiece captured by the two-dimensional vision device at the current moment; determine the first pose of the target workpiece in the visual coordinate system based on the first image; acquire the first historical pose of the target workpiece in the visual coordinate system when the target workpiece is in a historical pose, and the second historical pose of the robot's tool center point in the visual coordinate system when performing operations on the target workpiece in the historical pose; determine the pose change of the target workpiece in the visual coordinate system based on the first pose and the first historical pose; and determine the target pose of the robot's tool center point in the visual coordinate system when performing operations on the target workpiece at the current moment based on the pose change and the second historical pose.

8. A robot control device, characterized in that, The robot control device includes a processor, a memory, and a communication circuit. The processor is coupled to the memory and the communication circuit. The memory stores program data. The processor executes the program data in the memory to implement the steps in the method as described in any one of claims 1-6.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that can be executed by a processor to implement the steps of the method as described in any one of claims 1-6.

Images