A robot pose measurement method, device, equipment and storage medium

Abstract

The application discloses a kind of robot pose measurement method, device, equipment and storage medium, the method includes: based on the tool coordinate system of the robot to be measured, determine constant pose matrix;When the pose of the robot to be measured changes, determine current observation target point and the point coordinate of current observation target point under base coordinate system, and determine the target measurement target point corresponding to current observation target point and the point coordinate of target measurement target point under test tool coordinate system, and determine the first pose matrix corresponding to current observation target point and the second pose matrix corresponding to target measurement target point;Based on first pose matrix, second pose matrix, constant pose matrix and preset measurement target point coordinate set, determine the target pose matrix of the robot to be measured.The technical scheme of the embodiment of the present application is used to realize the automatic accurate measurement of robot pose, can adapt to the complex pose change of robot, save manpower and time cost, improve the accuracy and efficiency of pose measurement.

Description

Technical Field

[0001] This invention relates to the field of robotics, and in particular to a method, apparatus, device, and storage medium for measuring robot pose. Background Technology

[0002] A robot's pose (position and orientation) is one of the important indicators of its performance. Accurate pose measurement helps to achieve precise positioning and operation of the robot.

[0003] Currently, traditional robot pose measurement methods mainly involve installing a target at the robot's end effector and using a laser tracker to measure the position of the target to calculate the robot's pose. However, traditional robot pose measurement methods are poorly adaptable to complex robot poses. When the robot's end effector moves to certain angles, the spatial measurement equipment cannot measure the target, requiring manual camera movement, resulting in wasted manpower and time, and low pose measurement efficiency. Summary of the Invention

[0004] This invention provides a robot pose measurement method, apparatus, device, and storage medium to achieve automatic and accurate measurement of robot pose, adapt to complex pose changes of robots, save manpower and time costs, and improve the accuracy and efficiency of pose measurement.

[0005] In a first aspect, embodiments of the present invention provide a robot pose measurement method, comprising:

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

[0007] When the pose of the robot under test changes, the current observation target point on the test fixture is determined, and the point coordinates of the current observation target point in the base coordinate system are determined based on the base coordinate system of the robot under test.

[0008] Based on the point coordinates of the current observation target point in the base coordinate system and the preset set of measurement target point coordinates, 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.

[0009] 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, determine the first pose matrix of the current observation target point in the base coordinate system and the second pose matrix of the target measurement target point in the test fixture coordinate system.

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

[0011] Secondly, embodiments of the present invention also provide a robot pose measurement device, comprising:

[0012] The first matrix determination module 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 polyhedral structure, and each plane in the polyhedral structure corresponds to a measurement target point;

[0013] The first coordinate determination module is used to determine the current observation target point on the test fixture when the pose of the robot under test changes, and to determine the point coordinates of the current observation target point in the base coordinate system based on the base coordinate system of the robot under test.

[0014] The second coordinate determination module is used to determine the target measurement target point corresponding to the current observation target point and the point coordinate point 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 set of measurement target point coordinates.

[0015] The second matrix determination module is used to determine the first pose matrix of the current observation target point in the base coordinate system and the 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 set of measurement target point coordinates.

[0017] Thirdly, embodiments of the present invention also provide 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, which enables the at least one processor to perform the robot pose measurement method provided in any embodiment of the present invention.

[0020] Fourthly, embodiments of the present invention also provide a computer-readable storage medium, characterized in that the computer-readable storage medium stores computer instructions, which are used to enable a processor to execute the robot pose measurement method provided in any embodiment of the present invention.

[0021] The technical solution of this invention, by determining the constant pose matrix of the test fixture in the tool coordinate system based on the tool coordinate system of the robot under test, provides a stable reference for subsequent measurements, ensuring the accuracy and repeatability of the measurements. The test fixture is a polyhedral structure, with each plane corresponding to a measurement target point. When the pose of the robot under test changes, the current observation target point on the test fixture is determined, and based on the base coordinate system of the robot under test, the coordinates of the current observation target point in the base coordinate system are determined, thereby obtaining the relative position information between the robot and the test fixture in the new pose in real time. Based on the coordinates of the current observation target point in the base coordinate system and a preset set of measurement target point coordinates, the target measurement target point corresponding to the current observation target point and the coordinates of the target measurement target point in the test fixture coordinate system are determined, thereby accurately identifying the standard position (i.e., the target measurement target point) corresponding to the current observation target point. Based on the coordinates of the current observation target point in the base coordinate system and the coordinates of the target measurement target point in the test fixture coordinate system, the first pose matrix of the current observation target point in the base coordinate system and the second pose matrix of the target measurement target point in the test fixture coordinate system are determined, which can intuitively represent the position and attitude of the target point. Based on the first pose matrix, the second pose matrix, the constant pose matrix, and the preset set of measurement target point coordinates, the target pose matrix of the robot under test in the base coordinate system is determined, realizing the accurate measurement and representation of the robot's pose. By utilizing the polyhedral structure and coordinate system transformation of the test fixture, automatic and accurate measurement of the robot's pose is achieved, which can adapt to 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 description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0023] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0024] Figure 1 This is a flowchart of a robot pose measurement method according to Embodiment 1 of the present invention;

[0025] Figure 2 This is a structural diagram of a test fixture according to Embodiment 1 of the present invention;

[0026] Figure 3 This is a flowchart of a robot pose measurement method according to Embodiment 2 of the present invention;

[0027] Figure 4 This is a schematic diagram of the structure of a robot pose measurement device according to Embodiment 3 of the present invention;

[0028] Figure 5 This is a schematic diagram of the structure of an electronic device that implements the robot pose measurement method of the present invention. Detailed Implementation

[0029] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort 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, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0031] Example 1

[0032] Figure 1 This is a flowchart illustrating a robot pose measurement method according to Embodiment 1 of the present invention. This embodiment is applicable to situations involving robot pose measurement. Figure 1As shown, this method can be executed by a robot pose measurement device, which can be implemented in hardware and / or software and can be configured in an electronic device. For example... Figure 1 As shown, the method specifically includes the following steps:

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

[0034] In this context, the tool coordinate system refers to a coordinate system fixed on the robot's end effector (such as a welding torch or gripper), with its origin typically defined as the tool's center point, serving as the reference point for performing the work. The test fixture can be a specially designed device used to provide known position and orientation reference points during robot pose measurement. The constant pose matrix is ​​a fixed, invariant matrix describing the fixed position and orientation of each target point (including measurement target points) on the test fixture within the tool coordinate system. This matrix is ​​obtained through a prior calibration process and remains unchanged during subsequent measurements. Measurement target points can be specific marked points or areas on the test fixture used by the robot to identify and measure their position and orientation.

[0035] Specifically, the structure of the test fixture is as follows: Figure 2 As shown, the tool coordinate system of the robot under test is measured, and the test fixture is calibrated to determine the fixed position and orientation of each face (or measurement target point) relative to the tool coordinate system of the robot under test. Using this position and orientation information, a constant pose matrix is ​​constructed. This constant pose matrix describes the fixed relationship between the measurement target point on the test fixture and the tool coordinate system, providing a stable reference for subsequent measurements and ensuring the accuracy and repeatability of the measurements.

[0036] For example, 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, calibration target points can refer to a series of target points set on the test fixture that have clear positional characteristics and are easy for robots to identify and measure.

[0038] Specifically, several points with distinctive features and easily identifiable by the robot are selected on the test fixture as calibration targets. These targets should be evenly distributed across the test fixture to ensure a comprehensive reflection of its position and orientation. The calibration targets on the test fixture are identified, and their coordinates in the robot's tool coordinate system are determined. Based on the coordinates of the calibration targets in the tool coordinate system and their actual positions in the test fixture coordinate system, mathematical methods and algorithms (such as least squares) are used to calculate the constant pose matrix of the test fixture in the tool coordinate system. Through precise calibration of the targets and the measurement process, a high-precision constant pose matrix of the test fixture in the tool coordinate system can be obtained, which helps improve the accuracy and reliability of subsequent robot pose measurements.

[0039] For example, while keeping the tool coordinate system pose unchanged, measure the coordinates of three points A, B, C (or more) on the test fixture in the tool coordinate system. Since points A, B, and C are used to establish the constant pose matrix relationship of the test fixture coordinate system in the tool coordinate system, they are called calibration target points.

[0040] S120. When the pose of the robot under test 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 under test.

[0041] Here, 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 robot's base or at a fixed point in the robot's working environment, serving as the reference for all positions, attitudes, and movements in the entire system.

[0042] Specifically, when the robot's pose changes, the observation device identifies the target point on the currently visible test fixture (i.e., the current observation target point) and measures the coordinates of the current observation target point on the test fixture in the base coordinate system, thereby obtaining the position information of the test fixture in the base coordinate system in real time.

[0043] For example, when the robot tool coordinate system is moved or rotated, the position and orientation of the tool coordinate system change, resulting in a significant angular change between the measuring equipment and the testing fixture. Therefore, the coordinates of calibration target points A, B, and C cannot be measured; only some points on the target sphere can be measured. Assuming the current field of view for target points D, E, and F is good, the coordinates of target points D, E, and F in the robot base coordinate system must be measured. It should be noted that since the pose transformation calculation requires points A, B, and C, points D, E, and F must be sequentially transformed to points A, B, and C to achieve the correct matrix transformation.

[0044] S130. Based on the point coordinates of the current observation target in the base coordinate system and the preset set of measurement target coordinates, determine 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.

[0045] The preset set of measurement target point coordinates includes the coordinates of each measurement target point on the test fixture in the test fixture coordinate system. A target measurement point can refer to a measurement target point on the test fixture that lies on the same plane as the currently observed target point. The test fixture coordinate system can refer to a reference coordinate system fixed on the test fixture, used to describe the relative positional relationships between the measurement target points on the test fixture.

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

[0047] For example, S130 may include: determining the total modulus length corresponding to the current observation target point based on the point coordinates of the current observation target point in the base coordinate system; 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 fixture coordinate system based on the total modulus length and the preset set of measurement target point coordinates.

[0048] The sum of magnitudes can refer to the sum of the magnitudes of the vectors formed between the currently observed target points.

[0049] Specifically, based on the coordinates of the current observation target point in the base coordinate system, the vector magnitude between any two current observation target points is calculated using mathematical methods (such as the formula for calculating the vector magnitude), and the sum of the magnitudes corresponding to the current observation target point is determined. Based on the calculated sum of the magnitudes of the current observation target points, the target point coordinate combination whose sum of magnitudes is closest to the sum of the magnitudes of the current observation target points is determined from the preset set of measurement target point coordinates. This determines the target measurement target point corresponding to the current observation target point and its coordinates in the test fixture coordinate system. By calculating the sum of the magnitudes and matching it with the target points in the preset set, the target measurement target point corresponding to the current observation target point can be determined more accurately, thereby reducing positioning errors.

[0050] For example, based on the sum of the modulus lengths and a preset set of measurement target point coordinates, 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 includes: determining at least one set of candidate measurement target point combinations corresponding to the current observation target point in the preset set of measurement target point coordinates based on the sum of the modulus lengths and the preset set of measurement target point coordinates; determining the interior angle combination corresponding to each set of candidate measurement target point combinations based on the candidate measurement target point combinations; comparing the interior angle combination corresponding to each set of candidate measurement target point combinations with the interior 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.

[0051] The candidate target point combination can refer to a combination of target point coordinates determined from a preset set of target point coordinates, which has the same number of target points as the currently observed target points. The interior angle combination can refer to the sum of the interior angles of the polygon formed by the target points.

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

[0053] For example, calculate the sum of the modulus lengths between the current observed target points DE and F, i.e., the distance DE+DF+EF. Use this distance to compare with the sum of the modulus lengths of all point combinations in the preset set of measured target point coordinates. Select all combinations that match the distance + tolerance of DE+DF+EF (actual measurements are represented by uppercase letters, and target point coordinates within the test fixture are represented by lowercase letters; for example, there can be two sets of combinations that match the distance + tolerance of DE+DF+EF). Determine all combinations def and uvw that match the distance + tolerance of DE+DF+EF. By comparing the interior angles ∠DEF, ∠EFD, ∠FDE and ∠def, ∠efd, ∠fde with another combination ∠uvw, ∠vuw, ∠uwv, the combination 'def' can be selected. Through two rounds of selection using the sum of the modulus and the sum of the interior angles, the measurement point DEF and its corresponding point 'def' (target measurement point) on the test fixture were found. Because a comparison was made when selecting interior angles, if DEF and 'dfe' were used, they would not correspond when comparing interior angles. Therefore, the correct correspondence was obtained by iteratively assigning and comparing the point coordinates when comparing interior angles.

[0054] S140. 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, determine 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.

[0055] The first pose matrix can be the pose matrix calculated based on the currently observed target point. The second pose matrix can be the pose matrix calculated based on the target measurement point.

[0056] Specifically, based on the point coordinates of the current observed target in the base coordinate system and the structural information of the test fixture, the first pose matrix of the current observed target in the base coordinate system is calculated. Similarly, based on the point coordinates of the target measurement point in the test fixture coordinate system and the structural information of the test fixture, its second pose matrix in the test fixture coordinate system is calculated. The pose matrix intuitively represents the position and attitude of the target point, providing a foundation for subsequent pose matrix transformation.

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

[0058] The target pose matrix can 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 set of measurement target coordinates, a series of coordinate transformations and matrix operations are performed to solve the target pose matrix of the robot's tool coordinate system in the base coordinate system, thereby realizing the real-time and accurate measurement and representation of the robot's pose.

[0060] The technical solution of this invention, by determining the constant pose matrix of the test fixture in the tool coordinate system based on the tool coordinate system of the robot under test, provides a stable reference for subsequent measurements, ensuring the accuracy and repeatability of the measurements. The test fixture is a polyhedral structure, with each plane corresponding to a measurement target point. When the pose of the robot under test changes, the current observation target point on the test fixture is determined, and based on the base coordinate system of the robot under test, the coordinates of the current observation target point in the base coordinate system are determined, thereby obtaining the relative position information of the robot and the test fixture in the new pose in real time. Based on the coordinates of the current observation target point in the base coordinate system and a preset set of measurement target point coordinates, the target measurement target point corresponding to the current observation target point and its coordinates in the test fixture coordinate system are determined, thereby accurately identifying the standard position (i.e., the target measurement target point) corresponding to the current observation target point. Based on the coordinates of the current observation target point in the base coordinate system and the coordinates of the target measurement point in the test fixture coordinate system, the first pose matrix of the current observation target point in the base coordinate system and the second pose matrix of the target measurement point in the test fixture coordinate system are determined, which can intuitively represent the position and attitude of the target point. Based on the first pose matrix, the second pose matrix, the constant pose matrix, and the preset set of measurement target point coordinates, the target pose matrix of the robot under test in the base coordinate system is determined, realizing the accurate measurement and representation of the robot's pose. By utilizing the polyhedral structure and coordinate system transformation of the test fixture, automatic and accurate measurement of the robot's pose is achieved, which can adapt to complex pose changes of the robot, save manpower and time costs, and improve the accuracy and efficiency of pose measurement.

[0061] Example 2

[0062] Figure 3 This is a flowchart of a robot pose measurement method provided in Embodiment 2 of the present invention. Based on the above embodiments, this embodiment optimizes the step of "determining 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 set of measurement target point coordinates". Explanations of terms that are the same as or corresponding to those in the above embodiments are not repeated here.

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

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

[0065] S220. When the pose of the robot under test 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 under test.

[0066] S230. Based on the point coordinates of the current observation target in the base coordinate system and the preset set of measurement target coordinates, determine 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.

[0067] S240. 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, determine 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.

[0068] S250. Based on the first pose matrix and the second pose matrix, determine the first transformation relationship between the base coordinate system and the test fixture coordinate system.

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

[0070] Specifically, the first pose matrix describes the position and orientation of the current observed target point in the base coordinate system, while the second pose matrix describes the position and orientation of the target measurement point 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 observed target point and the target measurement point in their respective coordinate systems. This establishes a direct connection between the base coordinate system and the test fixture coordinate system, providing a foundation for subsequent calculations.

[0071] S260. Based on the constant pose matrix and the preset set of measurement target coordinates, determine the second transformation relationship between the tool coordinate system and the test fixture coordinate system.

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

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

[0074] S270. Based on the first transformation relationship, the second transformation relationship, the constant pose matrix, and the preset set of measurement target point coordinates, determine the target pose matrix of the robot to be measured in the base coordinate system.

[0075] Specifically, based on the first and second transformation relationships, the coordinate transformation relationship between the base coordinate system and the tool coordinate system is determined. Then, based on the constant pose matrix, the coordinates of the calibration target points corresponding to the preset set of measurement target point coordinates in the test fixture coordinate system are determined. Based on the coordinates of the calibration target points in the test fixture coordinate system, the coordinates of the calibration target points in the base coordinate system are determined. Using the coordinate transformation relationship between the base and tool coordinate systems, the coordinates of the calibration target points in the base coordinate system are converted to coordinates in the tool coordinate system, and the pose matrix corresponding to the coordinates of the calibration target points in the tool coordinate system is generated. This determines the target pose matrix of the robot under test in the base coordinate system, accurately solving for the target pose matrix of the robot in the base coordinate system without manual intervention.

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

[0078] Specifically, using the first transformation relationship (transformation from the base coordinate system to the test fixture coordinate system) and the second transformation relationship (transformation from the test fixture coordinate system to the measuring equipment coordinate system), the third transformation relationship between the base coordinate system and the tool coordinate system is derived through matrix multiplication or corresponding coordinate transformation formulas. Using the constant pose matrix (which describes the position and attitude of the calibration target point in the tool coordinate system) and the preset set of measurement target point coordinates (the point coordinates of the measurement target point in the test fixture coordinate system), the point coordinates of the calibration target point corresponding to the constant pose matrix in the test fixture coordinate system are obtained. Using the first transformation relationship (transformation from the base coordinate system to the test fixture coordinate system) and the point coordinates of the calibration target point in the test fixture coordinate system, the coordinates of the calibration target point are transformed to the base coordinate system through coordinate transformation. Based on the coordinates of the calibration target point in the base coordinate system and the third transformation relationship (transformation between the base coordinate system and the tool coordinate system), the coordinates of the calibration target point in the base coordinate system at the current moment can be derived. Then, based on the pose matrix corresponding to the coordinates of the calibration target point in the base coordinate system and the constant pose matrix, the target pose matrix of the robot under test in the tool coordinate system in the base coordinate system can be determined. Through precise coordinate transformation and calibration, robot positioning errors can be significantly reduced, improving the accuracy and reliability of robot operation.

[0079] The technical solution of this invention establishes a direct connection between the base coordinate system and the test fixture coordinate system by determining a first transformation relationship based on a first pose matrix and a second pose matrix, thus providing a foundation for subsequent calculations. A second transformation relationship between the tool coordinate system and the test fixture coordinate system is determined based on a constant pose matrix and a preset set of measurement target point coordinates, establishing a direct connection between them. Based on the first and second transformation relationships, the constant pose matrix, and the preset set of measurement target point coordinates, the target pose matrix of the robot under test 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 the various coordinate systems is established, thereby accurately understanding the relative positional relationship between the robot tool end effector and the test fixture, and achieving a precise characterization of the target pose matrix of the robot in the base coordinate system.

[0080] Example 3

[0081] Figure 4 This is a schematic diagram of a robot pose measurement device provided in 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. The test fixture is a polyhedral structure, and each plane in the polyhedral structure corresponds to a measurement target point.

[0083] The first coordinate determination module 320 is used to determine the current observation target point on the test fixture when the pose of the robot under test changes, and to determine the point coordinates of the current observation target point in the base coordinate system based on the base coordinate system of the robot under test.

[0084] The 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 set of measurement target point coordinates.

[0085] The second matrix determination module 340 is used to determine the first pose matrix of the current observation target point in the base coordinate system and the 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 set of measurement target point coordinates.

[0087] The technical solution of this embodiment, by determining the constant pose matrix of the test fixture in the tool coordinate system based on the tool coordinate system of the robot under test, provides a stable reference for subsequent measurements, ensuring the accuracy and repeatability of the measurements. The test fixture is a polyhedral structure, with each plane corresponding to a measurement target point. When the pose of the robot under test changes, the current observation target point on the test fixture is determined, and based on the base coordinate system of the robot under test, the coordinates of the current observation target point in the base coordinate system are determined, thereby obtaining the relative position information of the robot and the test fixture in the new pose in real time. Based on the coordinates of the current observation target point in the base coordinate system and a preset set of measurement target point coordinates, the target measurement target point corresponding to the current observation target point and the coordinates of the target measurement target point in the test fixture coordinate system are determined, thereby accurately identifying the standard position (i.e., the target measurement target point) corresponding to the current observation target point. Based on the coordinates of the current observation target point in the base coordinate system and the coordinates of the target measurement target point in the test fixture coordinate system, the first pose matrix of the current observation target point in the base coordinate system and the second pose matrix of the target measurement target point in the test fixture coordinate system are determined, which can intuitively represent the position and attitude of the target point. Based on the first pose matrix, the second pose matrix, the constant pose matrix, and the preset set of measurement target point coordinates, the target pose matrix of the robot under test in the base coordinate system is determined, realizing the accurate measurement and representation of the robot's pose. By utilizing the polyhedral structure and coordinate system transformation of the test fixture, automatic and accurate measurement of the robot's pose is achieved, which can adapt to 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 based on 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 set of measurement target coordinates includes: the point coordinates of each measurement target on the test fixture in the coordinate system of the test fixture.

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

[0091] The module length determination unit is used to determine the total module length 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 fixture coordinate system based on the sum of the modulus lengths and the preset set of measurement target point coordinates.

[0093] Optionally, the point coordinate determination unit is specifically used for: determining at least one set 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 interior angle combination corresponding to each set of candidate measurement target point combinations based on the candidate measurement target point combinations; comparing the interior angle combination corresponding to each set of candidate measurement target point combinations with the interior 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.

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

[0095] The first relationship determination unit is used to determine 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.

[0096] The second relationship determination unit is used to determine the second transformation relationship between the tool coordinate system and the test fixture coordinate system based on the constant pose matrix and the preset set of measurement target coordinates.

[0097] The 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 transformation relationship, the second transformation relationship, the constant pose matrix and the preset set of measurement target point coordinates.

[0098] Optionally, the target matrix determination unit is specifically used for: 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 fixture coordinate system based on the constant pose matrix and the preset set of measurement target coordinates; 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 fixture coordinate system and the first transformation relationship; and 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.

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

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

[0101] like Figure 5 As shown, the electronic device 12 is represented 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, system memory 28, and bus 18 connecting different system components (including system memory 28 and processing unit 16).

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

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

[0104] 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. Electronic device 12 may further include other removable / non-removable, volatile / non-volatile computer system storage media. By way of example only, storage system 34 may be used to read and write non-removable, non-volatile magnetic media (… Figure 5 Not shown; usually referred to as a "hard drive"). Although Figure 5Not shown, 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, DVD-ROM, or other optical media) may be provided. In these cases, each drive may be connected to bus 18 via one or more data media interfaces. System memory 28 may include at least one program product having a set (e.g., at least one) of program modules configured to perform the functions of the 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 include, but are not limited to, an operating system, one or more application programs, other program modules, and program data. Each or some combination of these examples may include an implementation of a network environment. Program modules 42 typically perform the functions and / or methods described in the embodiments of the present invention.

[0106] Electronic device 12 can also communicate with one or more external devices 14 (e.g., keyboard, pointing device, display 24, etc.), and with one or more devices that enable a user to interact with electronic device 12, and / or with any device that enables electronic device 12 to communicate with one or more other computing devices (e.g., network card, modem, etc.). This communication can be performed via input / output (I / O) interface 22. Furthermore, electronic device 12 can also communicate with one or more networks (e.g., local area network (LAN), wide area network (WAN), and / or public networks, such as the Internet) via network adapter 20. As shown, network adapter 20 communicates with other modules of electronic device 12 via bus 18. It should be understood that, although not shown in the figures, other hardware and / or software modules can be used in conjunction with 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] Processing unit 16 executes various functional applications and data processing by running programs stored in system memory 28, such as implementing the steps of a robot pose measurement method provided in this embodiment, the method including:

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

[0109] When the pose of the robot under test changes, the current observation target point on the test fixture is determined, and the point coordinates of the current observation target point in the base coordinate system are determined based on the base coordinate system of the robot under test.

[0110] Based on the point coordinates of the current observation target point in the base coordinate system and the preset set of measurement target point coordinates, 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.

[0111] 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, determine the first pose matrix of the current observation target point in the base coordinate system and the second pose matrix of the target measurement target point in the test fixture coordinate system.

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

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

[0114] This embodiment provides a computer-readable storage medium storing a computer program thereon. When executed by a processor, the program implements the robot pose measurement method steps provided in any embodiment of the present invention. The method includes:

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

[0116] When the pose of the robot under test changes, the current observation target point on the test fixture is determined, and the point coordinates of the current observation target point in the base coordinate system are determined based on the base coordinate system of the robot under test.

[0117] Based on the point coordinates of the current observation target point in the base coordinate system and the preset set of measurement target point coordinates, 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.

[0118] 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, determine the first pose matrix of the current observation target point in the base coordinate system and the second pose matrix of the target measurement target point in the test fixture coordinate system.

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

[0120] The computer storage medium of this invention can be any combination of one or more computer-readable media. A computer-readable medium can be a computer-readable signal medium or a computer-readable storage medium. For example, a computer-readable storage medium can be, but is not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples (a non-exhaustive list) of computer-readable storage media include: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof. In this document, a computer-readable storage medium can be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.

[0121] Computer-readable signal media may include data signals propagated in baseband or as part of a carrier wave, carrying computer-readable program code. Such propagated data signals may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. Computer-readable signal media may also be any computer-readable medium other than computer-readable storage media, capable of sending, propagating, or transmitting programs for use by or in connection with an instruction execution system, apparatus, or device.

[0122] Program code contained on a computer-readable medium may be transmitted using any suitable medium, including but not limited to: wireless, wire, optical fiber, RF, etc., or any suitable combination thereof.

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

[0124] Those skilled in the art will understand that the modules or steps of the present invention described above can be implemented using general-purpose computing devices. They can be centralized on a single computing device or distributed across a network of multiple computing devices. Optionally, they can be implemented using computer-executable program code, thereby allowing them to be stored in a storage device for execution by a computing device, or they can be fabricated as separate integrated circuit modules, or multiple modules or steps can be fabricated as a single integrated circuit module. Thus, the present invention is not limited to any particular combination of hardware and software.

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

Claims

1. A robot pose measurement method, characterized by, The method comprises: determining a constant pose matrix of a test tool in a tool coordinate system of a robot to be measured, wherein the test tool is a polyhedral structure, and each plane in the polyhedral structure corresponds to a measurement target point; when the pose of the robot to be measured changes, determining a current observation target point on the test tool, and determining a point coordinate of the current observation target point in a base coordinate system of the robot to be measured; based on the point coordinate of the current observation target point in the base coordinate system and a preset measurement target point coordinate set, 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; based on the point coordinate of the current observation target point in the base coordinate system and the point coordinate of the target measurement target point in the test tool coordinate system, 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 tool coordinate system; based on the first pose matrix, the second pose matrix, the constant pose matrix and the preset measurement target point coordinate set, determining a target pose matrix of the robot to be measured in the base coordinate system.

2. The method of claim 1, wherein, The method comprises: determining a constant pose matrix of a test tool in a tool coordinate system of a robot to be measured, wherein the test tool is a polyhedral structure, and each plane in the polyhedral structure corresponds to a measurement target point; based on the point coordinate of the current observation target point in the base coordinate system and a preset measurement target point coordinate set, 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; 3. The method of claim 1, wherein, based on the point coordinate of the current observation target point in the base coordinate system and the point coordinate of the target measurement target point in the test tool coordinate system, 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 tool coordinate system; 4. The method of claim 1, wherein, based on the first pose matrix, the second pose matrix, the constant pose matrix and the preset measurement target point coordinate set, determining a target pose matrix of the robot to be measured in the base coordinate system. The method comprises: determining a constant pose matrix of a test tool in a tool coordinate system of a robot to be measured, wherein the test tool is a polyhedral structure, and each plane in the polyhedral structure corresponds to a measurement target point; 5. The method of claim 4, wherein, based on the point coordinate of the current observation target point in the base coordinate system and a preset measurement target point coordinate set, 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; based on the point coordinate of the current observation target point in the base coordinate system and the point coordinate of the target measurement target point in the test tool coordinate system, 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 tool coordinate system; based on the first pose matrix, the second pose matrix, the constant pose matrix and the preset measurement target point coordinate set, determining a target pose matrix of the robot to be measured in the base coordinate system. The method comprises: determining a constant pose matrix of a test tool in a tool coordinate system of a robot to be measured, wherein the test tool is a polyhedral structure, and each plane in the polyhedral structure corresponds to a measurement target point; based on the point coordinate of the current observation target point in the base coordinate system and a preset measurement target point coordinate set, 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; based on the point coordinate of the current observation target point in the base coordinate system and the point coordinate of the target measurement target point in the test tool coordinate system, 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 tool coordinate system; based on the first pose matrix, the second pose matrix, the constant pose matrix and the preset measurement target point coordinate set, determining a target pose matrix of the robot to be measured in the base coordinate system. The method comprises: determining a constant pose matrix of a test tool in a tool coordinate system of a robot to be measured, wherein the test tool is a polyhedral structure, and each plane in the polyhedral structure corresponds to a measurement target point; based on the point coordinate of the current observation target point in the base coordinate system and a preset measurement target point coordinate set, 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; based on the point coordinate of the current observation target point in the base coordinate system and the point coordinate of the target measurement target point in the test tool coordinate system, 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 tool coordinate system; based on the first pose matrix, the second pose matrix, the constant pose matrix and the preset measurement target point coordinate set, determining a target pose matrix of the robot to be measured in the base coordinate system. The inner angle combination corresponding to each candidate measurement target point group is compared with the inner angle combination corresponding to the current observation target point, and target measurement target points corresponding to the current observation target point and point coordinates of the target measurement target points in the test tool coordinate system are determined.

6. The method of claim 1, wherein, The target pose matrix of the robot to be measured in the base coordinate system is determined based on the first pose matrix, the second pose matrix, the constant pose matrix, and the preset measurement target point coordinate set, including: A first conversion relationship between the base coordinate system and the test tool coordinate system is determined based on the first pose matrix and the second pose matrix; A second conversion relationship between the tool coordinate system and the test tool coordinate system is determined based on the constant pose matrix and the preset measurement target point coordinate set; The target pose matrix of the robot to be measured in the base coordinate system is determined based on the first conversion relationship, the second conversion relationship, the constant pose matrix, and the preset measurement target point coordinate set.

7. The method of claim 6, wherein, The target pose matrix of the robot to be measured in the base coordinate system is determined based on the first conversion relationship, the second conversion relationship, the constant pose matrix, and the preset measurement target point coordinate set, including: A third conversion relationship between the base coordinate system and the tool coordinate system is determined based on the first conversion relationship and the second conversion relationship; Point coordinates of the calibration target point in the test tool coordinate system are determined based on the constant pose matrix and the preset measurement target point coordinate set; Point coordinates of the calibration target point in the base coordinate system are determined based on the point coordinates of the calibration target point in the test tool coordinate system and the first conversion relationship; The target pose matrix of the robot to be measured in the base coordinate system is determined based on the point coordinates of the calibration target point in the base coordinate system and the third conversion relationship.

8. A robot pose measurement apparatus, characterized by, It includes: A first matrix determination module is configured to determine a constant pose matrix of a test tool in a tool coordinate system of a robot to be measured, wherein the test tool is a polyhedral structure, and each plane in the polyhedral structure corresponds to a measurement target point; A first coordinate determination module is configured to determine a current observation target point on the test tool when a pose of the robot to be measured changes, and determine point coordinates of the current observation target point in a base coordinate system of the robot to be measured based on the base coordinate system; A second coordinate determination module is configured to determine target measurement target points corresponding to the current observation target point and point coordinates of the target measurement target points in a test tool 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 is configured 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 tool 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 tool coordinate system; A third matrix determination module is configured to determine 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.

9. An electronic device, comprising: The electronic device comprises: at least one processor; and a memory connected to the at least one processor in communication; 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 to enable the at least one processor to execute the robot pose measurement method in any one of claims 1-7.

10. A computer-readable storage medium, characterized in that, The computer readable storage medium stores computer instructions for enabling the processor to implement the robot pose measurement method in any one of claims 1-7 when executed.

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