Precision Detection Method, System and Device for Robot Hand-Eye Calibration

Abstract

The present invention provides a method, system and device for detecting the accuracy of robot hand-eye calibration. The method includes: dividing a target accuracy task to be measured into several coordinate system accuracy tasks to be measured; obtaining the actual flange coordinates of a point to be measured, the actual base coordinates, actual camera coordinates and actual fixture coordinates corresponding to the actual flange coordinates; dividing a random number into secret shares; distributing each secret share to the actual base coordinates, actual camera coordinates and actual fixture coordinates to form a first coordinate to be measured, a second coordinate to be measured and a third coordinate to be measured; sending the first coordinate to be measured and the actual flange coordinates to the base coordinate system; sending the second coordinate to be measured and the actual flange coordinates to the camera coordinate system; sending the third coordinate to be measured and the actual flange coordinates to the fixture coordinate system. Determining whether the target detection accuracy meets the preset accuracy requirements through the secret shares fed back by each coordinate system; making it simpler to detect the target detection accuracy.

Description

Technical Field

[0001] The present invention relates to the technical field of industrial robot precision detection, and particularly relates to a precision detection method, system and device for robot hand-eye calibration. Background Art

[0002] With the rapid development of industrial automation and intelligent manufacturing, robots are increasingly widely used in production lines. Hand-eye calibration refers to a series of image processing and feature extraction processes carried out in a three-dimensional scene, aiming to make the results obtained by three-dimensional reconstruction as close as possible to the true values. Therefore, robot hand-eye calibration is an important part of the robot vision system, and its accuracy directly affects the accuracy and efficiency of robot operations.

[0003] In the prior art, most of the precision detection methods for hand-eye calibration adopt an indirect verification method, that is, after hand-eye calibration is completed, the calibration accuracy is evaluated by controlling the robot to move to a specific position and comparing the difference between the actual position and the expected position, resulting in a low precision detection efficiency for this method. Summary of the Invention

[0004] The purpose of the present invention is to provide a precision detection method, system and device for robot hand-eye calibration to solve the problems proposed in the above background art. By adopting the above technical solutions, it is realized to determine whether the target detection accuracy meets the preset accuracy requirements through the secret shares fed back by the base coordinate system, the secret shares fed back by the camera coordinate system, and the secret shares fed back by the fixture coordinate system.

[0005] In a first aspect, the present disclosure provides a precision detection method for robot hand-eye calibration, which is applied to a terminal total control system and includes:

[0006] Determine a target precision task to be measured, and divide the target precision task to be measured into several coordinate system precision tasks to be measured, where the coordinate system precision tasks to be measured include the precision to be measured of the base coordinate system, the precision to be measured of the camera coordinate system, and the precision to be measured of the fixture coordinate system;

[0007] Obtain the actual flange coordinates of several points to be measured, and obtain the actual base coordinates, actual camera coordinates, and actual fixture coordinates corresponding to the actual flange coordinates;

[0008] Obtain a random number, and divide the random number into at least four secret shares through secret share division;

[0009] Allocate each of the secret shares to the actual base coordinates, the actual camera coordinates, and the actual fixture coordinates to respectively form a first coordinate to be measured, a second coordinate to be measured, and a third coordinate to be measured;

[0010] Send the first coordinate to be measured and the actual flange coordinate to the base coordinate system. When the first coordinate to be measured is detected to meet the preset accuracy, the base coordinate system obtains the corresponding secret share;

[0011] Send the second coordinate to be measured and the actual flange coordinate to the camera coordinate system. When the second coordinate to be measured is detected to meet the preset accuracy, the camera coordinate system obtains the corresponding secret share;

[0012] And send the third coordinate to be measured and the actual flange coordinate to the fixture coordinate system. When the third coordinate to be measured is detected to meet the preset accuracy, the fixture coordinate system obtains the corresponding secret share.

[0013] In some embodiments, the accuracy detection method further includes:

[0014] Receive the secret share feedback from the base coordinate system, the secret share feedback from the camera coordinate system, and the secret share feedback from the fixture coordinate system;

[0015] Calculate the inspection task for measuring the accuracy to be measured through each secret share, and determine whether the inspection task for measuring the accuracy to be measured is the same as the target task for measuring the accuracy to be measured;

[0016] When the inspected accuracy to be measured is the same as the target task for measuring the accuracy to be measured, it is determined that the target detection accuracy task meets the preset accuracy requirements.

[0017] In some embodiments, after calculating the inspection task for measuring the accuracy to be measured through each secret share and determining whether the inspection task for measuring the accuracy to be measured is the same as the target task for measuring the accuracy to be measured, the method further includes:

[0018] When the inspected accuracy to be measured is not the same as the target task for measuring the accuracy to be measured, adjust the first transformation matrix between the camera coordinate system and the base coordinate system, the second transformation matrix between the flange coordinate system and the fixture coordinate system, and the third transformation matrix between the camera coordinate system and the fixture coordinate system.

[0019] In some embodiments, the step of allocating each secret share to the actual base coordinate, the actual camera coordinate, and the actual fixture coordinate to form the first coordinate to be measured, the second coordinate to be measured, and the third coordinate to be measured respectively includes:

[0020] Allocate each secret share equally to the actual base coordinate, the actual camera coordinate, and the actual fixture coordinate to form the first coordinate to be measured, the second coordinate to be measured, and the third coordinate to be measured respectively.

[0021] In a second aspect, the present disclosure provides a method for detecting the accuracy of robot hand-eye calibration, which is applied to a base coordinate system and includes: receiving a first coordinate to be measured and an actual flange coordinate sent by the terminal total control system;

[0022] Determining a first transformation matrix between the camera coordinate system and the base coordinate system, a second transformation matrix between the flange coordinate system and the fixture coordinate system, and a third transformation matrix between the camera coordinate system and the fixture coordinate system;

[0023] Converting the first coordinate to be measured into a first camera coordinate to be measured through the first transformation matrix, converting the first camera coordinate to be measured into a first fixture coordinate to be measured through the third transformation matrix, and converting the first fixture coordinate to be measured into a first flange coordinate to be measured through the second transformation matrix;

[0024] Detecting whether the coordinate difference between the first flange coordinate to be measured and the actual flange coordinate is within a preset coordinate difference range; when the coordinate difference between the first flange coordinate to be measured and the actual flange coordinate is within the preset coordinate difference range, obtaining the secret share corresponding to the first coordinate to be measured, and feeding back the secret share corresponding to the first coordinate to be measured to the terminal total control system.

[0025] In a third aspect, the present disclosure provides a method for detecting the accuracy of robot hand-eye calibration, which is applied to a camera coordinate system and includes:

[0026] Receiving a second coordinate to be measured and an actual flange coordinate sent by the terminal total control system;

[0027] Determining a second transformation matrix between the flange coordinate system and the fixture coordinate system and a third transformation matrix between the camera coordinate system and the fixture coordinate system;

[0028] Converting the second coordinate to be measured into a second fixture coordinate to be measured through the third transformation matrix, and converting the second fixture coordinate to be measured into a second flange coordinate to be measured through the second transformation matrix;

[0029] Detecting whether the coordinate difference between the second flange coordinate to be measured and the actual flange coordinate is within a preset coordinate difference range; when the coordinate difference between the second flange coordinate to be measured and the actual flange coordinate is within the preset coordinate difference range, obtaining the secret share corresponding to the second coordinate to be measured, and feeding back the secret share corresponding to the second coordinate to be measured to the terminal total control system.

[0030] In a fourth aspect, the present disclosure provides a method for detecting the accuracy of robot hand-eye calibration, which is applied to a fixture coordinate system and includes:

[0031] Receive the third coordinate to be measured and the actual flange coordinate sent by the terminal total control system;

[0032] Determine the second transformation matrix between the flange coordinate system and the fixture coordinate system;

[0033] Convert the third coordinate to be measured into the third flange coordinate to be measured through the second transformation matrix;

[0034] Detect whether the coordinate difference between the third flange coordinate to be measured and the actual flange coordinate is within the preset coordinate difference range; when the coordinate difference between the third flange coordinate to be measured and the actual flange coordinate is within the preset coordinate difference range, obtain the secret share corresponding to the third coordinate to be measured, and feedback the secret share corresponding to the third coordinate to be measured to the terminal total control system.

[0035] Fifthly, the present disclosure provides an accuracy detection system for robot hand-eye calibration. The accuracy detection system includes a terminal total control system, a base coordinate system, a camera coordinate system, and a fixture coordinate system. The terminal total control system includes:

[0036] A first determination module, configured to determine a target accuracy task to be measured, and divide the target accuracy task to be measured into several coordinate system accuracy tasks to be measured. Among them, the coordinate system accuracy tasks to be measured include the accuracy to be measured of the base coordinate system, the accuracy to be measured of the camera coordinate system, and the accuracy to be measured of the fixture coordinate system;

[0037] A first acquisition module, configured to acquire the actual flange coordinates of several points to be measured, and acquire the actual base coordinates, actual camera coordinates, and actual fixture coordinates corresponding to the actual flange coordinates;

[0038] A second acquisition module, configured to acquire a random number, and divide the random number into at least four secret shares;

[0039] An allocation module, configured to allocate each of the secret shares to the actual base coordinate, the actual camera coordinate, and the actual fixture coordinate to form a first coordinate to be measured, a second coordinate to be measured, and a third coordinate to be measured respectively;

[0040] A first sending module, configured to send the first coordinate to be measured and the actual flange coordinate to the base coordinate system. Among them, when the second coordinate to be measured is detected to meet the preset accuracy, the base coordinate system obtains the corresponding secret share;

[0041] A second sending module, configured to send the second coordinate to be measured and the actual flange coordinate to the camera coordinate system. Among them, when the third coordinate to be measured is detected to meet the preset accuracy, the camera coordinate system obtains the corresponding secret share;

[0042] A third sending module, configured to send the third coordinate to be measured and the actual flange coordinate to a fixture coordinate system, where when the fourth coordinate to be measured is detected to meet a preset precision, the fixture coordinate system obtains a corresponding secret share.

[0043] In a sixth aspect, the present disclosure provides a precision detection device for robot hand-eye calibration, including a memory and a processor, where the memory stores a computer program, and is characterized in that when the processor executes the computer program, the steps of the precision detection method for robot hand-eye calibration in any of the above embodiments are implemented.

[0044] In a seventh aspect, the present disclosure provides a precision detection device for robot hand-eye calibration, on which a computer program is stored, and when the computer program is executed by a processor, the steps of the precision detection method for robot hand-eye calibration in any of the above embodiments are implemented.

[0045] Compared with the prior art, the beneficial effects of the present invention are: determining whether the target detection precision meets the preset precision requirements through the secret shares fed back by the base coordinate system, the camera coordinate system, and the fixture coordinate system; that is, verifying whether each coordinate system is accurate to determine the target inspection precision, making it simpler to detect the target detection precision, and also improving the accuracy and robustness of the target detection precision detection result. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] Figure 1 It is a schematic flowchart of a precision detection method for robot hand-eye calibration in an embodiment;

[0047] Figure 2 It is a schematic structural diagram of a terminal total control system in a precision detection system for robot hand-eye calibration in an embodiment;

[0048] Figure 3 It is a schematic internal structure diagram of a precision detection device for robot hand-eye calibration in an embodiment. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0049] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0050] Embodiment 1

[0051] In this embodiment, as Figure 1As shown, a method for detecting the accuracy of robot hand-eye calibration is provided, which is applied to the terminal total control system and includes:

[0052] Step 111: Determine the target accuracy task to be measured, and divide the target accuracy task to be measured into several coordinate system accuracy tasks to be measured. Among them, the coordinate system accuracy tasks to be measured include the accuracy to be measured of the base coordinate system, the accuracy to be measured of the camera coordinate system, and the accuracy to be measured of the fixture coordinate system.

[0053] In this embodiment, the accuracy detection system for robot hand-eye calibration includes a terminal total control system, a base coordinate system, a camera coordinate system, and a fixture coordinate system; therefore, the coordinate system accuracy tasks to be measured include the accuracy to be measured of the base coordinate system, the accuracy to be measured of the camera coordinate system, and the accuracy to be measured of the fixture coordinate system.

[0054] Determining the target accuracy task to be measured, that is, determining the accuracy that the entire detection task needs to achieve, can include absolute accuracy or relative accuracy. In practical applications, the tester can preset the target accuracy task to be measured according to the actual situation, and send the target accuracy task to be measured to the accuracy detection system of the robot hand-eye calibration through the input device, so that the terminal total control system can obtain the target accuracy task to be measured. When the terminal total control system obtains the target accuracy task to be measured, it divides the target accuracy task to be measured into several coordinate system accuracy tasks to be measured according to the number of coordinate systems existing in the accuracy detection system of the robot hand-eye calibration.

[0055] Specifically, when the accuracy detection system of the robot hand-eye calibration includes N coordinate systems, the target accuracy task to be measured is divided into N - 1 sub-accuracy tasks to be measured. For example, when the accuracy detection system of the robot hand-eye calibration includes a terminal total control system, a base coordinate system, a camera coordinate system, and a fixture coordinate system, the target accuracy task to be measured is divided into three sub-accuracy tasks to be measured, namely: the accuracy to be measured of the base coordinate system, the accuracy to be measured of the camera coordinate system, and the accuracy to be measured of the fixture coordinate system.

[0056] Step 112: Obtain the actual flange coordinates of several points to be measured, and obtain the corresponding actual base coordinates, actual camera coordinates, and actual fixture coordinates of the actual flange coordinates.

[0057] In practical applications, the base coordinate system is the reference coordinate system. However, in this embodiment, the target object of the fixture is in the flange coordinate system. Therefore, in this embodiment, the flange coordinate system where the target object is located is determined as the reference coordinate system, that is, the flange coordinate system. When detecting the accuracy of the hand-eye calibration of the robot, several measurement points to be measured need to be selected in the flange coordinate system, and the actual flange coordinates of several measurement points to be measured are obtained. The tester determines the actual base coordinates of each measurement point to be measured in the base coordinate system, the actual camera coordinates of each measurement point to be measured in the camera coordinate system, and the actual fixture coordinates of each measurement point to be measured in the fixture coordinate system according to the randomly selected measurement points to be measured. Finally, the actual base coordinates, actual camera coordinates, and actual fixture coordinates are input into the terminal total control system through the input device, so that the terminal total control system obtains the actual base coordinates, actual camera coordinates, and actual fixture coordinates corresponding to the actual flange coordinates of each measurement point to be measured.

[0058] In this embodiment, one measurement point to be measured can be selected in the flange coordinate system; two measurement points to be measured can also be selected in the flange coordinate system; any number of measurement points to be measured can also be selected in the flange coordinate system; no specific limitation is made here.

[0059] Step 113, obtain a random number, and divide the random number into at least four secret shares. Before detecting the target measurement accuracy, a random number also needs to be randomly generated. In this embodiment, the random number can be divided into four secret shares by using a preset secret sharing algorithm. Specifically: Let the random number be S1. Construct a polynomial:

[0060] f(x)=a0 + a1x + a2x 2 +...+a k-1 x k-1

[0061] where a0 is S1, and a1, a2,..., a k-1 are coefficients.

[0062] Assign S1 to a0, and arbitrarily select n x1, x2, x3,..., x n and substitute them into the polynomial to obtain the corresponding f(x1), f(x2), f(x3),..., f(x n ). That is, {x1, f(x1)}, {x2, f(x2)}, {x3, f(x3)},..., {x n , f(x n )} are the secret shares corresponding to the random number.

[0063] In this embodiment, the preset secret sharing algorithm can be any one of the Shamir algorithm, the Blakley algorithm, the Asmuth-Bloom algorithm, the multiple secret sharing algorithm, or the dynamic secret sharing algorithm, and no specific limitation is made here.

[0064] In one embodiment, obtaining a random number may also be: randomly generating a plurality of random numbers and combining the random numbers to obtain a random number.

[0065] Step 114: Allocate each of the secret shares to the actual base coordinates, the actual camera coordinates, and the actual fixture coordinates to form a first coordinate to be measured, a second coordinate to be measured, and a third coordinate to be measured, respectively.

[0066] After the secret shares are calculated, allocate each secret share to the actual base coordinates, the actual camera coordinates, and the actual fixture coordinates according to a preset rule to form a first coordinate to be measured, a second coordinate to be measured, and a third coordinate to be measured, respectively.

[0067] Since a random number can be calculated when the secret shares reach a certain quantity, after the terminal total control system allocates the random number into each secret share, in order to balance the importance degrees of each coordinate system with respect to the inspection accuracy, each secret share is allocated to each target coordinate system according to a preset rule.

[0068] For example, the target measurement accuracy task is divided into three sub-tasks of measurement accuracy, namely: the measurement accuracy P1 of the base coordinate system, the measurement accuracy P2 of the camera coordinate system, and the measurement accuracy P3 of the fixture coordinate system. The secret shares are: {x1, f(x1)}, {x2, f(x2)}, {x3, f(x3)},..., {x n , f(x n )}; at this time, the preset rule is equal allocation. Then the secret share allocated to the measurement accuracy P1 of the base coordinate system is {x1, f(x1)}; the secret share allocated to the measurement accuracy P2 of the camera coordinate system is {x2, f(x2)}; the secret share allocated to the measurement accuracy P3 of the fixture coordinate system is {x3, f{x3)}.

[0069] In this embodiment, the secret shares are distributed to each coordinate system, providing a data basis for the process of sending down each coordinate system. Moreover, the first detection coordinate, the second detection coordinate, and the third detection coordinate after the secret shares are distributed are used such that when each coordinate to be measured is detected to meet the preset accuracy, the coordinate system corresponding to the coordinate to be measured obtains the secret shares corresponding to each coordinate to be measured. For example: when the second coordinate to be measured is detected to meet the preset accuracy, the base coordinate system obtains the corresponding secret share. When the third coordinate to be measured is detected to meet the preset accuracy, the camera coordinate system obtains the corresponding secret share. When the fourth coordinate to be measured is detected to meet the preset accuracy, the fixture coordinate system obtains the corresponding secret share. In this embodiment, the distribution of the secret shares according to the preset rule can be equal distribution of the secret shares, or weighted distribution of the secret shares, or random distribution of the first secret share; no specific limitation is made here.

[0070] Step 115: Send down the first coordinate to be measured and the actual flange coordinate to the base coordinate system, where when the first coordinate to be measured is detected to meet the preset accuracy, the base coordinate system obtains the corresponding secret share.

[0071] Step 116: Send down the second coordinate to be measured and the actual flange coordinate to the camera coordinate system, where when the second coordinate to be measured is detected to meet the preset accuracy, the camera coordinate system obtains the corresponding secret share.

[0072] Step 117: Send down the third coordinate to be measured and the actual flange coordinate to the fixture coordinate system, where when the third coordinate to be measured is detected to meet the preset accuracy, the fixture coordinate system obtains the corresponding secret share.

[0073] It should be understood that although Figure 1 the steps in the flowchart of Figure 1 are shown in sequence according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless there is a clear indication in this article, the execution of these steps has no strict order limit, and these steps can be executed in other orders. Moreover,

[0074] In this embodiment, the target detection accuracy is determined by the secret shares fed back by the base coordinate system, the secret shares fed back by the camera coordinate system, and the secret shares fed back by the fixture coordinate system; that is, verifying whether each coordinate system is accurate to determine the target inspection accuracy, making it simpler to detect the target detection accuracy and improving the accuracy and robustness of the target detection accuracy detection result.

[0075] In one embodiment, the accuracy detection method further includes: 1-1) receiving the secret shares fed back by the base coordinate system, the secret shares fed back by the camera coordinate system, and the secret shares fed back by the fixture coordinate system.

[0076] In this embodiment, after the terminal total control system sends the first coordinate to be measured and the actual flange coordinate to the base coordinate system, the base coordinate system converts the first coordinate to be measured into the first flange coordinate to be measured, and further determines the difference between the first flange coordinate to be measured and the actual flange coordinate. When the difference is within the preset coordinate difference range, the base coordinate system obtains the secret share corresponding to the first coordinate to be measured and feeds back the secret share corresponding to the first coordinate to be measured to the terminal total control system. At this time, the terminal total control system will receive the secret share fed back by the base coordinate system.

[0077] When the terminal total control system sends the second coordinate to be measured and the actual flange coordinate to the camera coordinate system, the camera coordinate system converts the second coordinate to be measured into the second flange coordinate to be measured, and further determines the difference between the second flange coordinate to be measured and the actual flange coordinate. When the difference is within the preset coordinate difference range, the camera coordinate system obtains the secret share corresponding to the second coordinate to be measured and feeds back the secret share corresponding to the second coordinate to be measured to the terminal total control system. At this time, the terminal total control system will receive the secret share fed back by the camera coordinate system.

[0078] When the terminal total control system sends the third coordinate to be measured and the actual flange coordinate to the fixture coordinate system, the fixture coordinate system converts the third coordinate to be measured into the third flange coordinate to be measured, and further determines the difference between the third flange coordinate to be measured and the actual flange coordinate. When the difference is within the preset coordinate difference range, the fixture coordinate system obtains the secret share corresponding to the third coordinate to be measured and feeds back the secret share corresponding to the third coordinate to be measured to the terminal total control system. At this time, the terminal total control system will receive the secret share fed back by the fixture coordinate system.

[0079] 1-2) Calculate the task of inspecting the accuracy to be measured through each secret share, and determine whether the task of inspecting the accuracy to be measured is the same as the task of the target accuracy to be measured.

[0080] After the terminal total control system receives the secret shares fed back by each coordinate system, it calculates the inspection task for the accuracy to be measured through each secret share, and determines whether the inspection task for the accuracy to be measured is the same as the target task for the accuracy to be measured; when the inspection accuracy to be measured is the same as the target task for the accuracy to be measured, it means that the accuracies of all coordinate systems are within the preset accuracy range; otherwise, it means that the accuracy of some coordinate systems is not within the preset accuracy range.

[0081] 1-3) When the inspection accuracy to be measured is the same as the target task for the accuracy to be measured, it is determined that the target detection accuracy task meets the preset accuracy requirements.

[0082] When the accuracies of all coordinate systems are within the preset accuracy range, it is determined that the accuracy of the current robot hand-eye calibration meets the preset accuracy standard, and it can be determined that the target detection accuracy task meets the preset accuracy requirements.

[0083] In one embodiment, after calculating the inspection task for the accuracy to be measured through each secret share and determining whether the inspection task for the accuracy to be measured is the same as the target task for the accuracy to be measured, the method further includes: 2-1) When the inspection accuracy to be measured is not the same as the target task for the accuracy to be measured, adjust the first transformation matrix between the camera coordinate system and the base coordinate system, the second transformation matrix between the flange coordinate system and the fixture coordinate system, and the third transformation matrix between the camera coordinate system and the fixture coordinate system.

[0084] When the accuracy of some coordinate systems is not within the preset accuracy range, it means that there is an error in the transformation matrix between coordinate systems, resulting in a lower or even lower accuracy of the robot hand-eye calibration. To improve the accuracy of the robot hand-eye calibration, it is necessary to adjust the transformation relationship between coordinate systems. For example, when the accuracy detection system of the robot hand-eye calibration includes a camera coordinate system, a base coordinate system, a flange coordinate system, and a fixture coordinate system, it is necessary to adjust the first transformation matrix between the camera coordinate system and the base coordinate system, the second transformation matrix between the flange coordinate system and the fixture coordinate system, and the third transformation matrix between the camera coordinate system and the fixture coordinate system. So that the accuracies of all coordinate systems after adjustment reach the preset accuracy range, realizing that the accuracy of the robot hand-eye calibration reaches the preset accuracy range.

[0085] In one embodiment, the step of allocating each of the secret shares to the actual base coordinate, the actual camera coordinate, and the actual fixture coordinate to respectively form a first coordinate to be measured, a second coordinate to be measured, and a third coordinate to be measured includes: 3-1) Equally allocate each of the secret shares to the actual base coordinate, the actual camera coordinate, and the actual fixture coordinate to respectively form a first coordinate to be measured, a second coordinate to be measured, and a third coordinate to be measured.

[0086] Since the importance of the terminal total control system, the base coordinate system, the camera coordinate system, and the fixture coordinate system for the target accuracy task to be measured in the accuracy detection system for robot hand-eye calibration is about the same, the preset rule in this embodiment is determined to be the equal distribution rule. Using each coordinate system to test the accuracy can be closer to the actual accuracy test.

[0087] Embodiment 2

[0088] In this embodiment, an accuracy detection method for robot hand-eye calibration is provided, which is applied to the base coordinate system and includes:

[0089] Step 211, receiving the first coordinate to be measured and the actual flange coordinate sent by the terminal total control system.

[0090] In this embodiment, before the base coordinate system receives the first coordinate to be measured and the actual flange coordinate sent by the terminal total control system, the terminal total control system first determines the target accuracy task to be measured, divides the target accuracy task to be measured into several coordinate system accuracy tasks to be measured. Among them, the coordinate system accuracy tasks to be measured include the accuracy to be measured of the base coordinate system, the accuracy to be measured of the camera coordinate system, and the accuracy to be measured of the fixture coordinate system; the terminal total control system further obtains the actual flange coordinates of several points to be measured, and obtains the actual base coordinates, actual camera coordinates, and actual fixture coordinates corresponding to the actual flange coordinates; then obtains a random number, and divides the random number into at least four secret shares by secret sharing. After the terminal total control system calculates the secret shares, it distributes each secret share to the actual base coordinate, the actual camera coordinate, and the actual fixture coordinate to form the first coordinate to be measured, the second coordinate to be measured, and the third coordinate to be measured respectively; finally, it sends the first coordinate to be measured and the actual flange coordinate to the base coordinate system.

[0091] At this time, the base coordinate system will receive the first coordinate to be measured and the actual flange coordinate sent by the terminal total control system.

[0092] Step 212, determining the first transformation matrix between the camera coordinate system and the base coordinate system, the second transformation matrix between the flange coordinate system and the fixture coordinate system, and the third transformation matrix between the camera coordinate system and the fixture coordinate system.

[0093] Step 213, converting the first coordinate to be measured into the first camera coordinate to be measured through the first transformation matrix, converting the first camera coordinate to be measured into the first fixture coordinate to be measured through the third transformation matrix, and converting the first fixture coordinate to be measured into the first flange coordinate to be measured through the second transformation matrix.

[0094] Step 214, detect whether the coordinate difference between the first flange to be measured and the actual flange coordinates is within a preset coordinate difference range.

[0095] In this embodiment, calculate the coordinate difference between the first flange to be measured and the actual flange coordinates, that is, calculate the difference between the coordinates of each axis. For example: calculate the difference between the X axes of the first flange to be measured and the actual flange coordinates; calculate the difference between the Y axes of the first flange to be measured and the actual flange coordinates; calculate the difference between the Z axes of the first flange to be measured and the actual flange coordinates. Finally, respectively determine whether the difference between the first flange to be measured and the actual flange coordinates on the X axis is within the preset coordinate difference range; whether the difference on the Y axis is within the preset coordinate difference range; whether the difference on the Z axis is within the preset coordinate difference range.

[0096] Step 215, when the coordinate difference between the first flange to be measured and the actual flange coordinates is within the preset coordinate difference range, obtain the secret share corresponding to the first coordinate to be measured, and feedback the secret share corresponding to the first coordinate to be measured to the terminal total control system.

[0097] In practical applications, after the base coordinate system determines that the difference between the first flange to be measured and the actual flange coordinates on the X axis is within the preset coordinate difference range, the difference on the Y axis is within the preset coordinate difference range, and the difference on the Z axis is within the preset coordinate difference range, the base coordinate system obtains the secret share corresponding to the first coordinate to be measured, and feedbacks the secret share corresponding to the first coordinate to be measured to the terminal total control system.

[0098] Embodiment III

[0099] In this embodiment, a method for detecting the accuracy of robot hand-eye calibration is provided, which is applied to the camera coordinate system and includes: Step 311, receive the second coordinate to be measured and the actual flange coordinates sent by the terminal total control system.

[0100] In this embodiment, before the base coordinate system receives the first coordinate to be measured and the actual flange coordinate sent by the terminal total control system, the terminal total control system first determines the target accuracy task to be measured, and divides the target accuracy task to be measured into several coordinate system accuracy tasks to be measured. Among them, the coordinate system accuracy tasks to be measured include the accuracy to be measured of the base coordinate system, the accuracy to be measured of the camera coordinate system, and the accuracy to be measured of the fixture coordinate system; the terminal total control system further obtains the actual flange coordinates of several points to be measured, and obtains the corresponding actual base coordinates, actual camera coordinates, and actual fixture coordinates of the actual flange coordinates; then obtains a random number, and divides the random number into at least four secret shares by secret sharing. After the terminal total control system calculates the secret shares, it distributes each secret share to the actual base coordinate, the actual camera coordinate, and the actual fixture coordinate to form the first coordinate to be measured, the second coordinate to be measured, and the third coordinate to be measured respectively; finally, it sends the second coordinate to be measured and the actual flange coordinate to the camera coordinate system.

[0101] At this time, the camera coordinate system will receive the second coordinate to be measured and the actual flange coordinate sent by the terminal total control system.

[0102] Step 312, determine the second transformation matrix between the flange coordinate system and the fixture coordinate system and the third transformation matrix between the camera coordinate system and the fixture coordinate system.

[0103] Step 313, convert the second coordinate to be measured into the second fixture coordinate to be measured through the third transformation matrix, and convert the second fixture coordinate to be measured into the second flange coordinate to be measured through the second transformation matrix.

[0104] Step 314, detect whether the coordinate difference between the second flange coordinate to be measured and the actual flange coordinate is within the preset coordinate difference range.

[0105] In this embodiment, calculate the coordinate difference between the second flange coordinate to be measured and the actual flange coordinate, that is, calculate the difference between the coordinates of each axis. For example: calculate the difference between the X axes of the second flange coordinate to be measured and the actual flange coordinate; calculate the difference between the Y axes of the second flange coordinate to be measured and the actual flange coordinate; calculate the difference between the Z axes of the second flange coordinate to be measured and the actual flange coordinate. Finally, respectively judge whether the difference between the second flange coordinate to be measured and the actual flange coordinate on the X axis is within the preset coordinate difference range; whether the difference on the Y axis is within the preset coordinate difference range; whether the difference on the Z axis is within the preset coordinate difference range.

[0106] Step 315, when the coordinate difference between the second flange coordinate to be measured and the actual flange coordinate is within the preset coordinate difference range, obtain the secret share corresponding to the second coordinate to be measured, and feedback the secret share corresponding to the second coordinate to be measured to the terminal total control system.

[0107] In practical applications, after the base coordinate system determines that the difference between the second flange coordinate to be measured and the actual flange coordinate on the X-axis is within the preset coordinate difference range, the difference on the Y-axis is within the preset coordinate difference range, and the difference on the Z-axis is within the preset coordinate difference range, the camera coordinate system obtains the secret share corresponding to the second coordinate to be measured, and feedbacks the secret share corresponding to the second coordinate to be measured to the terminal total control system.

[0108] Embodiment 4

[0109] In this embodiment, a method for detecting the accuracy of robot hand-eye calibration is provided, which is applied to the fixture coordinate system and includes: Step 411, receiving the third coordinate to be measured and the actual flange coordinate sent by the terminal total control system.

[0110] In this embodiment, before the base coordinate system receives the first coordinate to be measured and the actual flange coordinate sent by the terminal total control system, the terminal total control system first determines the target accuracy measurement task to be measured, divides the target accuracy measurement task to be measured into several coordinate system accuracy measurement tasks to be measured, where the coordinate system accuracy measurement tasks to be measured include the accuracy to be measured of the base coordinate system, the accuracy to be measured of the camera coordinate system, and the accuracy to be measured of the fixture coordinate system; the terminal total control system further obtains the actual flange coordinates of several points to be measured, and obtains the actual base coordinates, actual camera coordinates, and actual fixture coordinates corresponding to the actual flange coordinates; then obtains a random number, and divides the random number into at least four secret shares. After the terminal total control system calculates the secret shares, it distributes each secret share to the actual base coordinate, the actual camera coordinate, and the actual fixture coordinate to form the first coordinate to be measured, the second coordinate to be measured, and the third coordinate to be measured respectively; finally, it sends the third coordinate to be measured and the actual flange coordinate to the fixture coordinate system.

[0111] At this time, the fixture coordinate system will receive the third coordinate to be measured and the actual flange coordinate sent by the terminal total control system.

[0112] Step 412, determine the second transformation matrix between the flange coordinate system and the fixture coordinate system.

[0113] Step 413, convert the third coordinate to be measured into a third flange coordinate to be measured through the second transformation matrix.

[0114] Step 414, detect whether the coordinate difference between the coordinates of the third flange to be measured and the coordinates of the actual flange is within a preset coordinate difference range.

[0115] In this embodiment, calculate the coordinate difference between the coordinates of the third flange to be measured and the coordinates of the actual flange, that is, calculate the difference between the coordinates of each axis. For example: calculate the difference between the X axes of the coordinates of the third flange to be measured and the coordinates of the actual flange; calculate the difference between the Y axes of the coordinates of the third flange to be measured and the coordinates of the actual flange; calculate the difference between the Z axes of the coordinates of the third flange to be measured and the coordinates of the actual flange. Finally, respectively determine whether the difference between the coordinates of the third flange to be measured and the coordinates of the actual flange on the X axis is within the preset coordinate difference range; whether the difference on the Y axis is within the preset coordinate difference range; whether the difference on the Z axis is within the preset coordinate difference range.

[0116] Step 415, when the coordinate difference between the coordinates of the third flange to be measured and the coordinates of the actual flange is within the preset coordinate difference range, obtain the secret share corresponding to the third coordinate to be measured, and feedback the secret share corresponding to the third coordinate to be measured to the terminal total control system.

[0117] In practical applications, after the base coordinate system determines that the difference between the coordinates of the third flange to be measured and the coordinates of the actual flange on the X axis is within the preset coordinate difference range, the difference on the Y axis is within the preset coordinate difference range, and the difference on the Z axis is within the preset coordinate difference range, the fixture coordinate system obtains the secret share corresponding to the third coordinate to be measured, and feedbacks the secret share corresponding to the third coordinate to be measured to the terminal total control system.

[0118] Embodiment Five

[0119] In this embodiment, as Figure 2 shown, a precision detection system for robot hand-eye calibration is provided. The precision detection system includes a terminal total control system 51, a base coordinate system, a camera coordinate system, and a fixture coordinate system. The terminal total control system 51 includes: a first determination module 511, a first acquisition module 512, a second acquisition module 513, a distribution module 514, a first distribution module 515, a second distribution module 516, and a third distribution module 517.

[0120] The first determination module 511 is used to determine the target precision task to be measured, and divide the target precision task to be measured into several coordinate system precision tasks to be measured. Among them, the coordinate system precision tasks to be measured include the precision to be measured of the base coordinate system, the precision to be measured of the camera coordinate system, and the precision to be measured of the fixture coordinate system;

[0121] The first acquisition module 512 is configured to acquire the actual flange coordinates of a plurality of points to be measured, and acquire the corresponding actual base coordinates, actual camera coordinates, and actual fixture coordinates of the actual flange coordinates;

[0122] The second acquisition module 513 is configured to acquire a random number, and perform secret sharing on the random number to obtain at least four secret shares;

[0123] The allocation module 514 is configured to allocate each of the secret shares to the actual base coordinates, the actual camera coordinates, and the actual fixture coordinates to form a first coordinate to be measured, a second coordinate to be measured, and a third coordinate to be measured respectively;

[0124] The first sending module 515 is configured to send the first coordinate to be measured and the actual flange coordinates to the base coordinate system. Wherein, when the first coordinate to be measured is detected to meet the preset accuracy, the base coordinate system obtains the corresponding secret share;

[0125] The second sending module 516 is configured to send the second coordinate to be measured and the actual flange coordinates to the camera coordinate system. Wherein, when the second coordinate to be measured is detected to meet the preset accuracy, the camera coordinate system obtains the corresponding secret share; The third sending module 517 is configured to send the third coordinate to be measured and the actual flange coordinates to the fixture coordinate system. Wherein, when the third coordinate to be measured is detected to meet the preset accuracy, the fixture coordinate system obtains the corresponding secret share.

[0126] In one embodiment, the terminal total control system 51 may further include: a first receiving module, a judgment module, a second determination module, and an adjustment module.

[0127] The first receiving module is configured to receive the secret share feedback by the base coordinate system, the secret share feedback by the camera coordinate system, and the secret share feedback by the fixture coordinate system;

[0128] The judgment module is configured to calculate a test accuracy task to be measured through each secret share, and judge whether the test accuracy task to be measured is the same as the target accuracy task to be measured;

[0129] The second determination module is configured to determine that the target detection accuracy task meets the preset accuracy requirement when the judgment module determines that the test accuracy to be measured is the same as the target accuracy task to be measured.

[0130] The adjustment module is configured to adjust the first transformation matrix between the camera coordinate system and the base coordinate system, the second transformation matrix between the flange coordinate system and the fixture coordinate system, and the third transformation matrix between the camera coordinate system and the fixture coordinate system when the judgment module determines that the test accuracy to be measured is different from the target accuracy task to be measured.

[0131] In one embodiment, the allocation module 214 may further be configured to equally allocate each of the secret shares to the actual base coordinates, the actual camera coordinates, and the actual fixture coordinates to form a first coordinate to be measured, a second coordinate to be measured, and a third coordinate to be measured, respectively.

[0132] The base coordinate system includes: a second receiving module, a third determining module, a first conversion module, a first detection module, and a first feedback module.

[0133] The second receiving module is configured to receive the first coordinate to be measured and the actual flange coordinates sent by the terminal total control system. The third determining module is configured to determine a first conversion matrix between the camera coordinate system and the base coordinate system, a second conversion matrix between the flange coordinate system and the fixture coordinate system, and a third conversion matrix between the camera coordinate system and the fixture coordinate system. The first conversion module is configured to convert the first coordinate to be measured into a first camera coordinate to be measured through the first conversion matrix, convert the first camera coordinate to be measured into a first fixture coordinate to be measured through the third conversion matrix, and convert the first fixture coordinate to be measured into a first flange coordinate to be measured through the second conversion matrix. The first detection module is configured to detect whether the coordinate difference between the first flange coordinate to be measured and the actual flange coordinates is within a preset coordinate difference range. The first feedback module is configured to, when the first detection module determines that the coordinate difference between the first flange coordinate to be measured and the actual flange coordinates is within the preset coordinate difference range, obtain the secret share corresponding to the first coordinate to be measured, and feedback the secret share corresponding to the first coordinate to be measured to the terminal total control system.

[0134] The camera coordinate system includes: a third receiving module, a fourth determining module, a second conversion module, a second detection module, and a second feedback module.

[0135] A third receiving module, configured to receive the second coordinate to be measured and the actual flange coordinate sent by the terminal total control system. A fourth determining module, configured to determine a second transformation matrix between the flange coordinate system and the fixture coordinate system and a third transformation matrix between the camera coordinate system and the fixture coordinate system. A second transformation module, configured to transform the second coordinate to be measured into a second fixture coordinate to be measured through the third transformation matrix, and transform the second fixture coordinate to be measured into a second flange coordinate to be measured through the second transformation matrix. A second detection module, configured to detect whether a coordinate difference between the second flange coordinate to be measured and the actual flange coordinate is within a preset coordinate difference range. A second feedback module, configured to, when the second detection module determines that the coordinate difference between the second flange coordinate to be measured and the actual flange coordinate is within the preset coordinate difference range, obtain the secret share corresponding to the second coordinate to be measured, and feedback the secret share corresponding to the second coordinate to be measured to the terminal total control system.

[0136] The fixture coordinate system includes: a fourth receiving module, a fifth determining module, a third detection module, and a third feedback module.

[0137] The fourth receiving module is configured to receive the third coordinate to be measured and the actual flange coordinate sent by the terminal total control system; the fifth determining module is configured to determine the second transformation matrix between the flange coordinate system and the fixture coordinate system; the third transformation module is configured to transform the third coordinate to be measured into a third flange coordinate to be measured through the second transformation matrix; the third detection module is configured to detect whether a coordinate difference between the third flange coordinate to be measured and the actual flange coordinate is within a preset coordinate difference range; the third feedback module is configured to, when the third detection module determines that the coordinate difference between the third flange coordinate to be measured and the actual flange coordinate is within the preset coordinate difference range, obtain the secret share corresponding to the third coordinate to be measured, and feedback the secret share corresponding to the third coordinate to be measured to the terminal total control system.

[0138] Embodiment 6

[0139] In this embodiment, a precision detection device for robot hand-eye calibration is provided. Its internal structure diagram can be as Figure 3As shown. The precision detection device for robot hand-eye calibration includes a processor, a memory, a network interface, a display screen, and an input device connected through a system bus. Among them, the processor of the precision detection device for robot hand-eye calibration is used to provide computing and control capabilities. The memory of the precision detection device for robot hand-eye calibration includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and computer programs, and a database is deployed on the non-volatile storage medium. The database is used to store all data involved in the precision detection method for robot hand-eye calibration. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage medium. The network interface of the precision detection device for robot hand-eye calibration is used to communicate with other computer devices (precision detection devices for robot hand-eye calibration) that have deployed application software. The program included in the computer device, when executed by the processor, implements a precision detection method for robot hand-eye calibration. The display screen of the precision detection device for robot hand-eye calibration can be a liquid crystal display screen or an electronic ink display screen. The input device of the precision detection device for robot hand-eye calibration can be a touch layer covered on the display screen, or a button, a trackball, or a touchpad set on the shell of the precision detection device for robot hand-eye calibration, or an external keyboard, touchpad, or mouse, etc. Those skilled in the art can understand, Figure 3 The structure shown in it is only a block diagram of some structures related to the solution of this application, and does not constitute a limitation on the precision detection device for robot hand-eye calibration to which the solution of this application is applied. The specific precision detection device for robot hand-eye calibration may include more or fewer components than those shown in the figure, or combine some components, or have different component arrangements.

[0140] In one embodiment, a precision detection device for robot hand-eye calibration is provided, including a memory and a processor. The memory stores a computer program, and when the processor executes the computer program, it implements the steps of the precision detection method for robot hand-eye calibration described in any of the above embodiments.

[0141] In one embodiment, the precision detection device for robot hand-eye calibration can be any computer device.

[0142] Embodiment Seven

[0143] In this embodiment, a precision detection device for robot hand-eye calibration is provided, which stores a computer program. When the computer program is executed by a processor, it implements the steps of the precision detection method for robot hand-eye calibration described in any of the above embodiments. Those of ordinary skill in the art can understand that all or part of the processes in the methods of the above embodiments can be completed by instructing relevant hardware through a computer program. The computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above methods. Among them, any reference to a memory, storage, database, or other medium used in the embodiments provided in the present application can include non-volatile and / or volatile memories. Non-volatile memories can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memories can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), Rambus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and Rambus dynamic RAM (RDRAM), etc.

[0144] In one embodiment, the precision detection device for robot hand-eye calibration can be a computer-readable storage medium.

[0145] The technical features of the above embodiments can be combined arbitrarily. For the sake of concise description, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered as the scope described in this specification.

[0146] The above-described embodiments merely represent several implementation manners of the present application. Their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of the invention patent. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present application, several modifications and improvements can still be made, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent of the present application shall be subject to the appended claims.

Claims

1. A method for detecting the accuracy of robot hand-eye calibration, applied to the terminal total control system, characterized in that, Including: Determine the target precision task to be measured, and divide the target precision task to be measured into several coordinate system precision tasks to be measured. Among them, the coordinate system precision tasks to be measured include the precision to be measured of the base coordinate system, the precision to be measured of the camera coordinate system, and the precision to be measured of the fixture coordinate system; Obtain the actual flange coordinates of several points to be measured, and obtain the corresponding actual base coordinates, actual camera coordinates, and actual fixture coordinates of the actual flange coordinates; Obtain a random number, and perform secret share division on the random number to obtain at least four secret shares; Allocate each of the secret shares to the actual base coordinates, the actual camera coordinates, and the actual fixture coordinates to form a first coordinate to be measured, a second coordinate to be measured, and a third coordinate to be measured respectively; Send the first coordinate to be measured and the actual flange coordinates to the base coordinate system. Among them, when the first coordinate to be measured is detected to meet the preset precision, the base coordinate system obtains the corresponding secret share; Send the second coordinate to be measured and the actual flange coordinates to the camera coordinate system. Among them, when the second coordinate to be measured is detected to meet the preset precision, the camera coordinate system obtains the corresponding secret share; Send the third coordinate to be measured and the actual flange coordinates to the fixture coordinate system. Among them, when the third coordinate to be measured is detected to meet the preset precision, the fixture coordinate system obtains the corresponding secret share.

2. The precision detection method according to claim 1, wherein The precision detection method further includes: Receive the secret share feedback from the base coordinate system, the secret share feedback from the camera coordinate system, and the secret share feedback from the fixture coordinate system; Calculate the inspection precision task to be measured through each secret share, and determine whether the inspection precision task to be measured is the same as the target precision task to be measured; When the inspection precision to be measured is the same as the target precision task to be measured, determine that the target detection precision task meets the preset precision requirements.

3. The precision detection method according to claim 2, wherein After calculating the inspection precision task to be measured through each secret share and determining whether the inspection precision task to be measured is the same as the target precision task to be measured, the method further includes: When the inspection precision to be measured is not the same as the target precision task to be measured, adjust the first transformation matrix between the camera coordinate system and the base coordinate system, the second transformation matrix between the flange coordinate system and the fixture coordinate system, and the third transformation matrix between the camera coordinate system and the fixture coordinate system.

4. The precision detection method according to any one of claims 1-3, characterized in that The step of allocating each of the secret shares to the actual base coordinates, the actual camera coordinates, and the actual fixture coordinates to form a first coordinate to be measured, a second coordinate to be measured, and a third coordinate to be measured respectively includes: Allocate each of the secret shares equally to the actual base coordinates, the actual camera coordinates, and the actual fixture coordinates to form a first coordinate to be measured, a second coordinate to be measured, and a third coordinate to be measured respectively.

5. The precision detection method according to claim 3, which is applied to a base coordinate system, is characterized in that, Including: Receive the first coordinate to be measured and the actual flange coordinates sent by the terminal total control system; Determine the first transformation matrix between the camera coordinate system and the base coordinate system, the second transformation matrix between the flange coordinate system and the fixture coordinate system, and the third transformation matrix between the camera coordinate system and the fixture coordinate system; Convert the first coordinate to be measured into the first camera coordinate to be measured through the first transformation matrix, convert the first camera coordinate to be measured into the first fixture coordinate to be measured through the third transformation matrix, and convert the first fixture coordinate to be measured into the first flange coordinate to be measured through the second transformation matrix; Detect whether the coordinate difference between the first flange coordinate to be measured and the actual flange coordinate is within the preset coordinate difference range; When the coordinate difference between the first flange coordinate to be measured and the actual flange coordinate is within the preset coordinate difference range, obtain the secret share corresponding to the first coordinate to be measured, and feedback the secret share corresponding to the first coordinate to be measured to the terminal total control system.

6. The precision detection method according to claim 3, applied to a camera coordinate system, is characterized in that, Including: Receive the second coordinate to be measured and the actual flange coordinate issued by the terminal total control system; Determine the second transformation matrix between the flange coordinate system and the fixture coordinate system, and the third transformation matrix between the camera coordinate system and the fixture coordinate system; Convert the second coordinate to be measured into the second fixture coordinate to be measured through the third transformation matrix, and convert the second fixture coordinate to be measured into the second flange coordinate to be measured through the second transformation matrix; Detect whether the coordinate difference between the second flange coordinate to be measured and the actual flange coordinate is within the preset coordinate difference range; When the coordinate difference between the second flange coordinate to be measured and the actual flange coordinate is within the preset coordinate difference range, obtain the secret share corresponding to the second coordinate to be measured, and feedback the secret share corresponding to the second coordinate to be measured to the terminal total control system.

7. The precision detection method according to claim 3, which is applied to a fixture coordinate system, is characterized in that Including: Receive the third coordinate to be measured and the actual flange coordinate issued by the terminal total control system; Determine the second transformation matrix between the flange coordinate system and the fixture coordinate system; Convert the third coordinate to be measured into the third flange coordinate to be measured through the second transformation matrix; Detect whether the coordinate difference between the third flange coordinate to be measured and the actual flange coordinate is within the preset coordinate difference range; When the coordinate difference between the third flange coordinate to be measured and the actual flange coordinate is within the preset coordinate difference range, obtain the secret share corresponding to the third coordinate to be measured, and feedback the secret share corresponding to the third coordinate to be measured to the terminal total control system.

8. An accuracy detection system for robot hand-eye calibration, characterized in that The precision detection system includes a terminal total control system, a base coordinate system, a camera coordinate system, and a fixture coordinate system. The terminal total control system includes: A first determination module, configured to determine a target precision task to be measured, and divide the target precision task to be measured into several coordinate system precision tasks to be measured. Among them, the coordinate system precision tasks to be measured include the precision to be measured of the base coordinate system, the precision to be measured of the camera coordinate system, and the precision to be measured of the fixture coordinate system; A first acquisition module, configured to acquire the actual flange coordinates of a plurality of points to be measured, and acquire the corresponding actual base coordinates, actual camera coordinates, and actual fixture coordinates of the actual flange coordinates; A second acquisition module, configured to acquire a random number, and perform secret share division on the random number to obtain at least four secret shares; An allocation module, configured to allocate each of the secret shares to the actual base coordinates, the actual camera coordinates, and the actual fixture coordinates to respectively form a first coordinate to be measured, a second coordinate to be measured, and a third coordinate to be measured; A first sending module, configured to send the first coordinate to be measured and the actual flange coordinates to a base coordinate system, wherein when the first coordinate to be measured is detected to meet a preset accuracy, the base coordinate system obtains the corresponding secret share; A second sending module, configured to send the second coordinate to be measured and the actual flange coordinates to a camera coordinate system, wherein when the second coordinate to be measured is detected to meet a preset accuracy, the camera coordinate system obtains the corresponding secret share; A third sending module, configured to send the third coordinate to be measured and the actual flange coordinates to a fixture coordinate system, wherein when the third coordinate to be measured is detected to meet a preset accuracy, the fixture coordinate system obtains the corresponding secret share.

9. A computer device, comprising a memory and a processor, the memory storing a computer program, characterized in that, When the processor executes the computer program, the steps of the method according to any one of claims 1 to 7 are implemented.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, the steps of the method according to any one of claims 1 to 7 are implemented.

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