Robot pose measurement method, device and equipment and storage medium

Abstract

The invention discloses a robot pose measurement method, device and equipment and a storage medium, and the method comprises the steps: determining a constant position pose matrix based on a tool coordinate system of a to-be-measured robot; when the pose of the to-be-measured robot changes, determining a current observation target point and a point coordinate of the current observation target point in a base coordinate system, and determining a target measurement target point corresponding to the current observation target point and a point coordinate of the target measurement target point in a test tool coordinate system; determining a first pose matrix corresponding to the current observation target spot and a second pose matrix corresponding to the target measurement target spot; and determining a target pose matrix of the to-be-measured robot based on the first pose matrix, the second pose matrix, the constant position pose matrix and a preset measurement target point coordinate set. Through the technical scheme of the embodiment of the invention, automatic and accurate measurement of the pose of the robot is realized, complex pose changes of the robot can be adapted, manpower and time costs are saved, and the accuracy and efficiency of pose measurement are improved.

Description

Technical Field

[0001] The present invention relates to the field of robot technology, and in particular to a robot posture measurement method, device, equipment and storage medium. Background Art

[0002] The robot's position and posture is one of the important indicators of its working performance. Accurate position and posture measurement helps to achieve precise positioning and operation of the robot.

[0003] At present, the traditional robot posture measurement method mainly installs a target at the end of the robot and uses a laser tracker to measure the position of the target at the end of the robot to infer the robot's posture. However, the traditional robot posture measurement method has poor adaptability to the complex posture of the robot. When the robot's end posture moves to certain angles, the spatial measurement equipment cannot measure the target and the lens needs to be moved manually, resulting in a waste of manpower and time costs, and the posture measurement efficiency is low. Summary of the invention

[0004] The present invention provides a robot posture measurement method, device, equipment and storage medium to realize automatic and accurate measurement of the robot posture, which can adapt to the complex posture changes of the robot, save manpower and time costs, and improve the accuracy and efficiency of posture measurement.

[0005] In a first aspect, an embodiment of the present invention provides a robot posture measurement method, comprising:

[0006] Based on the tool coordinate system of the robot to be measured, determining a constant pose matrix of the test fixture in the tool coordinate system, wherein the test fixture is a polyhedron structure, and each plane in the polyhedron structure corresponds to a measurement target point;

[0007] When the posture of the robot to be measured changes, determining the current observation target point on the test fixture, and based on the base coordinate system of the robot to be measured, determining the point coordinates of the current observation target point in the base coordinate system;

[0008] Based on the point coordinates of the current observation target point in the base coordinate system and the preset measurement target point coordinate set, determine the target measurement target point corresponding to the current observation target point and the point coordinates of the target measurement target point in the test fixture coordinate system;

[0009] Determine a first pose matrix of the current observation target in the base coordinate system and a second pose matrix of the target measurement target in the test fixture coordinate system based on the point coordinates of the current observation target in the base coordinate system and the point coordinates of the target measurement target in the test fixture coordinate system;

[0010] Based on the first pose matrix, the second pose matrix, the constant pose matrix and the preset measurement target point coordinate set, a target pose matrix of the robot to be measured in the base coordinate system is determined.

[0011] In a second aspect, an embodiment of the present invention further provides a robot posture measurement device, comprising:

[0012] A first matrix determination module is used to determine a constant pose matrix of a test fixture in a tool coordinate system of the robot to be measured, wherein the test fixture is a polyhedron structure, and each plane in the polyhedron structure corresponds to a measurement target point;

[0013] A first coordinate determination module, used for determining a current observation target point on the test fixture when the posture of the robot to be measured changes, and determining the point coordinates of the current observation target point in the base coordinate system based on the base coordinate system of the robot to be measured;

[0014] A second coordinate determination module, for determining the target measurement target point corresponding to the current observation target point and the point coordinates of the target measurement target point in the test fixture coordinate system based on the point coordinates of the current observation target point in the base coordinate system and a preset measurement target point coordinate set;

[0015] A second matrix determination module, for determining a first pose matrix of the current observation target point in the base coordinate system and a second pose matrix of the target measurement target point in the test fixture coordinate system based on the point coordinates of the current observation target point in the base coordinate system and the point coordinates of the target measurement target point in the test fixture coordinate system;

[0016] The third matrix determination module is used to determine the target pose matrix of the robot to be measured in the base coordinate system based on the first pose matrix, the second pose matrix, the constant pose matrix and the preset measurement target point coordinate set.

[0017] In a third aspect, an embodiment of the present invention further provides an electronic device, characterized in that the electronic device comprises: at least one processor; and

[0018] a memory communicatively connected to the at least one processor; wherein,

[0019] The memory stores a computer program that can be executed by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the robot posture measurement method provided by any embodiment of the present invention.

[0020] In a fourth aspect, an embodiment of the present invention further provides a computer-readable storage medium, characterized in that the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to execute the robot posture measurement method provided by any embodiment of the present invention when executing.

[0021] The technical solution of the embodiment of the present invention can provide a stable reference for subsequent measurements by determining the constant posture matrix of the test fixture in the tool coordinate system based on the tool coordinate system of the robot to be measured, thereby ensuring the accuracy and repeatability of the measurement. Wherein, the test fixture is a polyhedron structure, and each plane in the polyhedron structure corresponds to a measurement target point. When the posture of the robot to be measured changes, the current observation target point on the test fixture is determined, and based on the base coordinate system of the robot to be measured, the point coordinates of the current observation target point in the base coordinate system are determined, so as to obtain the relative position information of the robot and the test fixture in the new posture in real time. Based on the point coordinates of the current observation target point in the base coordinate system and the preset measurement target point coordinate set, the target measurement target point corresponding to the current observation target point and the point coordinates of the target measurement target point in the test fixture coordinate system are determined, so as to accurately identify the standard position corresponding to the current observation target point (i.e., the target measurement target point). Based on the point coordinates of the current observation target in the base coordinate system and the point coordinates of the target measurement target in the test fixture coordinate system, the first pose matrix of the current observation target in the base coordinate system and the second pose matrix of the target measurement target in the test fixture coordinate system are determined, which can intuitively represent the position and posture of the target. Based on the first pose matrix, the second pose matrix, the constant pose matrix and the preset measurement target coordinate set, the target pose matrix of the robot to be measured in the base coordinate system is determined, and the accurate measurement and representation of the robot pose is achieved. By utilizing the polyhedron structure and coordinate system conversion of the test fixture, the automatic and accurate measurement of the robot pose is achieved, which can adapt to the complex pose changes of the robot, save manpower and time costs, and improve the accuracy and efficiency of pose measurement.

[0022] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0024] Figure 1 is a flow chart of a robot posture measurement method provided according to Embodiment 1 of the present invention;

[0025] Figure 2 is a structural diagram of a test tool involved in Embodiment 1 of the present invention;

[0026] Figure 3 is a flow chart of a robot posture measurement method provided according to Embodiment 2 of the present invention;

[0027] Figure 4 is a schematic structural diagram of a robot posture measurement device provided according to Embodiment 3 of the present invention;

[0028] Figure 5 It is a schematic diagram of the structure of an electronic device for implementing the robot posture measurement method according to an embodiment of the present invention. DETAILED DESCRIPTION

[0029] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0030] It should be noted that the terms "target", "current", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0031] Embodiment 1

[0032] Figure 1 A flowchart of a robot posture measurement method is provided for the first embodiment of the present invention. This embodiment is applicable to the situation where the posture measurement of the robot is performed. Figure 1As shown, the method can be performed by a robot posture measurement device, which can be implemented in the form of hardware and / or software, and can be configured in an electronic device. Figure 1 As shown, the method specifically comprises the following steps:

[0033] S110. Based on the tool coordinate system of the robot to be measured, determine a constant pose matrix of the test fixture in the tool coordinate system, wherein the test fixture is a polyhedron structure, and each plane in the polyhedron structure corresponds to a measurement target point.

[0034] Among them, the tool coordinate system may refer to a coordinate system fixed on the robot's end effector (such as a welding gun, gripper, etc.), and its origin is usually defined as the tool center point, that is, the reference point on the tool used to perform work. The test fixture may refer to a specially designed device used to provide known position and posture reference points during the robot's posture measurement process. The constant posture matrix may refer to a fixed, unchanging matrix used to describe the fixed position and posture of each target point (including the measurement target point) on the test fixture in the tool coordinate system. This matrix is ​​obtained through a prior calibration process and remains unchanged during subsequent measurement processes. The measurement target point may refer to a specific marking point or area on the test fixture, which is used to be recognized by the robot and measure its position and posture.

[0035] Specifically, the structure of the test tooling is as follows Figure 2 As shown in the figure, the tool coordinate system of the robot to be measured is measured, and the test fixture is calibrated to determine the fixed position and posture of each surface (or measurement target) relative to the tool coordinate system of the robot to be measured. Using these position and posture information, a constant posture matrix is ​​constructed. The constant posture matrix describes the fixed relationship between the measurement target on the test fixture and the tool coordinate system, providing a stable reference for subsequent measurements and ensuring the accuracy and repeatability of the measurement.

[0036] Exemplarily, S110 may include: determining the point coordinates of the calibration target on the test fixture in the tool coordinate system based on the tool coordinate system of the robot to be measured; and determining the constant pose matrix of the test fixture in the tool coordinate system based on the point coordinates of the calibration target in the tool coordinate system.

[0037] Among them, the calibration target may refer to a series of targets set on the test fixture that have clear position characteristics and are easy to be identified and measured by the robot.

[0038] Specifically, select several points on the test jig that have obvious features and are easily recognized by the robot as calibration targets. These targets should be evenly distributed on the test jig to ensure that the position and posture of the test jig can be fully reflected. Identify the calibration targets on the test jig, and after identifying the calibration targets, determine the point coordinates of these calibration targets in the robot tool coordinate system. According to the point coordinates of the calibration targets in the tool coordinate system and their actual positions in the test jig coordinate system, use mathematical methods and algorithms (such as least squares method, etc.) to calculate the constant pose matrix of the test jig in the tool coordinate system. Through accurate calibration targets and measurement processes, a high-precision constant pose matrix of the test jig in the tool coordinate system can be obtained, which helps to improve the accuracy and reliability of subsequent robot pose measurements.

[0039] Exemplarily, the coordinates of three points A, B, C (or more) on the test fixture in the tool coordinate system are measured while keeping the position of the tool coordinate system unchanged. Points A, B, and C are used to establish a constant position matrix relationship between the test fixture coordinate system in the tool coordinate system, which are called calibration target points.

[0040] S120. When the position and posture of the robot to be measured changes, determine the current observation target point on the test fixture, and determine the point coordinates of the current observation target point in the base coordinate system based on the base coordinate system of the robot to be measured.

[0041] The current observation target point can refer to a point on the test fixture that is easily observable at the current moment. The base coordinate system can refer to a fixed reference coordinate system in the robot system, which is usually defined on the base of the robot or a fixed point in the robot's working environment as the reference for all positions, postures, and movements in the entire system.

[0042] Specifically, when the robot's posture changes, the target point on the currently visible test fixture (i.e., the current observation target point) is identified through the observation equipment, and the point coordinates of the current observation target point on the test fixture in the base coordinate system are measured, thereby obtaining the position information of the test fixture in the base coordinate system in real time.

[0043] For example, the robot tool coordinate system is moved and rotated. Due to the change in the position and posture of the tool coordinate system, there is a large angle change between the measuring equipment and the test fixture. The coordinates of the calibration target points A, B, and C cannot be measured, and only some points on the target sphere can be measured. Assuming that the field of view of the current observation target points D, E, and F is good, the point coordinates of the target points D, E, and F in the robot base coordinate system are measured. It should be noted that because points A, B, and C are required to calculate the posture transformation, points D, E, and F need to be transformed to points A, B, and C in sequence to achieve the correct transformation of the matrix.

[0044] S130, based on the point coordinates of the current observation target point in the base coordinate system and the preset measurement target point coordinate set, determine the target measurement target point corresponding to the current observation target point and the point coordinates of the target measurement target point in the test fixture coordinate system.

[0045] The preset measurement target point coordinate set includes: the point coordinates of each measurement target point on the test fixture in the test fixture coordinate system. The target measurement target point may refer to a measurement target point on the test fixture that is located in the same plane as the current observation target point. The test fixture coordinate system may refer to a reference coordinate system fixed on the test fixture, which is used to describe the relative position relationship between each measurement target point on the test fixture.

[0046] Specifically, based on the point coordinates of the current observation target point in the base coordinate system, the measurement target point on the test fixture that is located in the same plane as the current observation target point (i.e., the target measurement target point) is determined; according to the preset measurement target point coordinate set, the point coordinates of each target measurement target point in the test fixture coordinate system are determined, and the standard position corresponding to the current observation target point (i.e., the target measurement target point) is accurately identified.

[0047] Exemplarily, S130 may include: determining the sum of the modulus lengths corresponding to the current observation target point based on the point coordinates of the current observation target point in the base coordinate system; determining the target measurement target point corresponding to the current observation target point and the point coordinates of the target measurement target point in the test tooling coordinate system based on the sum of the modulus lengths and a preset measurement target point coordinate set.

[0048] The sum of the moduli may refer to the sum of the moduli of the vectors formed between the current observation target points.

[0049] Specifically, based on the point coordinates of the current observation target in the base coordinate system, the vector modulus lengths between the two current observation target points are calculated by mathematical methods (such as the calculation formula of the vector modulus), and the sum of the modulus lengths corresponding to the current observation target points is determined. According to the calculated sum of the modulus lengths of the current observation target points, the target coordinate combination whose sum of modulus lengths is closest to the sum of the modulus lengths of the current observation target points is determined from the preset measurement target point coordinate set, and the target measurement target point corresponding to the current observation target point and the point coordinates of the target measurement target point in the test fixture coordinate system are determined. By calculating the sum of the modulus lengths and matching it with the targets in the preset set, the target measurement target point corresponding to the current observation target point can be determined more accurately, thereby reducing the positioning error.

[0050] Exemplarily, based on the sum of the modulus lengths and the preset measurement target point coordinate set, determining the target measurement target point corresponding to the current observation target point and the point coordinates of the target measurement target point in the test tooling coordinate system includes: determining at least one group of candidate measurement target point combinations corresponding to the current observation target point in the preset measurement target point coordinate set based on the sum of the modulus lengths and the preset measurement target point coordinate set; determining the inner angle combination corresponding to each group of candidate measurement target point combinations based on the candidate measurement target point combinations; comparing the inner angle combination corresponding to each group of candidate measurement target point combinations with the inner angle combination corresponding to the current observation target point, and determining the target measurement target point corresponding to the current observation target point and the point coordinates of the target measurement target point in the test tooling coordinate system.

[0051] The target point combination to be selected may refer to a combination of target point coordinates determined from a preset target point coordinate set with the same number as the currently observed target points. The inner angle combination may refer to the inner angle group sum of the polygon formed by each target point.

[0052] Specifically, based on the point coordinates of the current observation target in the base coordinate system, the vector modulus lengths between the two current observation target points are calculated by mathematical methods (such as the calculation formula of the vector modulus), and the sum of the modulus lengths corresponding to each vector modulus length is determined. According to the sum of the modulus lengths and the preset measurement target coordinate set, at least one group of candidate measurement target point combinations in the preset measurement target coordinate set that is closest to the sum of the modulus lengths corresponding to the current observation target is determined. For each group of candidate measurement target point combinations, the internal angle combination formed between them is calculated, and the angle between two vectors can be calculated by geometric calculation, such as using vector dot product or cosine theorem. The internal angle combination corresponding to each group of candidate measurement target point combinations is compared with the internal angle combination corresponding to the current observation target, and the group of candidate measurement target point combinations with the closest internal angle combination is determined as the target measurement target corresponding to the current observation target, and the target coordinates corresponding to the candidate measurement target point combination are determined as the point coordinates of the target measurement target in the test fixture coordinate system. By combining the dual screening conditions of the sum of the modulus lengths and the combination of the internal angles, the target measurement point corresponding to the current observation target point can be determined more accurately, reducing misjudgment and positioning errors.

[0053] Exemplarily, the sum of the modulus lengths between the current observed target points DEF, that is, the distance DE+DF+EF, is calculated, and this distance is used to compare with the sum of the modulus lengths of all point combinations in the preset measurement target point coordinate set, and all combinations that are consistent with the distance DE+DF+EF+tolerance are screened out (the actual measurement is represented by uppercase letters, and the target point coordinates in the test fixture are represented by lowercase letters. For example, there can be two groups of combinations that are consistent with the distance DE+DF+EF+tolerance, and all combinations def and uvw that are consistent with the distance DE+DF+EF+tolerance are determined. By comparing the internal angles ∠DEF, ∠EFD, ∠FDE with ∠def, ∠efd, ∠fde and another combination ∠uvw, ∠vuw, ∠uwv, the def combination can be screened out. Through two rounds of screening of the sum of the module lengths and the sum of the internal angles, the measurement point DEF and the corresponding point def (target measurement point) of the test fixture are found. Because a comparison is made when screening the internal angles, if it is DEF and dfe, then they cannot correspond when comparing the internal angles, so when it is necessary to compare the internal angles, the correct corresponding relationship is obtained through the cyclic assignment comparison of the point coordinates.

[0054] S140, determining a first pose matrix of the current observation target point in the base coordinate system and a second pose matrix of the target measurement target point in the test fixture coordinate system based on the point coordinates of the current observation target point in the base coordinate system and the point coordinates of the target measurement target point in the test fixture coordinate system.

[0055] The first pose matrix may refer to a pose matrix calculated based on the current observation target point. The second pose matrix may refer to a pose matrix calculated based on the target measurement target point.

[0056] Specifically, based on the point coordinates of the current observation target in the base coordinate system and the structural information of the test fixture, the first pose matrix of the current observation target in the base coordinate system is calculated. Similarly, according to the point coordinates of the target measurement target in the test fixture coordinate system and the structural information of the test fixture, the second pose matrix in the test fixture coordinate system is calculated. The position and posture of the target are intuitively represented in the form of pose matrix, which provides a basis for subsequent pose matrix conversion.

[0057] S150, determining a target pose matrix of the robot to be measured in the base coordinate system based on the first pose matrix, the second pose matrix, the constant pose matrix and the preset measurement target point coordinate set.

[0058] The target pose matrix may refer to the pose matrix of the tool coordinate system of the robot to be measured in the base coordinate system at the current moment.

[0059] Specifically, by combining the constant pose matrix, the first pose matrix, the second pose matrix and the preset measurement target coordinate set, through a series of coordinate transformations and matrix operations, the target pose matrix of the tool coordinate system of the robot to be measured in the base coordinate system is solved, thereby realizing real-time and accurate measurement and representation of the robot's pose.

[0060] The technical solution of the embodiment of the present invention can provide a stable reference for subsequent measurements by determining the constant posture matrix of the test fixture in the tool coordinate system based on the tool coordinate system of the robot to be measured, thereby ensuring the accuracy and repeatability of the measurement. Among them, the test fixture is a polyhedron structure, and each plane in the polyhedron structure corresponds to a measurement target point. When the posture of the robot to be measured changes, the current observation target point on the test fixture is determined, and based on the base coordinate system of the robot to be measured, the point coordinates of the current observation target point in the base coordinate system are determined, so as to obtain the relative position information of the robot and the test fixture in the new posture in real time. Based on the point coordinates of the current observation target point in the base coordinate system and the preset measurement target point coordinate set, the target measurement target point corresponding to the current observation target point and the point coordinates of the target measurement target point in the test fixture coordinate system are determined, so as to accurately identify the standard position corresponding to the current observation target point (i.e., the target measurement target point). Based on the point coordinates of the current observation target in the base coordinate system and the point coordinates of the target measurement target in the test fixture coordinate system, the first pose matrix of the current observation target in the base coordinate system and the second pose matrix of the target measurement target in the test fixture coordinate system are determined, which can intuitively represent the position and posture of the target. Based on the first pose matrix, the second pose matrix, the constant pose matrix and the preset measurement target coordinate set, the target pose matrix of the robot to be measured in the base coordinate system is determined, and the accurate measurement and representation of the robot's pose is achieved. By utilizing the polyhedron structure and coordinate system conversion of the test fixture, the automatic and accurate measurement of the robot's pose is achieved, which can adapt to the complex pose changes of the robot, save manpower and time costs, and improve the accuracy and efficiency of pose measurement.

[0061] Embodiment 2

[0062] Figure 3 This is a flow chart of a robot posture measurement method provided in Embodiment 2 of the present invention. Based on the above embodiments, this embodiment optimizes the step of "determining the target posture matrix of the robot to be measured in the base coordinate system based on the first posture matrix, the second posture matrix, the constant posture matrix and the preset measurement target point coordinate set". The explanations of the terms that are the same or corresponding to the above embodiments are not repeated here.

[0063] See also Figure 3 Another robot posture measurement method provided in this embodiment specifically includes the following steps:

[0064] S210 . Based on the tool coordinate system of the robot to be measured, determine a constant pose matrix of the test fixture in the tool coordinate system.

[0065] S220. When the posture of the robot to be measured changes, determine the current observation target point on the test fixture, and determine the point coordinates of the current observation target point in the base coordinate system based on the base coordinate system of the robot to be measured.

[0066] S230, based on the point coordinates of the current observation target point in the base coordinate system and the preset measurement target point coordinate set, determine the target measurement target point corresponding to the current observation target point and the point coordinates of the target measurement target point in the test fixture coordinate system.

[0067] S240, determining a first pose matrix of the current observation target point in the base coordinate system and a second pose matrix of the target measurement target point in the test fixture coordinate system based on the point coordinates of the current observation target point in the base coordinate system and the point coordinates of the target measurement target point in the test fixture coordinate system.

[0068] S250: Determine a first conversion relationship between the base coordinate system and the test fixture coordinate system based on the first pose matrix and the second pose matrix.

[0069] The first conversion relationship may refer to a conversion relationship between point coordinates in the test fixture coordinate system and point coordinates in the base coordinate system.

[0070] Specifically, the first pose matrix describes the position and pose of the current observation target in the base coordinate system, and the second pose matrix describes the position and pose of the target measurement target in the test fixture coordinate system. Since the test fixture is fixed, the first transformation relationship between the base coordinate system and the test fixture coordinate system can be derived by comparing the positions of the current observation target and the target measurement target in their respective coordinate systems, thereby establishing a direct connection between the base coordinate system and the test fixture coordinate system, providing a basis for subsequent calculations.

[0071] S260: Determine a second transformation relationship between the tool coordinate system and the test fixture coordinate system based on the constant pose matrix and the preset measurement target point coordinate set.

[0072] The second conversion relationship may refer to a conversion relationship between point coordinates in the tool coordinate system and point coordinates in the test fixture coordinate system.

[0073] Specifically, the constant pose matrix describes the fixed position and posture of each target point (including the measurement target point) on the test fixture in the tool coordinate system, and the preset measurement target point coordinate set describes the point coordinates of each target point (including the measurement target point) on the test fixture in the test fixture coordinate system. Through the constant pose matrix and the preset measurement target point coordinate set, the second conversion relationship between the point coordinates of each target point on the test fixture in the tool coordinate system and the point coordinates of each target point on the test fixture in the test fixture coordinate system can be derived, thereby establishing a direct connection between the tool coordinate system and the test fixture coordinate system.

[0074] S270, determining a target pose matrix of the robot to be measured in the base coordinate system based on the first conversion relationship, the second conversion relationship, the constant pose matrix and the preset measurement target point coordinate set.

[0075] Specifically, according to the first conversion relationship and the second conversion relationship, the coordinate conversion relationship between the base coordinate system and the tool coordinate system is determined, and according to the constant pose matrix, the point coordinates of the calibration target point corresponding to the preset measurement target point coordinate set in the test fixture coordinate system are determined. According to the point coordinates of the calibration target point in the test fixture coordinate system, the point coordinates of the calibration target point in the base coordinate system are determined. According to the coordinate conversion relationship between the base coordinate system and the tool coordinate system, the point coordinates of the calibration target point in the base coordinate system are converted into point coordinates in the tool coordinate system, and a pose matrix corresponding to the point coordinates of the calibration target point in the tool coordinate system is generated to determine the target pose matrix of the robot to be measured in the base coordinate system, and accurately solve the target pose matrix of the robot in the base coordinate system without manual intervention.

[0076] Exemplarily, S270 may include: determining a third transformation relationship between the base coordinate system and the tool coordinate system based on the first transformation relationship and the second transformation relationship; determining the point coordinates of the calibration target in the test tooling coordinate system based on the constant pose matrix and a preset measurement target coordinate set; determining the point coordinates of the calibration target in the base coordinate system based on the point coordinates of the calibration target in the test tooling coordinate system and the first transformation relationship; determining the target pose matrix of the robot to be measured in the base coordinate system based on the point coordinates of the calibration target in the base coordinate system and the third transformation relationship.

[0077] The third conversion relationship may refer to a conversion relationship between the point coordinates in the tool coordinate system and the point coordinates in the base coordinate system.

[0078] Specifically, the third transformation relationship between the base coordinate system and the tool coordinate system is derived by matrix multiplication or the corresponding coordinate transformation formula using the first transformation relationship (the transformation from the base coordinate system to the test fixture coordinate system) and the second transformation relationship (the transformation from the test fixture coordinate system to the measuring device coordinate system). The point coordinates of the calibration target corresponding to the constant posture matrix in the test fixture coordinate system are obtained by using the constant posture matrix (which describes the position and posture of the calibration target in the tool coordinate system) and the preset measurement target coordinate set (the point coordinates of the measurement target in the test fixture coordinate system). The coordinates of the calibration target are transformed to the base coordinate system through coordinate transformation using the first transformation relationship (the transformation from the base coordinate system to the test fixture coordinate system) and the point coordinates of the calibration target in the test fixture coordinate system. Based on the point coordinates of the calibration target in the base coordinate system and the third transformation relationship (the transformation between the base coordinate system and the tool coordinate system), the point coordinates of the calibration target in the base coordinate system at the current moment can be derived, and then the target pose matrix of the tool coordinate system of the robot to be measured in the base coordinate system can be determined according to the pose matrix corresponding to the point coordinates of the calibration target in the base coordinate system and the constant pose matrix. Through precise coordinate transformation and calibration process, the robot positioning error can be significantly reduced and the accuracy and reliability of robot operation can be improved.

[0079] The technical solution of the embodiment of the present invention determines the first transformation relationship between the base coordinate system and the test fixture coordinate system based on the first pose matrix and the second pose matrix, thereby establishing a direct connection between the base coordinate system and the test fixture coordinate system, providing a basis for subsequent calculations. Based on the constant pose matrix and the preset measurement target coordinate set, the second transformation relationship between the tool coordinate system and the test fixture coordinate system is determined, and a direct connection between the tool coordinate system and the test fixture coordinate system is established. Based on the first transformation relationship, the second transformation relationship, the constant pose matrix and the preset measurement target coordinate set, the target pose matrix of the robot to be measured in the base coordinate system is determined, and the target pose matrix of the robot in the base coordinate system is accurately solved. Through a series of coordinate transformations and matrix operations, a direct connection between each coordinate system is established, so as to accurately understand the relative position relationship between the robot tool end and the test fixture, and realize the accurate characterization of the target pose matrix of the robot in the base coordinate system.

[0080] Embodiment 3

[0081] Figure 4 This is a schematic diagram of the structure of a robot posture measurement device provided by Embodiment 3 of the present invention. Figure 4 As shown, the device includes: a first matrix determination module 310, a first coordinate determination module 320, a second coordinate determination module 330, a second matrix determination module 340 and a third matrix determination module 350.

[0082] The first matrix determination module 310 is used to determine the constant pose matrix of the test fixture in the tool coordinate system based on the tool coordinate system of the robot to be measured, wherein the test fixture is a polyhedron structure, and each plane in the polyhedron structure corresponds to a measurement target point;

[0083] A first coordinate determination module 320, configured to determine a current observation target point on the test fixture when the posture of the robot to be measured changes, and determine the point coordinates of the current observation target point in the base coordinate system based on the base coordinate system of the robot to be measured;

[0084] A second coordinate determination module 330 is used to determine the target measurement target point corresponding to the current observation target point and the point coordinates of the target measurement target point in the test fixture coordinate system based on the point coordinates of the current observation target point in the base coordinate system and the preset measurement target point coordinate set;

[0085] A second matrix determination module 340 is used to determine a first pose matrix of the current observation target point in the base coordinate system and a second pose matrix of the target measurement target point in the test fixture coordinate system based on the point coordinates of the current observation target point in the base coordinate system and the point coordinates of the target measurement target point in the test fixture coordinate system;

[0086] The third matrix determination module 350 is used to determine the target pose matrix of the robot to be measured in the base coordinate system based on the first pose matrix, the second pose matrix, the constant pose matrix and the preset measurement target point coordinate set.

[0087] The technical solution of this embodiment, by determining the constant posture matrix of the test fixture in the tool coordinate system based on the tool coordinate system of the robot to be measured, can provide a stable reference for subsequent measurements and ensure the accuracy and repeatability of the measurement. Among them, the test fixture is a polyhedron structure, and each plane in the polyhedron structure corresponds to a measurement target. When the posture of the robot to be measured changes, the current observation target on the test fixture is determined, and based on the base coordinate system of the robot to be measured, the point coordinates of the current observation target in the base coordinate system are determined, so as to obtain the relative position information of the robot and the test fixture in the new posture in real time. Based on the point coordinates of the current observation target in the base coordinate system and the preset measurement target coordinate set, the target measurement target corresponding to the current observation target and the point coordinates of the target measurement target in the test fixture coordinate system are determined, so as to accurately identify the standard position corresponding to the current observation target (i.e., the target measurement target). Based on the point coordinates of the current observation target in the base coordinate system and the point coordinates of the target measurement target in the test fixture coordinate system, the first pose matrix of the current observation target in the base coordinate system and the second pose matrix of the target measurement target in the test fixture coordinate system are determined, which can intuitively represent the position and posture of the target. Based on the first pose matrix, the second pose matrix, the constant pose matrix and the preset measurement target coordinate set, the target pose matrix of the robot to be measured in the base coordinate system is determined, and the accurate measurement and representation of the robot pose is achieved. By utilizing the polyhedron structure and coordinate system conversion of the test fixture, the automatic and accurate measurement of the robot pose is achieved, which can adapt to the complex pose changes of the robot, save manpower and time costs, and improve the accuracy and efficiency of pose measurement.

[0088] Optionally, the first matrix determination module 310 is specifically used to: determine the point coordinates of the calibration target on the test fixture in the tool coordinate system of the robot to be measured; and determine the constant pose matrix of the test fixture in the tool coordinate system based on the point coordinates of the calibration target in the tool coordinate system.

[0089] Optionally, the preset measurement target point coordinate set includes: point coordinates of each measurement target point on the test fixture in the test fixture coordinate system.

[0090] Optionally, the second coordinate determination module 330 includes:

[0091] A module length sum determination unit, used to determine the sum of module lengths corresponding to the current observation target point based on the point coordinates of the current observation target point in the base coordinate system;

[0092] The point coordinate determination unit is used to determine the target measurement target point corresponding to the current observation target point and the point coordinates of the target measurement target point in the test tooling coordinate system based on the total module length and a preset measurement target point coordinate set.

[0093] Optionally, the point coordinate determination unit is specifically used to: determine at least one group of candidate measurement target point combinations corresponding to the current observation target point in the preset measurement target point coordinate set based on the sum of the module lengths and the preset measurement target point coordinate set; determine the inner angle combination corresponding to each group of candidate measurement target point combinations based on the candidate measurement target point combinations; compare the inner angle combination corresponding to each group of candidate measurement target point combinations with the inner angle combination corresponding to the current observation target point, and determine the target measurement target point corresponding to the current observation target point and the point coordinates of the target measurement target point in the test tooling coordinate system.

[0094] Optionally, the third matrix determination module 350 includes:

[0095] A first relationship determination unit, configured to determine a first conversion relationship between a base coordinate system and a test fixture coordinate system based on the first posture matrix and the second posture matrix;

[0096] A second relationship determination unit, configured to determine a second transformation relationship between the tool coordinate system and the test fixture coordinate system based on the constant pose matrix and the preset measurement target point coordinate set;

[0097] A target matrix determination unit is used to determine the target pose matrix of the robot to be measured in the base coordinate system based on the first conversion relationship, the second conversion relationship, the constant pose matrix and the preset measurement target point coordinate set.

[0098] Optionally, the target matrix determination unit is specifically used to: determine a third transformation relationship between the base coordinate system and the tool coordinate system based on the first transformation relationship and the second transformation relationship; determine the point coordinates of the calibration target in the test tooling coordinate system based on the constant pose matrix and the preset measurement target coordinate set; determine the point coordinates of the calibration target in the base coordinate system based on the point coordinates of the calibration target in the test tooling coordinate system and the first transformation relationship; determine the target pose matrix of the robot to be measured in the base coordinate system based on the point coordinates of the calibration target in the base coordinate system and the third transformation relationship.

[0099] The robot posture measurement device provided in the embodiment of the present invention can execute the robot posture measurement method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0100] Figure 5A schematic diagram of the structure of an electronic device 12 that can be used to implement an embodiment of the present invention is shown. The electronic device is intended to represent various forms of digital computers, such as desktop computers, workstations, servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processing, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or required herein.

[0101] like Figure 5 As shown, the electronic device 12 is in the form of a general purpose computing device. The components of the electronic device 12 may include, but are not limited to: one or more processors or processing units 16, a system memory 28, and a bus 18 that connects various system components (including the system memory 28 and the processing unit 16).

[0102] Bus 18 represents one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, a processor or a local bus using any of a variety of bus architectures. By way of example, these architectures include, but are not limited to, an Industry Standard Architecture (ISA) bus, a Micro Channel Architecture (MAC) bus, an Enhanced ISA bus, a Video Electronics Standards Association (VESA) local bus, and a Peripheral Component Interconnect (PCI) bus.

[0103] The electronic device 12 typically includes a variety of computer system readable media. These media can be any available media that can be accessed by the electronic device 12, including volatile and non-volatile media, removable and non-removable media.

[0104] The system memory 28 may include computer system readable media in the form of volatile memory, such as random access memory (RAM) 30 and / or cache memory 32. The electronic device 12 may further include other removable / non-removable, volatile / non-volatile computer system storage media. By way of example only, the storage system 34 may be used to read and write non-removable, non-volatile magnetic media ( Figure 5 not shown, usually called a "hard drive"). Although Figure 5Not shown in the figure, a disk drive for reading and writing to a removable non-volatile disk (e.g., a "floppy disk"), and an optical disk drive for reading and writing to a removable non-volatile optical disk (e.g., a CD-ROM, a DVD-ROM, or other optical media) may be provided. In these cases, each drive may be connected to the bus 18 via one or more data medium interfaces. The system memory 28 may include at least one program product having a set (e.g., at least one) of program modules that are configured to perform the functions of the various embodiments of the present invention.

[0105] A program / utility 40 having a set (at least one) of program modules 42 may be stored, for example, in system memory 28, such program modules 42 including, but not limited to, an operating system, one or more application programs, other program modules, and program data, each of which or some combination may include an implementation of a network environment. Program modules 42 generally perform the functions and / or methods of the embodiments described herein.

[0106] The electronic device 12 may also communicate with one or more external devices 14 (e.g., keyboards, pointing devices, displays 24, etc.), may communicate with one or more devices that enable a user to interact with the electronic device 12, and / or may communicate with any device that enables the electronic device 12 to communicate with one or more other computing devices (e.g., network cards, modems, etc.). Such communication may be performed via an input / output (I / O) interface 22. Furthermore, the electronic device 12 may also communicate with one or more networks (e.g., local area networks (LANs), wide area networks (WANs), and / or public networks, such as the Internet) via a network adapter 20. As shown, the network adapter 20 communicates with other modules of the electronic device 12 via a bus 18. It should be understood that, although not shown in the figure, other hardware and / or software modules may be used in conjunction with the electronic device 12, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems.

[0107] The processing unit 16 executes various functional applications and data processing by running the program stored in the system memory 28, for example, implementing a robot posture measurement method provided in the embodiment of the present invention, the method comprising:

[0108] Based on the tool coordinate system of the robot to be measured, determining a constant pose matrix of the test fixture in the tool coordinate system, wherein the test fixture is a polyhedron structure, and each plane in the polyhedron structure corresponds to a measurement target point;

[0109] When the posture of the robot to be measured changes, determining the current observation target point on the test fixture, and based on the base coordinate system of the robot to be measured, determining the point coordinates of the current observation target point in the base coordinate system;

[0110] Based on the point coordinates of the current observation target point in the base coordinate system and the preset measurement target point coordinate set, determine the target measurement target point corresponding to the current observation target point and the point coordinates of the target measurement target point in the test fixture coordinate system;

[0111] Determine a first pose matrix of the current observation target in the base coordinate system and a second pose matrix of the target measurement target in the test fixture coordinate system based on the point coordinates of the current observation target in the base coordinate system and the point coordinates of the target measurement target in the test fixture coordinate system;

[0112] Based on the first pose matrix, the second pose matrix, the constant pose matrix and the preset measurement target point coordinate set, a target pose matrix of the robot to be measured in the base coordinate system is determined.

[0113] Of course, those skilled in the art can understand that the processor can also implement the technical solution of the robot posture measurement method provided by any embodiment of the present invention.

[0114] This embodiment provides a computer-readable storage medium, on which a computer program is stored. When the program is executed by a processor, the steps of the robot posture measurement method provided in any embodiment of the present invention are implemented. The method includes:

[0115] Based on the tool coordinate system of the robot to be measured, determining a constant pose matrix of the test fixture in the tool coordinate system, wherein the test fixture is a polyhedron structure, and each plane in the polyhedron structure corresponds to a measurement target point;

[0116] When the posture of the robot to be measured changes, determining the current observation target point on the test fixture, and based on the base coordinate system of the robot to be measured, determining the point coordinates of the current observation target point in the base coordinate system;

[0117] Based on the point coordinates of the current observation target point in the base coordinate system and the preset measurement target point coordinate set, determine the target measurement target point corresponding to the current observation target point and the point coordinates of the target measurement target point in the test fixture coordinate system;

[0118] Determine a first pose matrix of the current observation target in the base coordinate system and a second pose matrix of the target measurement target in the test fixture coordinate system based on the point coordinates of the current observation target in the base coordinate system and the point coordinates of the target measurement target in the test fixture coordinate system;

[0119] Based on the first pose matrix, the second pose matrix, the constant pose matrix and the preset measurement target point coordinate set, a target pose matrix of the robot to be measured in the base coordinate system is determined.

[0120] The computer storage medium of the embodiment of the present invention can adopt any combination of one or more computer-readable media. The computer-readable medium can be a computer-readable signal medium or a computer-readable storage medium. The computer-readable storage medium can be, for example, but not limited to: an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples (non-exhaustive list) of computer-readable storage media include: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this document, a computer-readable storage medium can be any tangible medium containing or storing a program, which can be used by an instruction execution system, device or device or used in combination with it.

[0121] Computer-readable signal media may include data signals propagated in baseband or as part of a carrier wave, which carry computer-readable program code. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. Computer-readable signal media may also be any computer-readable medium other than a computer-readable storage medium, which may send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, apparatus, or device.

[0122] The program code embodied on the computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

[0123] Computer program code for performing the operations of the present invention may be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0124] It should be understood by those skilled in the art that the modules or steps of the present invention described above can be implemented by a general-purpose computing device, they can be concentrated on a single computing device, or distributed on a network composed of multiple computing devices, optionally, they can be implemented by a program code executable by a computer device, so that they can be stored in a storage device and executed by the computing device, or they can be made into individual integrated circuit modules, or multiple modules or steps therein can be made into a single integrated circuit module for implementation. Thus, the present invention is not limited to any specific combination of hardware and software.

[0125] Note that the above are only preferred embodiments of the present invention and the technical principles used. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and that various obvious changes, readjustments and substitutions can be made by those skilled in the art without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in more detail through the above embodiments, the present invention is not limited to the above embodiments, and may include more other equivalent embodiments without departing from the concept of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims

1. A robot posture measurement method, characterized in that: The method comprises: Based on the tool coordinate system of the robot to be measured, determining a constant pose matrix of the test fixture in the tool coordinate system, wherein the test fixture is a polyhedron structure, and each plane in the polyhedron structure corresponds to a measurement target point; When the posture of the robot to be measured changes, determining the current observation target point on the test fixture, and based on the base coordinate system of the robot to be measured, determining the point coordinates of the current observation target point in the base coordinate system; Based on the point coordinates of the current observation target point in the base coordinate system and the preset measurement target point coordinate set, determine the target measurement target point corresponding to the current observation target point and the point coordinates of the target measurement target point in the test fixture coordinate system; Determine a first pose matrix of the current observation target in the base coordinate system and a second pose matrix of the target measurement target in the test fixture coordinate system based on the point coordinates of the current observation target in the base coordinate system and the point coordinates of the target measurement target in the test fixture coordinate system; Based on the first pose matrix, the second pose matrix, the constant pose matrix and the preset measurement target point coordinate set, a target pose matrix of the robot to be measured in the base coordinate system is determined.

2. The method according to claim 1, characterized in that The step of obtaining a constant pose matrix of the test fixture in the tool coordinate system based on the tool coordinate system of the robot to be measured includes: Based on the tool coordinate system of the robot to be measured, determining the point coordinates of the calibration target point on the test fixture in the tool coordinate system; Based on the point coordinates of the calibration target point in the tool coordinate system, a constant pose matrix of the test fixture in the tool coordinate system is determined.

3. The method according to claim 1, characterized in that The preset measurement target point coordinate set includes: the point coordinates of each measurement target point on the test fixture in the test fixture coordinate system.

4. The method according to claim 1, characterized in that: The step of determining the target measurement target point corresponding to the current observation target point and the point coordinates of the target measurement target point in the test fixture coordinate system based on the point coordinates of the current observation target point in the base coordinate system and the preset measurement target point coordinate set includes: Determine the sum of the modulus lengths corresponding to the current observation target point based on the point coordinates of the current observation target point in the base coordinate system; Based on the sum of the module lengths and a preset measurement target point coordinate set, a target measurement target point corresponding to the current observation target point and point coordinates of the target measurement target point in a test fixture coordinate system are determined.

5. The method according to claim 4, characterized in that The determining, based on the sum of the module lengths and a preset set of measurement target point coordinates, of a target measurement target point corresponding to the current observation target point and point coordinates of the target measurement target point in a test fixture coordinate system includes: Based on the sum of the modulus lengths and the preset measurement target point coordinate set, determining at least one group of to-be-selected measurement target point combinations corresponding to the current observation target point in the preset measurement target point coordinate set; Based on the candidate measurement target point combinations, determine the interior angle combination corresponding to each group of candidate measurement target point combinations; The inner angle combination corresponding to each group of candidate measurement target point combinations is compared with the inner angle combination corresponding to the current observation target point to determine the target measurement target point corresponding to the current observation target point and the point coordinates of the target measurement target point in the test fixture coordinate system.

6. The method according to claim 1, characterized in that The step of determining a target pose matrix of the robot to be measured in the base coordinate system based on the first pose matrix, the second pose matrix, the constant pose matrix and the preset measurement target point coordinate set includes: Determine a first conversion relationship between a base coordinate system and a test fixture coordinate system based on the first pose matrix and the second pose matrix; Determining a second transformation relationship between the tool coordinate system and the test fixture coordinate system based on the constant pose matrix and the preset measurement target point coordinate set; Based on the first conversion relationship, the second conversion relationship, the constant pose matrix and the preset measurement target point coordinate set, a target pose matrix of the robot to be measured in the base coordinate system is determined.

7. The method according to claim 6, characterized in that The step of determining a target pose matrix of the robot to be measured in the base coordinate system based on the first conversion relationship, the second conversion relationship, the constant pose matrix and the preset measurement target point coordinate set includes: Determine a third transformation relationship between a base coordinate system and a tool coordinate system based on the first transformation relationship and the second transformation relationship; Based on the constant pose matrix and the preset measurement target point coordinate set, determining the point coordinates of the calibration target point in the test fixture coordinate system; Determine the point coordinates of the calibration target point in the base coordinate system based on the point coordinates of the calibration target point in the test fixture coordinate system and the first conversion relationship; Based on the point coordinates of the calibration target point in the base coordinate system and the third conversion relationship, a target pose matrix of the robot to be measured in the base coordinate system is determined.

8. A robot posture measurement device, characterized in that: include: A first matrix determination module is used to determine a constant pose matrix of a test fixture in a tool coordinate system of the robot to be measured, wherein the test fixture is a polyhedron structure, and each plane in the polyhedron structure corresponds to a measurement target point; A first coordinate determination module, used for determining a current observation target point on the test fixture when the posture of the robot to be measured changes, and determining the point coordinates of the current observation target point in the base coordinate system based on the base coordinate system of the robot to be measured; A second coordinate determination module, for determining the target measurement target point corresponding to the current observation target point and the point coordinates of the target measurement target point in the test fixture coordinate system based on the point coordinates of the current observation target point in the base coordinate system and a preset measurement target point coordinate set; A second matrix determination module, for determining a first pose matrix of the current observation target point in the base coordinate system and a second pose matrix of the target measurement target point in the test fixture coordinate system based on the point coordinates of the current observation target point in the base coordinate system and the point coordinates of the target measurement target point in the test fixture coordinate system; The third matrix determination module is used to determine the target pose matrix of the robot to be measured in the base coordinate system based on the first pose matrix, the second pose matrix, the constant pose matrix and the preset measurement target point coordinate set.

9. An electronic device, characterized in that: The electronic device comprises: at least one processor; and a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the robot posture measurement method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the robot posture measurement method according to any one of claims 1 to 7 when executed.

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