A box calibration and bottom surface distance measurement compensation method and system

Abstract

The present invention is based on the technical field of measurement, and discloses a box calibration and bottom surface distance measurement compensation method and system, wherein the compensation method includes the following steps: selecting a placement position of a box as a standard position, and determining the reference surface standard distance measurement value and the bottom surface standard distance measurement value of the box at the standard position; collecting the coordinate data of the reference surface of the box to be measured, recorded as the first coordinate data; collecting the coordinate data of the bottom surface of the box to be measured, recorded as the second coordinate data; calculating the normal vector on the reference surface, and calculating the bottom surface theoretical distance measurement value of the box to be measured in combination with the first coordinate data and the second coordinate data; calculating the deviation value of the corresponding measuring point according to the bottom surface theoretical distance measurement value, and the deviation value is used to calculate the contour and flatness of the box to be measured. The calibration and compensation method proposed by the present invention realizes non-relative measurement and improves the measurement accuracy; it can be applied to online detection, combined with non-contact measurement, with high efficiency and no impact on the production line production rhythm.

Description

Technical Field

[0001] The invention relates to the technical field of measurement, and in particular to a box calibration and bottom surface distance measurement compensation method and system. Background Art

[0002] The box is the basic part of many machines. It connects the relevant component modules in the machine into a whole, so that they maintain the correct relative position to complete the specified movement or function. The box parts are of many types and complex structures. The bottom surface processing surface is mainly a large number of planes, which often carry core modules with high precision requirements. For example, the battery shell box carries the power battery pack. Therefore, the bottom surface processing surface of the box usually has high flatness and surface roughness requirements. The bottom surface quality directly affects the performance, precision and life of the machine.

[0003] The existing three-coordinate measuring machine measurement technology is currently a common technology for detecting the bottom surface quality of the box. It has high accuracy and comprehensive dimensional detection, but low measurement efficiency and is not suitable for online detection. The relative measurement technology that has emerged in recent years has high requirements for the accuracy of the positioning fixture and is not suitable for fixture-free production lines such as pallet transportation. So far, there is no suitable technology for detecting the bottom surface of the box without a fixture production line.

[0004] In summary, it is now necessary to design a box calibration and bottom distance measurement compensation method and system to solve the above problems in the prior art. Summary of the invention

[0005] In order to solve the above-mentioned problems in the prior art, the present invention provides a box calibration and bottom distance measurement compensation method and system, which solves the problem that the bottom surface of the box on the existing fixture-free production line is not easy to calibrate.

[0006] In order to achieve the above object, the present invention adopts the following technical scheme:

[0007] A box calibration and bottom distance measurement compensation method comprises the following steps:

[0008] S1, selecting a placement position of a box as a standard position, and determining a reference surface standard distance value and a bottom surface standard distance value of the box at the standard position;

[0009] S2, collecting coordinate data of the reference surface of the box to be tested, recorded as first coordinate data; collecting coordinate data of the bottom surface of the box to be tested, recorded as second coordinate data;

[0010] S3, calculating the normal vector on the reference plane, and calculating the theoretical distance measurement value of the bottom surface of the box to be measured in combination with the first coordinate data and the second coordinate data;

[0011] S4. Calculate the deviation value of the corresponding measuring point according to the bottom surface theoretical distance measurement value, and the deviation value is used to calculate the contour and flatness of the box to be measured.

[0012] In some embodiments of the present invention, the calculation formula of the bottom surface theoretical distance value in step S3 is:

[0013] ;

[0014] Among them, H i is the theoretical distance measurement value of the bottom surface, (X1, Y1, Z1) is the coordinate of any acquisition point in the first coordinate data; (X1, Y1, Z1) is the coordinate of any acquisition point in the first coordinate data; F ,Y F ,Z F ) is the normal vector on the reference plane; x i and i is the data in the X and Y directions of the second coordinate data, H L is the standard distance measurement value of the bottom surface; H is the standard distance measurement value of the reference surface; m is the number of measuring points on the bottom surface of the box.

[0015] In some embodiments of the present invention,

[0016] The calculation formula of the deviation value in step S4 is:

[0017] ;

[0018] Among them, D i is the deviation value; H i is the theoretical distance measurement value of the bottom surface, z i is the data in the Z direction in the second coordinate data.

[0019] In some embodiments of the present invention, the step S2 further includes performing data filtering on the collected first coordinate data and second coordinate data, and the data filtering includes local outlier filtering and Gaussian filtering.

[0020] In some embodiments of the present invention, the step S1 further comprises establishing a workpiece coordinate system using coordinate data of the reference surface of the box, and measuring the reference surface standard distance value and the bottom surface standard distance value in the workpiece coordinate system.

[0021] In some embodiments of the present invention, a box calibration and bottom distance measurement compensation system is provided, comprising:

[0022] A coordinate acquisition module, which is used to acquire reference surface coordinate data and bottom surface coordinate data of the box;

[0023] A standard position confirmation module, which is used to determine a reference surface standard distance measurement value and a bottom surface standard distance measurement value of the box at the standard position;

[0024] A data processing module, which is used to calculate the theoretical distance measurement value and offset value of the bottom surface of the box to be tested according to the reference plane coordinate data and the bottom surface coordinate data, and is also used to calculate the contour and flatness of the box to be tested;

[0025] The communication module is used to communicate with external devices.

[0026] In some embodiments of the present invention, the coordinate acquisition module includes a robot and a ranging sensor fixed at the end of the robot arm; wherein the robot is used to collect coordinate data in the X direction and the Y direction, and the ranging sensor is used to collect coordinate data in the Z direction.

[0027] In some embodiments of the present invention, the data processing module is further used to save the reference plane coordinate data and the bottom surface coordinate data of the box; and is further used to perform zero removal filtering on the reference plane coordinate data and the bottom surface coordinate data.

[0028] In some embodiments of the present invention, there is provided an electronic device, comprising:

[0029] A processor, and a memory and a transceiver communicatively connected to the processor;

[0030] The memory stores computer-executable instructions; the transceiver is used to send and receive data;

[0031] The processor executes the computer-executable instructions stored in the memory to implement the above compensation method.

[0032] In some embodiments of the present invention, a computer-readable storage medium is provided, characterized in that:

[0033] The computer-readable storage medium stores computer-executable instructions, which are used to implement the above-mentioned compensation method when executed by the processor.

[0034] The technical solution of the present invention has the following technical effects compared with the prior art:

[0035] The calibration and compensation method proposed in the present invention realizes non-relative measurement and improves measurement accuracy; it can be applied to online detection and combined with non-contact measurement, has high efficiency and does not affect the production rhythm of the production line. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for use 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 ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative work.

[0037] Figure 1A schematic diagram of a flow chart of a compensation method according to an embodiment of the present invention;

[0038] Figure 2 is a schematic diagram of the structure of the compensation system;

[0039] Figure 3 It is a structural schematic diagram of the electronic device.

[0040] Detailed description of the drawings: 100, compensation system; 110, coordinate acquisition module; 120, standard position confirmation module; 130, data processing module; 140, communication module; 200, electronic device; 210, processor; 220, memory; 230, transceiver. DETAILED DESCRIPTION

[0041] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0042] In the description of the present application, it should be understood that the terms "center", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0043] The terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of this application, unless otherwise specified, "plurality" means two or more.

[0044] In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, a direct connection, or an indirect connection through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0045] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0046] The disclosure below provides many different embodiments or examples to implement different structures of the present invention. In order to simplify the disclosure of the present invention, the parts and settings of specific examples are described below. Of course, they are only examples, and the purpose is not to limit the present invention. In addition, the present invention can repeat reference numbers and / or reference letters in different examples, and this repetition is for the purpose of simplification and clarity, which itself does not indicate the relationship between the various embodiments and / or settings discussed.

[0047] Example 1: Reference Figure 1 As shown, a box calibration and bottom distance measurement compensation method includes the following steps:

[0048] S1, selecting a placement position of a box as a standard position, and determining a reference surface standard distance value and a bottom surface standard distance value of the box at the standard position;

[0049] S11. Fix the distance measuring sensor at the end of the robot. During installation, give priority to leveling the supporting fixture and try to ensure that the laser line emitted by the distance measuring sensor is perpendicular to the reference plane of the box in the standard position.

[0050] For the standard position, usually for the boxes in the same batch, the placement position of the first box on the production line is taken as the standard position, and the position calibration of subsequent boxes refers to the relative position relationship between the calibration and the standard position.

[0051] S12. The distance measuring sensor collects points on the reference plane of the box at the standard position, and the reference plane is located above the top surface of the box. In this embodiment, three points are collected on the reference plane, and the standard distance measurement values ​​of the reference plane of the three points are adjusted to H. At the same time, the positions of the three points collected should be dispersed as much as possible, so as to reduce the absolute positioning accuracy error of the robot in the X direction and the Y direction.

[0052] S13, the robot applies the coordinates of the three points in step S12 to establish a workpiece coordinate system;

[0053] The robot teaches the measurement position of the bottom surface of the box in the workpiece coordinate system. At this time, the distance sensor moves to the top surface of the box and measures the standard distance value of the bottom surface of the box. L , so that the Z values ​​of all measurement positions are theoretically the same and equal to the standard distance measurement value H of the bottom surface L .

[0054] S14, saving the collected box coordinate data at the standard position to the host computer for subsequent calculation and retrieval.

[0055] S2, collecting coordinate data of the reference surface of the box to be tested, recorded as first coordinate data; collecting coordinate data of the bottom surface of the box to be tested, recorded as second coordinate data;

[0056] S21, first move the distance measuring sensor to the reference plane, and collect the first coordinate data (X, Y, Z) of the box to be measured, where X and Y are the coordinates of the robot when collecting points, and Z is the measurement value of the distance measuring sensor;

[0057] S22, moving the distance measuring sensor to the top surface of the box, collecting the second coordinate data (x, y, z) of the box to be measured, wherein x and y are the coordinates of the robot when collecting points, and z is the measurement value of the distance measuring sensor;

[0058] S23, the first coordinate data and the second coordinate data are transmitted from the PLC to the host computer, and then filtered to remove zeros: different box sizes and accuracy requirements are different, and the number of bottom surface measurement points is also different, so the PLC must retain enough memory to store the measurement data and robot coordinate values; the data in the three directions of X / Y / Z in the first coordinate data and the second coordinate data are located in three memory intervals, and these values ​​are 0 by default. During measurement, the PLC adds data in sequence from the beginning to ensure that the measurement data in the memory is continuous, and the default value 0 is all at the end. After the measurement is completed, the host computer extracts all the data from the PLC at one time and stores it in three lists. Delete the 0 value from the end of each list until the first non-zero value is encountered and the deletion stops. After filtering to remove zeros, the number of data in the three lists is the same.

[0059] S24. Due to the roughness of the bottom surface of the box and the working principle of the distance sensor itself, there may be abnormal data in the measured value. The host computer provides two abnormal value filtering methods:

[0060] Local outlier filtering: An algorithm used to filter local outlier data. Formula (1) and formula (2) are used. n is the number of local data and p is the coordinate value. , T is the threshold, ; , P i The value remains unchanged.

[0061]

[0062] Gaussian filtering: Measure the data and remove outliers according to the law, so that all data values ​​are within Then, Gaussian filtering is applied for smoothing to eliminate Gaussian noise. The one-dimensional Gaussian filtering data model is shown in formula (3). All abnormal point values ​​are replaced by the average value of non-abnormal points.

[0063]

[0064] S3, calculating the normal vector on the reference plane, and calculating the theoretical distance measurement value of the bottom surface of the box to be measured in combination with the first coordinate data and the second coordinate data;

[0065] S31. Establish a coordinate system. The distance measuring sensor collects three points on the reference plane of the box. The coordinates are (X1, Y1, Z1), (X2, Y2, Z2), and (X3, Y3, Z3). X and Y are the coordinate values ​​of the robot when collecting points, and Z is the measurement value of the distance measuring sensor. The vector composed of the above three points is , , the normal vector of the box reference plane is calculated as shown in formula (4).

[0066] ;

[0067] S32, the distance measuring sensor moves to the top surface of the box to be measured to collect the coordinates of the measuring point , m is the number of measuring points on the bottom surface of the box, x and y are the coordinate values ​​of the robot when picking points, and z is the measurement value of the ranging sensor, that is, the bottom surface ranging value.

[0068] The calculation formula of the bottom surface theoretical distance measurement value is:

[0069] ;

[0070] in, is the theoretical distance measurement value of the bottom surface, (X1, Y1, Z1) is the coordinate of any acquisition point in the first coordinate data, and in this embodiment is the origin position on the reference surface in step S31; (X1, Y1, Z1) is the coordinate of any acquisition point in the first coordinate data, and in this embodiment, is the origin position on the reference surface in step S31; F ,Y F ,Z F ) is the normal vector on the reference plane; x i and i is the data in the X and Y directions in the second coordinate data, that is, the position coordinates of the robot when it is on the top surface of the box to be tested, H L is the standard distance measurement value of the bottom surface; H is the standard distance measurement value of the reference surface; m is the number of measuring points on the bottom surface of the box.

[0071] S4. Calculate the deviation value of the corresponding measuring point according to the bottom surface theoretical distance measurement value, and the deviation value is used to calculate the contour and flatness of the box to be measured.

[0072] S41, using the bottom surface theoretical distance measurement value in the above steps to calculate the deviation value:

[0073] ;

[0074] Among them, D i is the deviation value; H i is the theoretical distance measurement value of the bottom surface, z i is the data in the Z direction in the second coordinate data.

[0075] S42, according to the deviation value D i It can calculate the profile and flatness measurements according to ISO or ASME standards.

[0076] The software can set and store the reference surface standard distance value H and the bottom surface standard distance value H of different box parts. L information to adapt the optimal measurement distance for different sensors.

[0077] Distance measuring sensors must be calibrated regularly to ensure their measurement accuracy.

[0078] The technical solution of the present invention has the following technical effects compared with the prior art:

[0079] The calibration and compensation method proposed in the present invention realizes non-relative measurement and improves measurement accuracy; it can be applied to online detection and combined with non-contact measurement, has high efficiency and does not affect the production rhythm of the production line.

[0080] Embodiment 2: A box calibration and bottom distance measurement compensation system 100 and an electronic device 200.

[0081] For the compensation system 100, refer to Figure 2 As shown, including:

[0082] A coordinate acquisition module 110 is used to acquire reference surface coordinate data and bottom surface coordinate data of the box;

[0083] A standard position confirmation module 120, which is used to determine the reference surface standard distance value and the bottom surface standard distance value of the box at the standard position;

[0084] A data processing module 130, which is used to calculate the bottom surface theoretical distance measurement value and offset value of the box to be tested according to the reference surface coordinate data and the bottom surface coordinate data, and is also used to calculate the contour and flatness of the box to be tested;

[0085] The communication module 140 is used to communicate with external devices.

[0086] The coordinate acquisition module 110 includes a robot and a distance measuring sensor fixed at the end of the robot arm; wherein the robot is used to collect coordinate data in the X direction and the Y direction, and the distance measuring sensor is used to collect coordinate data in the Z direction.

[0087] In some embodiments of the present invention, the data processing module 130 is further used to save the reference plane coordinate data and the bottom surface coordinate data of the box; and is further used to perform zero removal filtering on the reference plane coordinate data and the bottom surface coordinate data.

[0088] It should be understood that the compensation system here is embodied in the form of a functional module. The term "module" here may refer to an application specific integrated circuit (ASIC), an electronic circuit, a processor (such as a shared processor, a proprietary processor or a group processor, etc.) and a memory for executing one or more software or firmware programs, a merged logic circuit and / or other suitable components that support the described functions. In an optional example, those skilled in the art may understand that the compensation system may be specifically the electronic device 200 in the above embodiment, or the function of the electronic device 200 in the above embodiment may be integrated in the compensation system, and the compensation system may be used to execute the various processes and / or steps corresponding to the electronic device 200 in the above method embodiment, and to avoid repetition, it will not be repeated here.

[0089] The compensation system has the function of implementing the corresponding steps performed by the electronic device 200 of the compensation method in Example 1; the above functions can be implemented by hardware, or by hardware executing corresponding software. The hardware or software includes one or more modules corresponding to the above functions. For example, the acquisition module can be a communication interface, such as a transceiver interface.

[0090] In the embodiments of the present application, Figure 1 The compensation system may also be a chip or a chip system, such as a system on chip (SoC).

[0091] Reference Figure 3 As shown, in this embodiment, an electronic device 200 is provided, including:

[0092] A processor 210, and a memory 220 and a transceiver 230 communicatively connected to the processor;

[0093] The memory 220 stores computer-executable instructions; the transceiver 230 is used to send and receive data;

[0094] The processor 210 executes the computer-executable instructions stored in the memory 220 to implement the compensation method in Example 1.

[0095] It should be understood that the electronic device 200 can be used to execute the corresponding steps and / or processes in the above method embodiments. Optionally, the memory 220 may include a read-only memory and a random access memory, and provide instructions and data to the processor. A portion of the memory 220 may also include a non-volatile random access memory. For example, the memory 220 may also store information about the device type. The processor 210 may be used to execute the instructions stored in the memory 220, and when the processor 210 executes the instructions, the processor 210 may execute the corresponding steps and / or processes in the above method embodiments.

[0096] It should be understood that in the embodiment of the present application, the processor 210 may be a central processing unit (CPU), and the processor 210 may also be other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc.

[0097] In the implementation process, each step of the above method can be completed by an integrated logic circuit of hardware in the processor 210 or an instruction in the form of software. The steps of the method disclosed in conjunction with the embodiment of the present application can be directly embodied as a hardware processor for execution, or a combination of hardware and software modules in the processor 210 for execution. The software module can be located in a mature storage medium in the art such as a random access memory, a flash memory, a read-only memory, a programmable read-only memory or an electrically erasable programmable memory, a register, etc. The storage medium is located in a memory, and the processor executes the instructions in the memory, and completes the steps of the above method in conjunction with its hardware. To avoid repetition, it is not described in detail here.

[0098] Embodiment 3: In this embodiment, a computer-readable storage medium is provided: the computer-readable storage medium stores computer execution instructions, and the computer execution instructions are used to implement the compensation method in Embodiment 1 when executed by a processor.

[0099] In the several embodiments provided in the present application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0100] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0101] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0102] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application can be essentially or partly embodied in the form of a software product that contributes to the prior art. The computer software product is stored in a storage medium and includes several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods described in the various embodiments of the present application. The aforementioned storage media include: various media that can store program codes, such as USB flash drives, mobile hard disks, read-only memories (ROM), random access memories (RAM), magnetic disks or optical disks.

[0103] The technical solution of the present invention has the following technical effects compared with the prior art:

[0104] The calibration and compensation method provided by the present invention realizes non-relative measurement with high precision; position calibration is performed by using a distance measuring sensor to eliminate the absolute positioning accuracy error of the robot;

[0105] The calibration and compensation method of the present invention can be applied to online detection, combined with non-contact measurement, with high efficiency and no impact on the production line production rhythm; in addition, the box parts do not require positioning fixtures, the cost is low, and the application range is wide.

[0106] In the description of the above embodiments, specific features, structures, materials or characteristics may be combined in a suitable manner in any one or more embodiments or examples.

[0107] The above are only specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed by the present invention should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. A box calibration and bottom distance measurement compensation method, characterized in that: The following steps are involved: S1, selecting a placement position of a box as a standard position, and determining a reference surface standard distance value and a bottom surface standard distance value of the box at the standard position; The distance measuring sensor collects points on the reference surface of the box at the standard position, and the standard distance measuring value of the reference surface of the adjustment point is H; Move the distance sensor to the top of the box and measure the standard distance value of the bottom of the box to be H L ; S2, collecting coordinate data of the reference surface of the box to be tested, recorded as first coordinate data; collecting coordinate data of the bottom surface of the box to be tested, recorded as second coordinate data; S3, calculating the normal vector on the reference plane, and calculating the theoretical distance measurement value of the bottom surface of the box to be measured in combination with the first coordinate data and the second coordinate data; The calculation formula of the bottom surface theoretical distance measurement value is: ； Among them, H i is the theoretical distance measurement value of the bottom surface, (X1, Y1, Z1) is the coordinate of any acquisition point in the first coordinate data; (X F , Y F , Z F ) is the normal vector on the reference plane; x i and i is the data in the X and Y directions of the second coordinate data, H L is the standard distance measurement value of the bottom surface; H is the standard distance measurement value of the reference surface; m is the number of measuring points on the bottom surface of the box; S4. Calculate the deviation value of the corresponding measuring point according to the bottom surface theoretical distance measurement value, and the deviation value is used to calculate the contour and flatness of the box to be measured.

2. A box calibration and bottom distance measurement compensation method according to claim 1, characterized in that: The calculation formula of the deviation value in step S4 is: ； Among them, D i is the deviation value; H i is the theoretical distance measurement value of the bottom surface, z i is the data in the Z direction in the second coordinate data.

3. A box calibration and bottom distance measurement compensation method according to claim 1, characterized in that: The step S2 also includes performing data filtering on the collected first coordinate data and second coordinate data, wherein the data filtering includes local outlier filtering and Gaussian filtering.

4. A box calibration and bottom distance measurement compensation method according to claim 1, characterized in that: The step S1 also includes establishing a workpiece coordinate system using the coordinate data of the reference surface of the box body, and measuring the standard distance measurement value of the bottom surface in the workpiece coordinate system.

5. A box calibration and bottom distance measurement compensation system, characterized in that: To implement the method as claimed in any one of claims 1 to 4; comprising: A coordinate acquisition module, which is used to acquire reference surface coordinate data and bottom surface coordinate data of the box; A standard position confirmation module, which is used to determine a reference surface standard distance measurement value and a bottom surface standard distance measurement value of the box at the standard position; A data processing module, which is used to calculate the theoretical distance measurement value and offset value of the bottom surface of the box to be tested according to the reference plane coordinate data and the bottom surface coordinate data, and is also used to calculate the contour and flatness of the box to be tested; The communication module is used to communicate with external devices.

6. A box calibration and bottom distance measurement compensation system according to claim 5, characterized in that: The coordinate acquisition module includes a robot and a distance measuring sensor fixed at the end of the robot arm; wherein the robot is used to collect coordinate data in the X direction and the Y direction, and the distance measuring sensor is used to collect coordinate data in the Z direction.

7. A box calibration and bottom distance measurement compensation system according to claim 5, characterized in that: The data processing module is also used to store the reference plane coordinate data and the bottom surface coordinate data of the box; and is also used to perform zero removal filtering on the reference plane coordinate data and the bottom surface coordinate data.

8. An electronic device, characterized in that: include: A processor, and a memory and a transceiver communicatively connected to the processor; The memory stores computer-executable instructions; the transceiver is used to send and receive data; The processor executes the computer-executable instructions stored in the memory to implement the method according to any one of claims 1 to 4.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer-executable instructions, which are used to implement the method according to any one of claims 1 to 4 when executed by a processor.

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