Methods, systems, media, and apparatuses for robotic spatial localization

Abstract

The application provides a robot space positioning method, system, medium and equipment, comprising: using a robot standard three-point method to calibrate a user coordinate system of a block plane; using an upper calibration hole and a lower calibration hole on the block, a camera takes a photo; using a laser emitted by a distance sensor to penetrate the upper calibration hole and the lower calibration hole on the block; using a visual calibration board, fixing the visual calibration board on a surface of a product to be measured, taking a photo of the visual calibration board by using the camera, comparing a specific pixel value of an image in the visual calibration board with an actual size of the calibration board to obtain an actual size value corresponding to one pixel, and obtaining an actual offset distance after positioning by using the camera. The application solves the problem of inconvenient power supply of a product semi-finished product by adopting a structure that a product screen faces downward, a PCB board faces upward, and a robot detects with a camera and a height sensor below.

Description

Technical Field

[0001] This invention relates to the technical field of robot positioning, specifically to methods, systems, media, and devices for robot spatial positioning, and more particularly to a method for robot spatial positioning using a camera and a height sensor. Background Technology

[0002] A robot is a machine that performs tasks automatically. It can be directed by humans, run pre-programmed programs, or act according to principles established using artificial intelligence technology. The task of robots is to assist or replace humans in jobs such as manufacturing, construction, or dangerous work.

[0003] Patent document CN111272166A discloses a spatial positioning method and system for a robot guided by laser ranging. The method establishes a communication connection between the robot and a PLC module; establishes basic values ​​for the robot's spatial coordinates; the PLC module acquires the robot's movement data through an analog data acquisition module; the PLC module generates offset and compensation data for the robot using a preset algorithm; and locates the robot's current position. This invention constructs a completely new system and develops corresponding algorithms to achieve position offset and compensation during robot spatial positioning. However, this invention only monitors the position of the robot's end effector using a laser ranging sensor for position confirmation and control, without controlling the robot's end effector itself, thus limiting its application.

[0004] Patent document CN110497417A discloses a multi-axis robot based on a high-precision three-dimensional spatial positioning system, including a high-precision three-dimensional spatial positioning system, a multi-axis robot, and an end-effector control system. The three-dimensional spatial positioning system includes a high-precision positioning probe, a laser positioning base station, and a positioning assistance module. The multi-axis robot includes an end-effector axis and a robot body. The end-effector control system processes coordinate information and controls the robot's machining trajectory. This invention uses multiple high-precision laser positioning points at different locations on the end-effector to obtain its pose state, but this method is costly.

[0005] Therefore, a new technical solution is needed to improve the above-mentioned technical problems. Summary of the Invention

[0006] In view of the deficiencies in the prior art, the purpose of this invention is to provide a method, system, medium and device for robot spatial positioning.

[0007] According to the present invention, a method for robot spatial positioning includes the following steps:

[0008] Step S1: Use the robot's three-point method to establish the user coordinate system 1 for the calibration block plane;

[0009] Step S2: Using the upper and lower calibration holes on the calibration block where the axes coincide, take a picture with the camera to obtain an image;

[0010] Step S3: Use the laser emitted by the distance sensor to simultaneously penetrate the upper and lower calibration holes on the calibration block plate where the axes coincide;

[0011] Step S4: Using a visual calibration plate, fix the calibration plate on the surface of the product being tested, take a picture of the visual calibration plate with a camera to obtain the specific pixel value of the image in the visual calibration plate, compare it with the actual size of the calibration plate to obtain the actual size value corresponding to 1 pixel, and obtain the actual offset distance after positioning by taking a picture with the camera.

[0012] Step S5: Use the camera to locate the four corners of the product screen and obtain the X and Y coordinates of the four corners of the product screen in the robot user coordinate system 1;

[0013] Step S6: Use distance sensors to detect the height of the four corners of the product screen and obtain the Z coordinate values ​​of the four corners of the product screen in the robot user coordinate system 1;

[0014] Step S7: Using the spatial coordinates of the four corners of the product screen in the robot user coordinate system 1, establish a new user coordinate system 2. The origin of this coordinate system coincides with a corner of the product screen, and the X and Y axes coincide with the angular directions of the non-diagonal positions of the product screen.

[0015] Step S8: Using trigonometric formulas, obtain the offset angles of the camera axis and the perpendicular direction of the measured surface along the X-axis and Y-axis in the robot user coordinate system 1, respectively.

[0016] Step S9: Utilize the high degree of freedom of the six-axis robot to perform angular offsets along the X-axis and Y-axis directions, so that the camera on the robot gripper always remains perpendicular to the product screen.

[0017] Preferably, in step S1, when the six-axis robot moves in the user coordinate system, it can move along the three sides of the calibration block.

[0018] Preferably, in step S2, if the two circular holes in the photograph are concentric, it is considered that the camera axis coincides with the axis of the upper and lower calibration holes; if the circular holes in the photograph are not concentric, it is considered that the camera axis does not coincide with the axis of the upper and lower calibration holes, and further adjustment is required.

[0019] Preferably, in step S3, if the laser penetrates the upper and lower calibration holes on the calibration block plate whose axes coincide and are located at the center of the circular hole, then the distance sensor is considered to be perpendicular to the calibration block; otherwise, the distance sensor is considered not to be perpendicular to the calibration block and further adjustment is required.

[0020] The present invention also provides a robot spatial positioning system, the system comprising the following modules:

[0021] Module M1: User coordinate system 1 for calibration block plane using the robot's three-point method;

[0022] Module M2: The camera takes pictures by using the upper and lower calibration holes on the calibration block where the axes coincide;

[0023] Module M3: Utilizes a laser emitted by a distance sensor to simultaneously penetrate the upper and lower calibration holes on the calibration block plate where the axes coincide.

[0024] Module M4: Using a visual calibration plate, the calibration plate is fixed on the surface of the product being tested. A camera is used to take a picture of the visual calibration plate to obtain the specific pixel value of the image in the visual calibration plate. This value is compared with the actual size of the calibration plate to obtain the actual size value corresponding to one pixel. The actual offset distance is obtained after positioning by taking a picture with the camera.

[0025] Module M5: Uses a camera to locate the four corners of the product screen and obtains the X and Y coordinates of the four corners of the product screen in the robot user coordinate system 1;

[0026] Module M6: Uses distance sensors to detect the height of the four corners of the product screen and obtains the Z coordinate values ​​of the four corners of the product screen in the robot user coordinate system 1;

[0027] Module M7: Using the spatial coordinates of the four corners of the product screen in the robot user coordinate system 1, establish a new user coordinate system 2. The origin of this coordinate system coincides with a corner of the product screen, and the X and Y axes coincide with the angular directions of non-diagonal positions on the product screen.

[0028] Module M8: Using trigonometric formulas, the offset angles of the camera axis and the perpendicular direction of the measured surface along the X-axis and Y-axis in the robot user coordinate system 1 are obtained respectively;

[0029] Module M9: Utilizing the high degree of freedom of a six-axis robot, it performs angular offsets along the X and Y axes to ensure that the camera on the robot gripper remains perpendicular to the product screen.

[0030] Preferably, when the six-axis robot in module M1 moves in the user coordinate system, it can move along the three sides of the calibration block.

[0031] Preferably, in module M2, if the two circular holes in the photo are concentric, it is considered that the camera axis coincides with the axis of the upper and lower calibration holes; if the circular holes in the photo are not concentric, it is considered that the camera axis does not coincide with the axis of the upper and lower calibration holes, and further adjustment is required.

[0032] Preferably, in module M3, if the laser penetrates the upper and lower calibration holes on the calibration block plate and their axes coincide at the center of the circular hole, then the distance sensor is considered to be perpendicular to the calibration block; otherwise, the distance sensor is considered not to be perpendicular to the calibration block and further adjustment is required.

[0033] The present invention also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the steps of the robot spatial positioning method described above.

[0034] The present invention also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program, when executed by the processor, implements the steps of the robot spatial positioning method described above.

[0035] Compared with the prior art, the present invention has the following beneficial effects:

[0036] 1. This invention solves the problem of inconvenient power-on for semi-finished products by adopting a structure in which the product screen faces down, the PCB board faces up, and a robot with a camera and height sensor below performs detection.

[0037] 2. This invention uses a structural limiting method to fix the position and parallel state of the camera and the height sensor, thus ensuring the relative position of the camera and the height sensor.

[0038] 3. This invention solves the problem of not being able to obtain the coordinate position of the workpiece's measured point in the robot coordinate system by using the camera's planar positioning and the height sensor's height measurement;

[0039] 4. This invention establishes a robot user coordinate system by obtaining the spatial coordinates of three points on the workpiece's measured surface, thus solving the problems of the workpiece and robot coordinate system not being parallel and the robot's movement direction having errors with the workpiece's measured surface.

[0040] 5. This invention obtains the angle between the camera axis and the measured surface by measuring the height of 3 points on the measured plane, and then rotates the camera using a 6-axis robot. This solves the problem of the camera not being perpendicular to the measured surface of the workpiece due to tilt caused by workpiece assembly errors or uneven placement. Attached Figure Description

[0041] Other features, objects, and advantages of the present invention will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings:

[0042] Figure 1 This is a schematic diagram of the equipment's outer frame;

[0043] Figure 2 This is a schematic diagram of the calibration block;

[0044] Figure 3 A schematic diagram of a robot gripper;

[0045] Figure 4 This is a schematic diagram of a standard visual calibration board;

[0046] Figure 5 A schematic diagram showing the misalignment (NG) of the upper and lower calibration holes during camera verticality calibration;

[0047] Figure 6 A schematic diagram showing the concentricity (OK) of the upper and lower calibration holes when calibrating the camera's verticality;

[0048] Figure 7 A schematic diagram showing the coordinates of product test points obtained via camera;

[0049] Figure 8 This is a schematic diagram showing the Z-axis coordinates of the product test points obtained through a height sensor.

[0050] Figure 9 A schematic diagram showing the spatial coordinates of each product test point;

[0051] Figure 10 A schematic diagram illustrating the establishment of a robot user coordinate system using the spatial coordinates of three points;

[0052] Figure 11 A schematic diagram illustrating the offset angles of the camera axis and the measured surface perpendicular to each other along the X-axis and Y-axis in the robot user coordinate system, respectively, using trigonometric function formulas;

[0053] Figure 12 This diagram illustrates how a robot rotates and shifts along the X-axis and Y-axis in the user coordinate system at angles α and β, respectively, so that the camera is perpendicular to the plane of the product being measured.

[0054] in:

[0055] Equipment outer frame 1, sub-indication hole 7

[0056] Calibration Block 2, Camera 8

[0057] Product clamp 3 Camera position adjustment block 9

[0058] Six-axis robot 4 Distance sensor 10

[0059] Robot gripper 5 Sensor position adjustment block 11

[0060] Top calibration hole 6, standard vision calibration plate 12 Detailed Implementation

[0061] The present invention will now be described in detail with reference to specific embodiments. These embodiments will help those skilled in the art to further understand the present invention, but do not limit the invention in any way. It should be noted that those skilled in the art can make several changes and improvements without departing from the concept of the present invention. These all fall within the protection scope of the present invention.

[0062] Example 1:

[0063] According to the present invention, a method for robot spatial positioning includes the following steps:

[0064] Step S1: Use the robot's three-point method to create the user coordinate system 1 for the calibration block plane; when the six-axis robot moves in the user coordinate system, it can move along the three sides of the calibration block.

[0065] Step S2: Using the upper and lower calibration holes on the calibration block that coincide in axis, take a picture with the camera; if the two holes in the picture are concentric, it is assumed that the camera axis coincides with the axis of the upper and lower calibration holes; if the holes in the picture are not concentric, it is assumed that the camera axis does not coincide with the axis of the upper and lower calibration holes, and further adjustment is required.

[0066] Step S3: Using the laser emitted by the distance sensor, simultaneously penetrate the upper and lower calibration holes on the calibration block plate whose axes coincide. If the laser penetrates the upper and lower calibration holes on the calibration block plate at the axis of the circular hole, the distance sensor is considered to be perpendicular to the calibration block. Otherwise, the distance sensor is considered not to be perpendicular to the calibration block and further adjustment is required.

[0067] Step S4: Using a visual calibration plate, fix the calibration plate on the surface of the product being tested, take a picture of the visual calibration plate with a camera to obtain the specific pixel value of the image in the visual calibration plate, compare it with the actual size of the calibration plate to obtain the actual size value corresponding to 1 pixel, and obtain the actual offset distance after positioning by taking a picture with the camera.

[0068] Step S5: Use the camera to locate the four corners of the product screen and obtain the X and Y coordinates of the four corners of the product screen in the robot user coordinate system 1;

[0069] Step S6: Use distance sensors to detect the height of the four corners of the product screen and obtain the Z coordinate values ​​of the four corners of the product screen in the robot user coordinate system 1;

[0070] Step S7: Using the spatial coordinates of the four corners of the product screen in the robot user coordinate system 1, establish a new user coordinate system 2. The origin of this coordinate system coincides with a corner of the product screen, and the X and Y axes coincide with the angular directions of the non-diagonal positions of the product screen.

[0071] Step S8: Using trigonometric formulas, obtain the offset angles of the camera axis and the perpendicular direction of the measured surface along the X-axis and Y-axis in the robot user coordinate system 1, respectively.

[0072] Step S9: Utilize the high degree of freedom of the six-axis robot to perform angular offsets along the X-axis and Y-axis directions, so that the camera on the robot gripper always remains perpendicular to the product screen.

[0073] The present invention also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the steps of the robot spatial positioning method described above.

[0074] The present invention also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program, when executed by the processor, implements the steps of the robot spatial positioning method described above.

[0075] The present invention also provides a robot spatial positioning system, which can be implemented by executing the process steps of the robot spatial positioning method. That is, those skilled in the art can understand the robot spatial positioning method as a preferred embodiment of the robot spatial positioning system.

[0076] Example 2:

[0077] The present invention also provides a robot spatial positioning system, the system comprising the following modules:

[0078] Module M1: The user coordinate system 1 for the calibration block plane is constructed using the robot's three-point method; when the six-axis robot moves in the user coordinate system, it can move along the three sides of the calibration block.

[0079] Module M2: The camera takes a picture using the upper and lower calibration holes on the calibration block that coincide in axis. If the two holes in the picture are concentric, it is assumed that the camera axis coincides with the axis of the upper and lower calibration holes. If the holes in the picture are not concentric, it is assumed that the camera axis does not coincide with the axis of the upper and lower calibration holes, and further adjustment is required.

[0080] Module M3: Utilizes the laser emitted by the distance sensor to simultaneously penetrate the upper and lower calibration holes on the calibration block plate where their axes coincide. If the laser penetrates the upper and lower calibration holes on the calibration block plate at the axis of the circular hole, the distance sensor is considered to be perpendicular to the calibration block; otherwise, the distance sensor is considered not to be perpendicular to the calibration block, and further adjustment is required.

[0081] Module M4: Using a visual calibration plate, the calibration plate is fixed on the surface of the product being tested. A camera is used to take a picture of the visual calibration plate to obtain the specific pixel value of the image in the visual calibration plate. This value is compared with the actual size of the calibration plate to obtain the actual size value corresponding to one pixel. The actual offset distance is obtained after positioning by taking a picture with the camera.

[0082] Module M5: Uses a camera to locate the four corners of the product screen and obtains the X and Y coordinates of the four corners of the product screen in the robot user coordinate system 1;

[0083] Module M6: Uses distance sensors to detect the height of the four corners of the product screen and obtains the Z coordinate values ​​of the four corners of the product screen in the robot user coordinate system 1;

[0084] Module M7: Using the spatial coordinates of the four corners of the product screen in the robot user coordinate system 1, establish a new user coordinate system 2. The origin of this coordinate system coincides with a corner of the product screen, and the X and Y axes coincide with the angular directions of non-diagonal positions on the product screen.

[0085] Module M8: Using trigonometric formulas, the offset angles of the camera axis and the perpendicular direction of the measured surface along the X-axis and Y-axis in the robot user coordinate system 1 are obtained respectively;

[0086] Module M9: Utilizing the high degree of freedom of a six-axis robot, it performs angular offsets along the X and Y axes to ensure that the camera on the robot gripper remains perpendicular to the product screen.

[0087] Example 3:

[0088] Reference Figure 1 and Figure 2 This invention utilizes a six-axis robot 4 carrying a camera 8 and a distance sensor 10 to detect a target workpiece. By using the spatial coordinates of three points on the measured surface of the workpiece, the planar information of the measured surface is obtained. The six-axis robot ensures that the camera is always perpendicular to the measured surface of the workpiece.

[0089] Reference Figure 3 and Figure 4 In the equipment frame 1, the six-axis robot 4 moves along the lower side of the equipment frame with the robot gripper 5. In the middle is the product placement fixture 3. When the product placement fixture 3 is removed, the calibration block 2 can be installed. The positions of the camera 8 and distance sensor 10 on the robot gripper 5 can be adjusted by adjusting the camera position adjustment block 9 and the sensor position adjustment block 11 through the upper calibration hole 6 and the lower calibration hole 7 on the calibration block 2.

[0090] After mixing Figure 5 and Figure 6After completing the position adjustment and calibration of the camera 8 and distance sensor 10 on the robot gripper 5, the calibration block 2 is removed, the product fixture 3 is installed, and the standard vision calibration plate 12 is placed on the product fixture to calculate the pixel size of the camera 8.

[0091] After calculating the pixel size of camera 8, the standard vision calibration plate 12 is removed and the actual product to be measured is placed on it. The three spatial coordinates of the workpiece are obtained by positioning camera 8 on robot gripper 5 and confirming the height of distance sensor 10. The user coordinate system parallel to the workpiece and the tilt angle between camera 8 and workpiece are calculated by the internal calculation of six-axis robot 4. The tilt angle between camera 8 and workpiece is corrected by six-axis robot 4 to ensure that camera 8 and workpiece remain perpendicular at all times.

[0092] Calibration steps:

[0093] The robot coordinate system is aligned with the calibration block direction: The user coordinate system 1 of the calibration block plane is constructed using the standard three-point method of the robot, so that when the six-axis robot 4 moves in this user coordinate system, it can move along the three sides of the calibration 2.

[0094] Camera perpendicular to calibration block: Using the coincident circular holes 6 & 7 on calibration block 2, camera 8 takes a picture. If the two circular holes in the picture are concentric, it is considered that the camera axis coincides with the axis of the two circular holes 6 & 7; if the circular holes in the picture are not concentric, it is considered that the camera axis does not coincide with the axis of the two circular holes 6 & 7, and further adjustment is required.

[0095] Distance sensor perpendicular to calibration block: The laser emitted by the distance sensor simultaneously penetrates the small circular holes 6 & 7 on the calibration block 2 plate with their axial centers aligned. If the distance sensor 10 is at the axial center of the circular hole, it is considered that the distance sensor 10 is perpendicular to the calibration block 2; otherwise, it is considered that the distance sensor 10 is not perpendicular to the calibration block 2 and further adjustment is required.

[0096] Camera and robot coordinate system calibration: Using a vision calibration plate, the calibration plate is fixed on the surface of the product being tested. The camera takes a picture of the vision calibration plate to obtain the specific pixel value of the image in the vision calibration plate. The value is compared with the actual size of the calibration plate to obtain the actual size value corresponding to 1 pixel. Thus, the actual offset distance can be obtained after positioning by taking a picture with the camera.

[0097] The product screen is placed face down, and a person manually plugs in a flat cable to power on the product, resulting in a white screen. A six-axis robot 4, equipped with camera 8, moves inside the device, taking pictures at approximately the three corners of the white screen. The offset values ​​are obtained through camera 8, yielding the (X, Y) coordinates of each of the three corner points. Figure 7 As shown.

[0098] The six-axis robot 4 compensates for the offset value of camera 8 and the distance value between camera 8 and height sensor 10. The height sensor 10 is used to obtain the Z-coordinates of the three corners of the white screen. Figure 8 As shown. This gives us the spatial coordinates (X, Y, Z) of the three corners of the white screen, as follows. Figure 9 As shown.

[0099] Using the spatial coordinates of three points, we can establish a coordinate system (robot user coordinate system 2), such as... Figure 10 As shown. Using trigonometric formulas, the offset angles of the camera axis perpendicular to the measured surface along the X-axis and Y-axis in the robot user coordinate system 1 can be obtained, such as... Figure 11 As shown.

[0100] By rotating the robot along the X-axis and Y-axis at angles α and β respectively in the user coordinate system 1, the camera is made perpendicular to the plane of the product being measured. Figure 12 As shown. Afterwards, the robot translates in user coordinate system 2, meaning the camera remains perpendicular to the plane of the product being measured.

[0101] Those skilled in the art can understand this embodiment as a more specific description of Embodiment 1 and Embodiment 2.

[0102] Those skilled in the art will understand that, besides implementing the system and its various devices, modules, and units provided by this invention in the form of purely computer-readable program code, the same functions can be achieved entirely through logical programming of the method steps, making the system and its various devices, modules, and units of this invention function in the form of logic gates, switches, application-specific integrated circuits, programmable logic controllers, and embedded microcontrollers. Therefore, the system and its various devices, modules, and units provided by this invention can be considered as a hardware component, and the devices, modules, and units included therein for implementing various functions can also be considered as structures within the hardware component; alternatively, the devices, modules, and units for implementing various functions can be considered as both software modules implementing the method and structures within the hardware component.

[0103] Specific embodiments of the present invention have been described above. It should be understood that the present invention is not limited to the specific embodiments described above, and those skilled in the art can make various changes or modifications within the scope of the claims, which do not affect the essence of the present invention. Unless otherwise specified, the embodiments and features described in this application can be arbitrarily combined with each other.

Claims

1. A method for robot spatial positioning, characterized in that, The method includes the following steps: Step S1: Use the robot's three-point method to establish the user coordinate system 1 for the calibration block plane; Step S2: Using the upper and lower calibration holes on the calibration block where the axes coincide, take a picture with the camera to obtain an image; Step S3: Use the laser emitted by the distance sensor to simultaneously penetrate the upper and lower calibration holes on the calibration block plate where the axes coincide; Step S4: Using a visual calibration plate, fix the calibration plate on the surface of the product being tested, take a picture of the visual calibration plate with a camera to obtain the specific pixel value of the image in the visual calibration plate, compare it with the actual size of the calibration plate to obtain the actual size value corresponding to 1 pixel, and obtain the actual offset distance after positioning by taking a picture with the camera. Step S5: Use the camera to locate the four corners of the product screen and obtain the X and Y coordinates of the four corners of the product screen in the robot user coordinate system 1; Step S6: Use distance sensors to detect the height of the four corners of the product screen and obtain the Z coordinate values ​​of the four corners of the product screen in the robot user coordinate system 1; Step S7: Using the spatial coordinates of the four corners of the product screen in the robot user coordinate system 1, establish a new user coordinate system 2. The origin of this coordinate system coincides with a corner of the product screen, and the X and Y axes coincide with the angular directions of the non-diagonal positions of the product screen. Step S8: Using trigonometric formulas, obtain the offset angles of the camera axis and the perpendicular direction of the measured surface along the X-axis and Y-axis in the robot user coordinate system 1, respectively. Step S9: Utilize the high degree of freedom of the six-axis robot to perform angular offsets along the X-axis and Y-axis directions, so that the camera on the robot gripper always remains perpendicular to the product screen. And when acquiring the Z coordinate value, the known distance offset between the camera and the distance sensor is compensated.

2. The robot spatial positioning method according to claim 1, characterized in that, In step S1, when the six-axis robot moves in the user coordinate system, it can move along the three sides of the calibration block.

3. The robot spatial positioning method according to claim 1, characterized in that, In step S2, if the two circular holes in the photo are concentric, it is assumed that the camera axis coincides with the axis of the upper and lower calibration holes; if the circular holes in the photo are not concentric, it is assumed that the camera axis does not coincide with the axis of the upper and lower calibration holes, and further adjustment is required.

4. The robot spatial positioning method according to claim 1, characterized in that, In step S3, if the laser penetrates the upper and lower calibration holes on the calibration block and their axes coincide at the center of the circular hole, then the distance sensor is considered to be perpendicular to the calibration block; otherwise, the distance sensor is considered not to be perpendicular to the calibration block and further adjustment is required.

5. A robot spatial positioning system, characterized in that, The system includes the following modules: Module M1: User coordinate system 1 for calibration block plane using the robot's three-point method; Module M2: The camera takes pictures by using the upper and lower calibration holes on the calibration block where the axes coincide; Module M3: Utilizes a laser emitted by a distance sensor to simultaneously penetrate the upper and lower calibration holes on the calibration block plate where the axes coincide. Module M4: Using a visual calibration plate, the calibration plate is fixed on the surface of the product being tested. A camera is used to take a picture of the visual calibration plate to obtain the specific pixel value of the image in the visual calibration plate. This value is compared with the actual size of the calibration plate to obtain the actual size value corresponding to one pixel. The actual offset distance is obtained after positioning by taking a picture with the camera. Module M5: Uses a camera to locate the four corners of the product screen and obtains the X and Y coordinates of the four corners of the product screen in the robot user coordinate system 1; Module M6: Uses distance sensors to detect the height of the four corners of the product screen and obtains the Z coordinate values ​​of the four corners of the product screen in the robot user coordinate system 1; Module M7: Using the spatial coordinates of the four corners of the product screen in the robot user coordinate system 1, establish a new user coordinate system 2. The origin of this coordinate system coincides with a corner of the product screen, and the X and Y axes coincide with the angular directions of non-diagonal positions on the product screen. Module M8: Using trigonometric formulas, the offset angles of the camera axis and the perpendicular direction of the measured surface along the X-axis and Y-axis in the robot user coordinate system 1 are obtained respectively; Module M9: Utilizing the high degree of freedom of a six-axis robot, it performs angular offsets along the X and Y axes to ensure that the camera on the robot gripper remains perpendicular to the product screen. And when acquiring the Z coordinate value, the known distance offset between the camera and the distance sensor is compensated.

6. The robot spatial positioning system according to claim 5, characterized in that, When the six-axis robot in module M1 moves in the user coordinate system, it can move along the three sides of the calibration block.

7. The robot spatial positioning system according to claim 5, characterized in that, In module M2, if the two circular holes in the photo are concentric, it is assumed that the camera axis coincides with the axis of the upper and lower calibration holes; if the circular holes in the photo are not concentric, it is assumed that the camera axis does not coincide with the axis of the upper and lower calibration holes, and further adjustment is required.

8. The robot spatial positioning system according to claim 5, characterized in that, In module M3, if the laser penetrates the upper and lower calibration holes on the calibration block and their axes coincide at the center of the circular hole, then the distance sensor is considered to be perpendicular to the calibration block; otherwise, the distance sensor is considered not to be perpendicular to the calibration block and further adjustment is required.

9. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by the processor, it implements the steps of the robot spatial positioning method according to any one of claims 1 to 4.

10. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the computer program is executed by the processor, it implements the steps of the robot spatial positioning method according to any one of claims 1 to 4.

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