Robot end tool calibration method, device and equipment and computer readable storage medium

Abstract

The invention relates to the field of robot calibration, in particular to a robot end tool calibration method, device and equipment and a computer readable storage medium. The method comprises the steps that whether a preset calibration assembly and a to-be-calibrated laser range finder meet the requirement that the calibration assembly is connected with the laser range finder or not is determined, and the position of a light spot formed on the calibration assembly by laser emitted by the laser range finder is located in a target area of the calibration assembly; if yes, when the calibration assembly is located at all the target positions, the target robot is controlled to complete contact between the target area and the preset fixed position in multiple different poses; and calibrating the relative position relationship between the laser range finder and the tail end of the robot according to the pose coordinates of the tail end of the robot and the ranging value output by the laser range finder when the calibration assembly is located at the target position and the target robot is located at each pose. The accuracy and efficiency of calibration of the relative position of the laser range finder at the tail end of the robot and the tail end of the robot can be improved.

Description

Technical Field

[0001] The present application relates to the technical field of robot calibration, and in particular to a robot end-tool calibration method, device, equipment and computer-readable storage medium. Background Art

[0002] In order to complete various tasks, various tools such as fixtures, welding guns, etc. can be installed at the end of the industrial robot. In order to achieve precise control of the tools and successfully complete the task, the relative position relationship between the end of the robot and the tools needs to be calibrated. Among them, the tools installed at the end of the robot may include laser rangefinders and other instruments that can emit lasers. For example, in a spatial coordinate meter, a collaborative robot is used as a mechanical platform, and a laser rangefinder and an industrial camera are integrated at the end of the robot. Through machine vision, robot kinematics, linear algebra, proportional integral differential control and other theories, the function of automated testing is realized.

[0003] The internal structure of the laser rangefinder is complex and invisible to the outside. In the related art, it is difficult to make the laser rangefinder reach a preset calibration posture by improving the processing accuracy of the laser rangefinder and / or accurately controlling the installation process. As a result, the reliability of the existing calibration based on the acquired posture data is low.

[0004] Therefore, a solution is needed to accurately calibrate the relative position relationship between the laser rangefinder at the end of the robot and the end of the robot. Summary of the invention

[0005] In view of this, the embodiments of the present application provide a robot end tool calibration method, device, equipment and computer-readable storage medium, which can solve the problem of low calibration accuracy of the relative position relationship between the laser rangefinder at the end of the existing robot and the robot end.

[0006] In a first aspect, an embodiment of the present application provides a robot end tool calibration method, the robot end tool calibration method comprising: determining whether a preset calibration component and a laser rangefinder to be calibrated satisfy a target orientation relationship; wherein the laser rangefinder is connected to a robot end of a target robot; the target orientation relationship comprises that the calibration component is connected to the laser rangefinder, and the position of a light spot formed on the calibration component by the laser emitted by the laser rangefinder is located in a target area of ​​the calibration component;

[0007] If the calibration component and the laser rangefinder satisfy the target orientation relationship, when the calibration component is located at a plurality of different target positions, the target robot is controlled to complete the contact between the target area and the preset fixed position in a plurality of different postures respectively;

[0008] For each of the target positions, obtaining the posture coordinates of the robot end and the distance measurement value output by the laser rangefinder when the calibration component is located at the target position and the target robot is located at each of the postures;

[0009] The relative position relationship between the laser rangefinder and the robot end is calibrated according to the posture coordinates and the ranging values ​​corresponding to the multiple target positions.

[0010] Different from the existing method that requires controlling the spot position of the laser rangefinder to maintain contact with a preset fixed position, while adjusting the robot posture so that the distance measurement value output by the laser rangefinder each time is maintained at a specific value, it is necessary to control the spot position of the laser rangefinder and the posture of the robot at the same time. Since the internal structure of the laser rangefinder is complex and invisible to the outside, the control complexity and difficulty of the existing calibration scheme are relatively high, resulting in that the posture data of the robot end based on which the existing calibration of the laser rangefinder at the robot end is generally large in error, and the accuracy of the calibration based on the posture data with insufficient reliability is difficult to guarantee. In an embodiment of the method, the above-mentioned technical scheme is adopted. By installing a preset calibration component on the laser rangefinder to be calibrated and controlling the laser emitted by the laser rangefinder to form a light spot on the calibration component and the light spot is located in the target area of ​​the calibration component, the laser emitted by the laser rangefinder is materialized and visualized. Different from the existing operation that requires contacting a non-substantial laser point with a fixed position, which is difficult, the embodiment of the method only needs to contact the target area of ​​the physical calibration component with the fixed position, which is difficult to operate and the error of the posture data of the robot end obtained is smaller. Therefore, the subsequent calibration of the relative position relationship between the laser rangefinder and the robot end according to the posture number is more accurate and efficient.

[0011] In some embodiments, the method further comprises:

[0012] For each of the target positions, the target coordinates of the tool center point of the laser rangefinder in each posture are the same when the calibration component is located at the target position, and the multiple posture coordinates corresponding to the target position are calculated to obtain the target coordinates when the calibration component is located at the target position; wherein, when the calibration component is located at one of the target positions, the postures are at least four;

[0013] The relative position information is determined according to the target coordinates and the distance measurement values ​​respectively corresponding to the multiple target positions.

[0014] In some embodiments, the relative position relationship includes an offset angle of a laser emission direction of the laser rangefinder relative to the end of the robot; the method further includes:

[0015] Fitting is performed according to the target coordinates respectively corresponding to the multiple target positions to obtain a straight line equation corresponding to the laser emission direction;

[0016] The offset angle is determined according to the direction vector of the straight line equation.

[0017] In some embodiments, the relative position relationship includes the target offset coordinates of the laser emission point of the laser rangefinder relative to the end of the robot; the method further includes:

[0018] For each of the target positions, according to the distance measurement value corresponding to the target position and the target coordinates, a spherical equation corresponding to the laser rangefinder when the calibration component is located at the target position is constructed; the spherical equation is used to characterize the space where the laser emission point is located;

[0019] For each of the target positions, determining the intersection information between the spherical equation and the straight line equation corresponding to the laser rangefinder when the calibration component is located at the target position;

[0020] The target offset coordinates are determined according to the intersection information corresponding to the multiple target positions.

[0021] In some embodiments, the spherical equation is constructed with the target coordinates as the sphere center and the distance measurement value as the radius; the intersection information includes the number of intersections and the intersection coordinates; and the method further includes:

[0022] For each of the target positions, according to the intersection coordinates corresponding to the target position, determine the reference offset coordinates of the laser emission point relative to the robot end when the calibration component is located at the target position; wherein, if the number of the intersections corresponding to the target position is one, the intersection coordinates corresponding to the target position are determined as the reference offset coordinates;

[0023] The reference offset coordinates corresponding to the multiple target positions are fitted to obtain the target offset coordinates.

[0024] In some embodiments, the method further comprises:

[0025] For each of the target positions, if the number of the intersection points corresponding to the target position is multiple, the target intersection point corresponding to the target position is selected from the multiple intersection points corresponding to the target position according to the distances between the multiple intersection points corresponding to the target position and the end of the robot;

[0026] The reference offset coordinates corresponding to the target position are determined according to the intersection coordinates of the target intersection.

[0027] In some embodiments, the method further comprises:

[0028] For each of the target positions, if the number of intersection points is zero, determine the point that is closest to the straight line equation among all the points on the spherical surface represented by the spherical equation corresponding to the target position;

[0029] The reference offset coordinates corresponding to the target position are determined according to the coordinates of the point closest to the target position.

[0030] In a second aspect, an embodiment of the present application further provides a robot end tool calibration device, the robot end tool calibration device comprising:

[0031] A determination module, used to determine whether a preset calibration component and a laser rangefinder to be calibrated satisfy a target orientation relationship; wherein the laser rangefinder is connected to a robot end of a target robot; the target orientation relationship includes that the calibration component is connected to the laser rangefinder, and the position of a light spot formed on the calibration component by the laser emitted by the laser rangefinder is located in a target area of ​​the calibration component;

[0032] An adjustment module, configured to control the target robot to contact the target area with a preset fixed position in a plurality of different postures respectively when the calibration component and the laser rangefinder satisfy the target orientation relationship and the calibration component is located at a plurality of different target positions respectively;

[0033] An acquisition module, for acquiring, for each of the target positions, the posture coordinates of the robot end and the distance measurement value output by the laser rangefinder when the calibration component is located at the target position and the target robot is located at each of the postures;

[0034] The calibration module is used to calibrate the relative position relationship between the laser rangefinder and the robot end according to the posture coordinates corresponding to the multiple target positions and the ranging values.

[0035] In a third aspect, an embodiment of the present application further provides a robot end tool calibration device, comprising a processor and a memory, wherein the memory is used to store instructions, and the processor is used to call the instructions in the memory so that the robot end tool calibration device executes the robot end tool calibration method as described in the first aspect.

[0036] In a fourth aspect, an embodiment of the present application further provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer instructions. When the computer instructions are executed on a processor, the processor executes the robot end tool calibration method as described in the first aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 The present invention is a flowchart of the steps of a robot end tool calibration method provided according to one embodiment of the present application.

[0038] Figure 2 The present invention is a schematic diagram of the structure of a calibration component in a robot end tool calibration method provided according to an embodiment of the present application.

[0039] Figure 3 This is a structural schematic diagram from another perspective of a calibration component in a robot end tool calibration method provided according to an embodiment of the present application.

[0040] Figure 4 The present invention is a schematic diagram of the installation position of the calibration component in the robot end tool calibration method provided according to one embodiment of the present application.

[0041] Figure 5 The present invention is a schematic diagram of a working scenario of a calibration component in a robot end tool calibration method provided according to an embodiment of the present application.

[0042] Figure 6 The present invention is a flowchart of the steps of a robot end tool calibration method provided according to another embodiment of the present application.

[0043] Figure 7 The present invention is a flowchart of the steps of a robot end tool calibration method provided according to another embodiment of the present application.

[0044] Figure 8 The present invention is a flowchart of the steps of a robot end tool calibration method provided according to another embodiment of the present application.

[0045] Fig. 9 The present invention is a flowchart of the steps of a robot end tool calibration method provided according to another embodiment of the present application.

[0046] Fig.10 It is a schematic diagram of the structure of a robot end-tool calibration device provided according to one embodiment of the present application.

[0047] Fig.11 It is a schematic diagram of the structure of a robot end tool calibration device provided according to one embodiment of the present application.

[0048] Reference numerals:

[0049] 01. Robot base; 02. Robot end; 021. Mounting plate; 03. Laser rangefinder; 031. Laser line; 04. Calibration component; 041. Positioning point; 042. Tip base; 043. Ruler; 044. Slide rail; 045. Slider. DETAILED DESCRIPTION

[0050] In order to more clearly understand the above-mentioned purposes, features and advantages of the present application, the present application is described in detail below in conjunction with the accompanying drawings and specific implementation methods. It should be noted that the implementation methods of the present application and the features in the implementation methods can be combined with each other without conflict.

[0051] In the following description, many specific details are set forth to facilitate a full understanding of the present application. The described implementations are only part of the implementations of the present application, rather than all the implementations.

[0052] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used herein in the specification of this application are only for the purpose of describing specific embodiments and are not intended to limit this application.

[0053] It should be further noted that, in this article, the terms "comprises", "includes" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the presence of other identical elements in the process, method, article or device including the element.

[0054] In this application, "at least one" means one or more, and "more than one" means two or more than two. "And / or" describes the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone, where A and B can be singular or plural. The terms "first", "second", "third", "fourth", etc. (if any) in the specification, claims and drawings of this application are used to distinguish similar objects, rather than to describe a specific order or sequence.

[0055] In the embodiments of the present application, words such as "exemplary" or "for example" are used to indicate examples, illustrations or descriptions. Any embodiment or design described as "exemplary" or "for example" in the embodiments of the present application should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "exemplary" or "for example" is intended to present related concepts in a specific way.

[0056] Related terms:

[0057] Tool Center Point (TCP): Various tools are installed on the end of industrial robots to meet specific needs. However, due to the different shapes and sizes of tools, the actual working point of the robot will change relative to the end of the robot after replacing or adjusting the tool. For example, when the robot performs a task, the end flange needs to be connected to tools such as suction cups, grippers, laser rangefinders, etc. The position and posture of the tool relative to the end flange coordinate system needs to be determined in order to rely on the accurate posture relationship between the end tool and the environment to ensure the smooth progress of related tasks. A tool coordinate system can be established on the robot tool, and the origin of the tool coordinate system is the tool center point. The tool center point represents the entire tool. When the robot is controlled manually or programmatically to approach a target point in space, the essence is to control the tool center point to approach the target point. Specifically, the robot is programmed in the tool coordinate system. After the tool is adjusted, the robot can be put back into use by simply recalibrating the posture of the tool coordinate system relative to the robot.

[0058] It should be noted that industrial robots have a default tool coordinate system when they leave the factory. This tool coordinate system is located at the center of the robot's sixth-axis flange. It is a rotation offset matrix obtained by the robot's forward solution of the base coordinate system corresponding to the robot's mounting base. The default tool coordinate system cannot effectively meet actual work requirements, so one or more tool coordinate systems must be re-established according to the type and characteristics of the end effector. Therefore, it is necessary to establish a new tool coordinate system for the robot, which can facilitate the operator to flexibly adjust the position and posture of the robot's end effector and more accurately control the robot's motion trajectory.

[0059] Four-point method: a method for calibrating the tool coordinate system based on the principle that the position of the tool center point is unchanged relative to the base coordinate system. Specifically, the four-point method includes the following steps: The first step is to place a fixed point in the robot's workspace. The second step is to control the robot's posture so that the tool center point coincides with the fixed point in the space. Repeat the above steps 3 times, change the robot's posture so that the tool center point moves to the same point. The equations are established and solved under the condition that the coordinates of the tool center point in the world coordinate system are equal four times, thereby realizing the calibration of the tool coordinate system position. Specifically, the mobile robot aligns the end point of the tool with the tip of a fixed needle-shaped sharp object, records the robot's postures at four different postures when the tool end point is aligned with the tip, and uses the least squares method to calibrate the tool coordinate system position parameters.

[0060] Six-axis robot: A robot that achieves six degrees of freedom at the end through the synthesis of six joints. Among them, the first axis is the part connected to the preset base, which bears the weight of the entire robot and the left and right rotation of the base. The second axis is used to control the forward and backward swing of the robot's main arm. The third axis is used to control the forward and backward swing of the robot's forearm. The fourth axis is used to control the rotation of the robot's forearm. The fifth axis is used to control and fine-tune the rotation of the manipulator's wrist up and down, such as flipping the product after grabbing an object. The sixth axis is used for the rotation function of the end fixture part, so that the target robot can control and operate the target object more accurately. Depending on the application scenario, the sixth axis part can be designed with different structures.

[0061] In the scenario where the tool installed at the end of the robot is a laser rangefinder, when calibrating the relative position relationship between the laser rangefinder and the end of the robot, it is necessary to control the position of the laser rangefinder's spot to keep in contact with the preset fixed position, and at the same time adjust the robot's posture so that the distance measurement value output by the laser rangefinder is maintained at a specific value each time. Specifically, the fixed position can be a fixed point on the wall or the ground. It is necessary to control the laser line emitted by the laser rangefinder to hit the fixed point, and at the same time, on the basis of keeping the laser rangefinder's spot always coincident with the fixed point, adjust the robot's posture as needed so that the distance measurement value output by the laser rangefinder is maintained at a specific value each time. For example, when calibrating based on the "four-point method", it is necessary to keep the laser rangefinder's spot always coincident with the fixed point, and adjust the robot's posture so that the distance measurement value output by the laser rangefinder is maintained at the same value at least four times. However, since the internal structure of the laser rangefinder is complex and invisible to the outside, and unlike other tools with physical tool center points such as integrated fixtures, spray guns, welding guns, etc. at the end of the robot, the tool center point of the laser rangefinder is determined according to the laser line emitted by the laser rangefinder, and the laser line does not have a physical entity that can be physically connected and moved. Therefore, this calibration process is difficult to control the laser rangefinder. It is difficult to accurately control the laser rangefinder's light spot to coincide with the fixed point, and it is difficult to make multiple adjustments to the robot's posture while ensuring that the laser rangefinder's light spot always coincides with the fixed point. The reading of the laser rangefinder always remains at the same value. Therefore, this calibration scheme has the problems of high control difficulty, complex operation process, and difficulty in ensuring the accuracy of the data required for calibration. As a result, the calibration scheme of the relative position relationship between the laser rangefinder at the end of the robot and the end of the robot has the problems of low accuracy and efficiency.

[0062] In view of this, the embodiments of the present application provide a robot end tool calibration method, device, equipment and computer-readable storage medium, which can improve the calibration efficiency and accuracy of the relative position relationship between the laser rangefinder at the robot end and the robot end.

[0063] See also Figure 1 , is a flowchart of the steps of the robot end tool calibration method provided by an embodiment of the present application. According to different requirements, the order of the steps in the flowchart can be changed, and some steps can be omitted. The embodiment of the present invention can be executed based on a preset electronic device, which has certain data processing capabilities, data storage capabilities and communication capabilities. For example, the electronic device can be a robot teaching pendant, a microprocessor, etc., and the embodiment of the present invention is not limited to this.

[0064] See also Figure 1 As shown, the robot end tool calibration method may include the following steps:

[0065] Step 101: Determine whether a preset calibration component and a laser rangefinder to be calibrated satisfy a target orientation relationship; wherein the laser rangefinder is connected to a robot end of a target robot; the target orientation relationship includes that the calibration component is connected to the laser rangefinder, and the position of a light spot formed on the calibration component by the laser emitted by the laser rangefinder is located in a target area of ​​the calibration component.

[0066] Among them, the laser rangefinder can emit a laser line after being turned on. If the laser line falls on the target object, the laser line will form a light spot on the target object, and the laser rangefinder outputs the distance between the target object and the laser rangefinder. The target robot can be a six-axis robot, the target robot is connected to a preset base, and the robot end can be the sixth axis of the target robot. The existing tools integrated at the end of the robot mainly include fixtures and guns. Among them, the fixture can include grippers, suction cups, etc., and the guns can include spray guns, welding guns, etc. Considering that tools such as fixtures and guns are usually all-solid structures, their tool center points are points that occupy actual physical space on the tool, such as the wrist position of the gripper or the muzzle of the welding gun, etc., and when controlling the laser rangefinder integrated into the end of the robot, since the internal structure of the laser rangefinder is invisible, it is impossible to directly select the laser emission point of the laser rangefinder as its tool center point. Therefore, the light spot position formed by the laser line emitted by the laser rangefinder is generally selected as its tool center point, and the posture of the robot end is controlled through the tool center point to achieve control of the working process of the laser rangefinder. However, since the laser line is not a physical entity that can be touched and connected like a clamp or a gun, one possible implementation method is to calibrate the relative position relationship of the laser rangefinder to the end of the robot. On the one hand, it is necessary to control the laser line emitted by the laser rangefinder to hit a fixed point. On the basis of keeping the laser rangefinder's light spot always coincident with the fixed point, the robot's posture is adjusted as needed so that the distance measurement value output by the laser rangefinder each time is maintained at a specific value. The operation is difficult and complex, resulting in large errors in the acquired posture data, affecting the accuracy of the calibration.

[0067] Therefore, in an embodiment of the present invention, by connecting a preset calibration component to the laser rangefinder to be calibrated, and before obtaining the posture data of the robot end and other data required for completing the calibration of the laser rangefinder, the installation position of the calibration component is controlled so that the laser emitted by the laser rangefinder forms a light spot on the calibration component. This is different from the existing direct control of the position of the laser point. In the embodiment of the present invention, the calibration component can be controlled, which is more intuitive and convenient. On the basis of materializing the light spot of the laser rangefinder through the calibration component, the position of the light spot formed by the laser emitted by the laser rangefinder on the calibration component is also controlled to be located in the target area of ​​the calibration component, that is, the direction of the calibration component relative to the laser rangefinder is always parallel to the direction of the laser line emitted by the laser rangefinder. Therefore, when controlling the light spot position to contact with the preset fixed position, the target area can be directly contacted with the fixed position, which can eliminate the calibration data error caused by the difficulty in controlling the existing light spot position and thus aligning the light spot position with the fixed position. In order to facilitate the alignment of the position of the light spot and the alignment with the fixed position, the target area can be a positioning point, such as a cross mark point or a small through hole marked on the calibration component.

[0068] Optionally, in order to facilitate the calibration of multiple laser rangefinders at multiple different relative positions to the robot end, the calibration component can be movably connected to the laser rangefinder to facilitate adjustment of the relative position between the calibration component and the laser rangefinder so that the laser rangefinder outputs different ranging values.

[0069] Step 102: If the calibration component and the laser rangefinder satisfy the target orientation relationship, and when the calibration component is located at a plurality of different target positions, the target robot is controlled to complete contact between the target area and a preset fixed position in a plurality of different postures.

[0070] Among them, the preset fixed position can be a specific position that the calibration component can reach, and the position of the specific position remains unchanged, such as a fixed point on a wall or the ground. Optionally, in order to make the calibration scheme more flexible, not limited by the installation site of the robot end, and facilitate the contact of the target area, the preset fixed position can be the position of a preset base with a tip, and the base with a tip is fixed at a specific position. During calibration, the target area of ​​the calibration component, such as the cross mark point, can be controlled to contact the tip. The target position is used to characterize the spot position of the laser rangefinder, and the target position is visualized by the target area of ​​the calibration component.

[0071] The laser rangefinder at the end of the target robot is connected to a calibration component, so the target robot is controlled to approach the fixed position in different positions and postures until the target area of ​​the calibration component contacts the preset fixed position. In order to improve the accuracy of the calibration, the difference between different positions and postures of the target robot should be large.

[0072] Step 103: For each of the target positions, obtain the posture coordinates of the robot end and the distance measurement value output by the laser rangefinder when the calibration component is located at the target position and the target robot is located at each of the postures.

[0073] Among them, the pose coordinates of the robot end are used to represent the position and pose information of the robot end based on the world coordinate system, which can be recorded as (x e ,y e , z e , rx e ,ry e , rz e ). Among them, (x e ,y e , z e ) represents the position of the robot end based on the world coordinate system, (rx e ,ry e , rz e ) represents the posture of the robot end based on the world coordinate system. Specifically, (x e ,y e , z e ) represents the coordinate translation of the robot end relative to the robot base. (rx e ,ry e , rz e ) represents the coordinate rotation angle of the robot end relative to the robot base.

[0074] The distance measurement value output by the laser rangefinder is used to characterize the distance between the laser emission point of the laser rangefinder and the target area. Since the target area is in contact with the preset fixed position, the distance measurement value is the distance between the laser emission point and the preset fixed position.

[0075] It can be understood that the position coordinates of the robot end can be directly read by a controller such as a teaching pendant of the target robot, and the rangefinder can be directly output by a laser rangefinder.

[0076] Step 104: Calibrate the relative position relationship between the laser rangefinder and the robot end according to the posture coordinates and the ranging values ​​corresponding to the multiple target positions.

[0077] Among them, in order to more accurately control the laser rangefinder integrated in the end of the robot, combined with the working characteristics of the laser rangefinder, that is, it completes the distance measurement by emitting laser lines, the relative position relationship may include the offset angle of the laser emission direction of the laser rangefinder relative to the end of the robot and / or the laser emission point of the laser rangefinder relative to the target offset coordinates of the end of the robot.

[0078] Specifically, first, for each target position, under the condition that when the calibration component is located at the target position, the target coordinates of the tool center point of the laser rangefinder in each posture are the same, a fitting calculation is performed on the multiple posture coordinates corresponding to the target position to obtain the target coordinates of the tool center point when the calibration component is located at the target position.

[0079] Regarding the calculation of the offset angle, the laser emission direction of the laser rangefinder should be constant during the calibration process. Therefore, even if the position and posture of the robot end changes, the tool center point of the laser rangefinder should always be located on the same straight line, which represents the laser emission direction. Therefore, in the embodiment of the present invention, the target coordinates corresponding to each target position can be fitted and calculated to obtain the straight line equation corresponding to the laser emission direction, and the offset angle can be determined based on the straight line equation.

[0080] Correspondingly, for the calculation of the target offset coordinates, the position of the laser emission point of the laser rangefinder should also be unchanged during the calibration process, and the distance between the laser emission point and the fixed position should also be the ranging value output by the laser rangefinder. The fixed position is in contact with the target area, and the target area is used to visualize the tool center point of the laser rangefinder. Therefore, the distance between the laser emission point and the target coordinates is the ranging value. At the same time, the laser emission point should also be located in the aforementioned determined laser emission direction. Based on this, the target offset coordinates of the laser emission point can be calculated according to the ranging value, the target coordinates and the aforementioned straight line equation.

[0081] Specifically, the target offset coordinates of the possible laser emission point are inferred based on the ranging value and the target coordinates, and then the possible position is verified based on the straight line equation to screen out the correct target offset coordinates.

[0082] In some embodiments, in order to improve the calibration efficiency and accuracy of the laser rangefinder 03 of the robot end 02, the structure of the calibration component 04 can refer to Figure 2 .like Figure 2As shown, the robot end 02 is connected to the sixth axis of the robot base 01, and a mounting base 021 is provided on the robot end 02, and the laser rangefinder 03 is installed on the mounting base 021. Specifically, the calibration component 04 can be a sleeve structure, one end of the sleeve structure is sleeved on the outside of the laser rangefinder 03, and a positioning point 041 is provided on the other end. The area where the positioning point 041 is located is the target area. Specifically, the end of the sleeve is a hard sheet that is not easily deformed, and the positioning point 041 is marked on the center of the inner and outer sides. The positioning point 041 can be as shown in FIG. Figure 2 The cross mark point is shown, and optionally, it can also be a small through hole. In order to facilitate the calibration of the laser rangefinder 03 in various scenarios, the length of the calibration component 04 can be adjusted, so as to adjust the distance between the positioning point 041 and the laser rangefinder 03, and realize the calibration of the laser rangefinder 03 under different distance measurement values. Specifically, the calibration component 04 can be connected to the preset slide rail 044 through the slider 045, and the calibration component 04 is driven to slide on the slide rail 044 by the slider 045, so as to drive the positioning point 041 to approach or move away from the laser rangefinder 03. Optionally, in order to facilitate the adjustment of the positioning point 041 to the desired target position, a ruler 043 can also be provided on the calibration component 04, and a scale is provided on the ruler 043, so as to facilitate the measurement of the relative distance between the calibration component 04 and the laser rangefinder 03. Correspondingly, a tip base 042 can also be provided, and the tip base 042 is used to locate the preset fixed position. Specifically, the tip base 042 can be a workpiece with a firm tip that can be fixed at any position; the tip of the tip base 042 should not shake or move after the entire base is fixed. Optionally, in order to ensure the tightness of contact between the target area and the preset fixed position, the tip of the tip base 042 can be engaged with the positioning point 041 of the aforementioned calibration component 04.

[0083] In order to more clearly illustrate the relative position relationship between the calibration component 04, the slider 045 and the slide rail 044, please refer to Figure 3 .like Figure 3 As shown, the robot end 02 is connected to the sixth axis of the robot base 01, and a mounting base 021 is provided on the robot end 02, and the laser rangefinder 03 is installed on the mounting base 021. One end of the calibration component 04 can be connected to the outside of the laser rangefinder 03, and a positioning point 041 is provided on the other end. The area where the positioning point 041 is located is the target area. Further, the calibration component 04 slides on the slide rail 044 through the slider 045 to adjust the relative distance between the positioning point 041 and the laser rangefinder 03. Correspondingly, a tip base 042 can also be provided, and the tip base 042 is used to locate the preset fixed position.

[0084] Optionally, the installation position of the calibration component 04 can be as follows Figure 4As shown. The robot end 02 is provided with a mounting base plate 021, and the laser rangefinder 03 is installed on the mounting base plate 021. The calibration component 04 is fixed to the outer side of the shell of the laser rangefinder 03. By adjusting the mounting hole position of the calibration component 04, it is ensured that the telescopic direction of the calibration component 04 is aligned with the direction of the laser line 031 emitted by the laser rangefinder 03, so that the light spot of the laser rangefinder 03 can always fall on the positioning point 041 inside the calibration component 04 at different lengths of the calibration component 04. The calibration component 04 is provided with a scale 043 with scales. The current distance measurement value of the laser rangefinder 03 can be estimated by the scale 043 on the calibration component 04, so as to adjust the length of the calibration component 04.

[0085] Further, Figure 5 FIG. 1 is a schematic diagram of a working scene of the calibration component 04 in the robot end tool calibration method provided according to an embodiment of the present application. Figure 5 As shown, after the calibration component 04 is correctly installed on the laser rangefinder 03 according to the aforementioned process, the length of the calibration component 04 is adjusted so that the calibration component 04 reaches the target position. The length of the calibration component 04 is manually adjusted and fixed at an arbitrary length, and the measurement value output by the current laser rangefinder 03 is recorded and recorded as D. At this time, the end center of the calibration component 04 (i.e., the positioning point 041) is the TCP of the laser line 031 emitted by the laser rangefinder 03 at the length D. On the basis of keeping the length of the calibration component 04 unchanged and the positioning point 041 always in contact with the tip of the tip base 042, the posture of the robot end 02 is adjusted at least four times, and the corresponding robot posture coordinates are obtained, so as to calibrate the laser rangefinder 03 according to the distance measurement value and the robot posture coordinates. Specifically, the calibration component 04 slides on the slide rail 044 through the slider 045 to adjust the relative distance between the positioning point 041 and the laser rangefinder 03. Correspondingly, a tip base 042 may also be provided, and the tip base 042 is used to locate the preset fixed position. In some embodiments, based on keeping the position of the calibration component unchanged and the target area always in contact with the preset fixed position, the relative position relationship between the laser rangefinder and the robot end should be fixed, such as Figure 6 As shown in the figure, the calibration process for the laser rangefinder at the end of the robot includes:

[0086] Step 201: Determine whether a preset calibration component and a laser rangefinder to be calibrated satisfy a target orientation relationship; wherein the laser rangefinder is connected to a robot end of a target robot; the target orientation relationship includes that the calibration component is connected to the laser rangefinder, and the position of a light spot formed on the calibration component by the laser emitted by the laser rangefinder is located in a target area of ​​the calibration component.

[0087] Step 201 is similar to the aforementioned step 101 and will not be described again here.

[0088] Step 202: If the calibration component and the laser rangefinder satisfy the target orientation relationship, when the calibration component is located at a plurality of different target positions, the target robot is controlled to complete contact between the target area and a preset fixed position in a plurality of different postures.

[0089] Step 202 is similar to the aforementioned step 102 and will not be described again here.

[0090] Step 203: For each of the target positions, obtain the posture coordinates of the robot terminal and the distance measurement value output by the laser rangefinder when the calibration component is located at the target position and the target robot is located at each of the postures.

[0091] Step 203 is similar to the aforementioned step 103 and will not be described again here.

[0092] Step 204: For each of the target positions, the target coordinates of the tool center point of the laser rangefinder in each posture are the same when the calibration component is located at the target position, and the multiple posture coordinates corresponding to the target position are calculated to obtain the target coordinates when the calibration component is located at the target position; wherein, when the calibration component is located at one of the target positions, the number of postures is at least four.

[0093] The process of determining the target coordinates includes: Step 1: Convert the pose coordinates of the robot flange end based on the world coordinate system into a 4X4 matrix form Where R is based on (rx e ,ry e , rz e ) The 3X3 rotation matrix obtained by transformation, T is based on (x e ,y e , z e )The 3X1 offset matrix obtained by conversion.

[0094] Step 2: The matrix of the transformation relationship between the target coordinates of TCP and the robot base is expressed as follows:

[0095]

[0096] Among them, Base is the robot base; Target is the tool center point of the laser rangefinder; End is the coordinate origin of the robot end (i.e. the sixth axis). The tool center point used to characterize the laser rangefinder is based on the rotation matrix of the robot base. The tool center point used to characterize the laser rangefinder is based on the offset matrix of the robot base. The rotation matrix used to represent the robot end relative to the robot base. Used to represent the offset matrix of the robot end relative to the robot base. The tool center point used to characterize the laser rangefinder is based on the rotation matrix of the robot end point. The tool center point used to characterize the laser rangefinder is based on the offset matrix of the robot end-point.

[0097] Step 3: Since the spot position coincides with the target area, and the target area always keeps in contact with the fixed position, it can be considered that when the calibration component is located at the target position and the target robot is located at multiple different postures, the target coordinates of the corresponding TCP should be the same. For example, for the robot end in the first posture and the second posture, there is a target equation as follows:

[0098]

[0099] in, is the rotation matrix of the robot end based on the robot base in the first pose, is the offset matrix of the robot end based on the robot base in the first pose, is the rotation matrix of the robot end based on the robot base in the second position, is the offset matrix of the robot end based on the robot base in the second position. The above target equation is deduced to the following AX=B form equation:

[0100]

[0101] It can be understood that for every two robot postures, an X can be obtained according to the above formula. Therefore, when the robot posture is 4, 6 different X can be obtained. Finally, the X corresponding to all postures is fitted to obtain a relatively accurate X. Specifically, the translation vector of TCP can be fitted according to the least squares method for multiple sets of data. The coordinate form is the target coordinate.

[0102] Step 205: Determine the relative position relationship between the laser rangefinder and the robot end according to the target coordinates and the distance measurement values ​​respectively corresponding to the multiple target positions.

[0103] The relative position relationship may include an offset angle of a laser emission direction of the laser rangefinder relative to the end of the robot and / or a target offset coordinate of a laser emission point of the laser rangefinder relative to the end of the robot.

[0104] Regarding the calculation of the offset angle, the laser emission direction of the laser rangefinder should be constant during the calibration process. Therefore, even if the position and posture of the robot end changes, the tool center point of the laser rangefinder should always be located on the same straight line, which represents the laser emission direction. Therefore, in the embodiment of the present invention, the target coordinates corresponding to each target position can be fitted and calculated to obtain the straight line equation corresponding to the laser emission direction, and the offset angle can be determined based on the straight line equation.

[0105] Correspondingly, for the calculation of the target offset coordinates, the position of the laser emission point of the laser rangefinder should also be unchanged during the calibration process, and the distance between the laser emission point and the fixed position should also be the ranging value output by the laser rangefinder. The fixed position is in contact with the target area, and the target area is used to visualize the tool center point of the laser rangefinder. Therefore, the distance between the laser emission point and the target coordinates is the ranging value. At the same time, the laser emission point should also be located in the aforementioned determined laser emission direction. Based on this, the target offset coordinates of the laser emission point can be calculated according to the ranging value, the target coordinates and the aforementioned straight line equation.

[0106] In some embodiments, the relative position relationship includes an offset angle of the laser emission direction of the laser rangefinder relative to the robot end; considering that even if the distance between the spot position and the laser rangefinder (i.e., the distance value) changes, the laser emission direction of the laser rangefinder should remain unchanged, therefore, Figure 7 As shown in the figure, the calibration process for the laser rangefinder at the end of the robot includes:

[0107] Step 301: Determine whether a preset calibration component and a laser rangefinder to be calibrated satisfy a target orientation relationship; wherein the laser rangefinder is connected to a robot end of a target robot; the target orientation relationship includes that the calibration component is connected to the laser rangefinder, and the position of a light spot formed on the calibration component by the laser emitted by the laser rangefinder is located in a target area of ​​the calibration component.

[0108] Step 301 is similar to the aforementioned step 101 and will not be described again here.

[0109] Step 302: If the calibration component and the laser rangefinder satisfy the target orientation relationship, when the calibration component is located at a plurality of different target positions, the target robot is controlled to complete contact between the target area and a preset fixed position in a plurality of different postures.

[0110] Step 302 is similar to the aforementioned step 102 and will not be described again here.

[0111] Step 303: For each of the target positions, obtain the posture coordinates of the robot end when the calibration component is located at the target position and the target robot is located at each of the postures.

[0112] Among them, the acquisition of the posture coordinates in this step is roughly the same as the acquisition process of the posture coordinates in the aforementioned step 103, which will not be repeated here.

[0113] Step 304: For each of the target positions, the target coordinates of the tool center point of the laser rangefinder in each posture are the same when the calibration component is located at the target position, and the multiple posture coordinates corresponding to the target position are calculated to obtain the target coordinates when the calibration component is located at the target position; wherein, when the calibration component is located at one of the target positions, the number of postures is at least four.

[0114] Step 304 is similar to the aforementioned step 104 and will not be described again here.

[0115] Step 305: fitting is performed according to the target coordinates corresponding to the multiple target positions respectively, to obtain a straight line equation corresponding to the laser emission direction.

[0116] Specifically, even if the distance between the spot position and the laser rangefinder (i.e., the distance value) changes, the laser emission direction of the laser rangefinder should remain unchanged. Therefore, when the calibration component is located at each target position, the target coordinates of the tool center point corresponding to the laser rangefinder at the target position should be located on the same straight line, which represents the laser emission direction. Therefore, a straight line fitting can be performed based on multiple target coordinates corresponding to multiple target positions to obtain a straight line equation corresponding to the laser emission direction. Preferably, the least squares method can be used for straight line fitting.

[0117] Step 306: Determine the offset angle of the laser emission direction of the laser rangefinder relative to the end of the robot according to the direction vector of the straight line equation.

[0118] Specifically, the direction vector of the straight line equation is converted to obtain the Euler angle of the laser emission direction of the laser rangefinder, and the offset angle is determined according to the Euler angle. The direction vector of the straight line equation can be externally rotated by the Euler angle commonly used by the robot, and the corresponding Euler angle value can be obtained by a preset trigonometric function relationship.

[0119] In some embodiments, the relative position relationship includes the target offset coordinates of the laser emission point of the laser rangefinder relative to the end of the robot. When the target position of the calibration component remains unchanged, the distance between the laser emission point of the laser rangefinder and the TCP of the end of the laser rangefinder is the distance measurement value, such as Figure 8As shown in the figure, the calibration process for the laser rangefinder at the end of the robot includes:

[0120] Step 401: Determine whether a preset calibration component and a laser rangefinder to be calibrated satisfy a target orientation relationship; wherein the laser rangefinder is connected to a robot end of a target robot; the target orientation relationship includes that the calibration component is connected to the laser rangefinder, and the position of a light spot formed on the calibration component by the laser emitted by the laser rangefinder is located in a target area of ​​the calibration component.

[0121] Step 401 is similar to the aforementioned step 101 and will not be described again here.

[0122] Step 402: If the calibration component and the laser rangefinder satisfy the target orientation relationship, when the calibration component is located at a plurality of different target positions, the target robot is controlled to complete contact between the target area and a preset fixed position in a plurality of different postures.

[0123] Step 402 is similar to the aforementioned step 102 and will not be described again here.

[0124] Step 403: For each of the target positions, obtain the posture coordinates of the robot terminal and the distance measurement value output by the laser rangefinder when the calibration component is located at the target position and the target robot is located at each of the postures.

[0125] Step 403 is similar to the aforementioned step 103 and will not be described again here.

[0126] Step 404: For each of the target positions, the target coordinates of the tool center point of the laser rangefinder in each posture are the same when the calibration component is located at the target position, and the multiple posture coordinates corresponding to the target position are calculated to obtain the target coordinates when the calibration component is located at the target position; wherein, when the calibration component is located at one of the target positions, the number of postures is at least four.

[0127] Step 404 is similar to the aforementioned step 204 and will not be described again here.

[0128] Step 405: fitting is performed according to the target coordinates corresponding to the multiple target positions respectively, to obtain a straight line equation corresponding to the laser emission direction.

[0129] Step 405 is similar to the aforementioned step 305 and will not be described again here.

[0130] Step 406: For each of the target positions, based on the distance measurement value corresponding to the target position and the target coordinates, construct a spherical equation corresponding to the laser rangefinder when the calibration component is located at the target position; the spherical equation is used to characterize the space where the laser emission point is located.

[0131] Among them, considering that the distance between the laser emission point of the laser rangefinder and the tool center point of the laser rangefinder is the distance measurement value output by the laser rangefinder, the distance measurement value and the target coordinates can be reversed to obtain the position of the laser emission point. In order to improve the accuracy of the laser emission point, the spherical equation under each target position is constructed for each target position. Specifically, the spherical equation is constructed with the target coordinates as the center of the sphere and the distance measurement value as the radius, so that the coordinates of the laser emission point are located on the sphere corresponding to the spherical equation.

[0132] Step 407: for each of the target positions, determine the intersection information between the spherical equation and the straight line equation corresponding to the laser rangefinder when the calibration component is located at the target position.

[0133] Among them, based on the fact that when the target position of the calibration component remains unchanged, the laser emission point of the laser rangefinder should always be located on the sphere represented by the spherical equation and the straight line represented by the straight line equation at the same time, therefore, for each target position, the intersection information of the spherical equation and the straight line equation corresponding to the laser rangefinder is calculated. The intersection information represents the information of the laser emission point of the laser rangefinder. The intersection information includes the number of intersections and the coordinates of the intersections.

[0134] Step 408: Determine the target offset coordinates according to the intersection information corresponding to the multiple target positions.

[0135] The reference offset coordinates corresponding to each target position are determined according to the intersection information corresponding to each target position, and the target offset coordinates are obtained by fitting according to the reference offset coordinates corresponding to multiple target positions. The target intersection corresponding to the target position is determined according to the intersection information corresponding to each target position, and the reference offset coordinates are determined according to the coordinates of the target intersection.

[0136] In some embodiments, based on the fact that the target position of the calibration component remains unchanged, the laser emission point of the laser rangefinder should always be located on the spherical surface represented by the spherical equation and on the straight line represented by the straight line equation at the same time, such as Fig. 9 As shown in the figure, the calibration process for the laser rangefinder at the end of the robot includes:

[0137] Step 501: Determine whether a preset calibration component and a laser rangefinder to be calibrated satisfy a target orientation relationship; wherein the laser rangefinder is connected to a robot end of a target robot; the target orientation relationship includes that the calibration component is connected to the laser rangefinder, and the position of a light spot formed on the calibration component by the laser emitted by the laser rangefinder is located in a target area of ​​the calibration component.

[0138] Step 501 is similar to the aforementioned step 101 and will not be described again here.

[0139] Step 502: If the calibration component and the laser rangefinder satisfy the target orientation relationship, when the calibration component is located at a plurality of different target positions, the target robot is controlled to complete contact between the target area and a preset fixed position in a plurality of different postures.

[0140] Step 502 is similar to the aforementioned step 101 and will not be described again here.

[0141] Step 503: For each of the target positions, obtain the posture coordinates of the robot terminal and the distance measurement value output by the laser rangefinder when the calibration component is located at the target position and the target robot is located at each of the postures.

[0142] Step 503 is similar to the aforementioned step 103 and will not be described again here.

[0143] Step 504: For each of the target positions, the target coordinates of the tool center point of the laser rangefinder in each posture are the same when the calibration component is located at the target position, and the multiple posture coordinates corresponding to the target position are calculated to obtain the target coordinates when the calibration component is located at the target position; wherein, when the calibration component is located at one of the target positions, the number of postures is at least four.

[0144] Step 504 is similar to the aforementioned step 204 and will not be described again here.

[0145] Step 505: fitting is performed according to the target coordinates corresponding to the multiple target positions respectively, to obtain a straight line equation corresponding to the laser emission direction.

[0146] Step 505 is similar to the aforementioned step 305 and will not be described again here.

[0147] Step 506: For each of the target positions, based on the distance measurement value corresponding to the target position and the target coordinates, construct a spherical equation corresponding to the laser rangefinder when the calibration component is located at the target position; the spherical equation is used to characterize the space where the laser emission point is located.

[0148] Step 506 is similar to the aforementioned step 406 and will not be described again here.

[0149] Step 507: for each of the target positions, determine the intersection information between the spherical equation and the straight line equation corresponding to the laser rangefinder when the calibration component is located at the target position.

[0150] Step 507 is similar to the aforementioned step 407 and will not be described again here.

[0151] Step 508: For each target position, if there are multiple intersections corresponding to the target position, select the target intersection corresponding to the target position from the multiple intersections corresponding to the target position based on the distances between the multiple intersections corresponding to the target position and the end of the robot.

[0152] Among them, it is considered that the number of intersections of the straight line equation and the spherical equation may be 2, 1 or 0. When the target position corresponds to 2 intersections, considering that the distance between the two intersections is twice the ranging value, and in general, the position of the laser emission point should be close to the end of the robot, and there will not be a situation where the distance is twice the ranging value from the end of the robot, therefore, the intersection closer to the end of the robot among the multiple intersections can be used as the target intersection corresponding to the target position. Specifically, in order to improve the accuracy of the position of the laser emission point, the distance between the intersection and the end of the robot can be specifically the distance between the intersection and the coordinate origin of the end of the robot.

[0153] Step 509: Determine the reference offset coordinates corresponding to the target position according to the intersection coordinates of the target intersection.

[0154] Specifically, for each target position, the intersection coordinates of the target intersection point are determined as the reference offset coordinates corresponding to the target position.

[0155] Optionally, when there is an intersection point, the coordinates of the intersection point are determined as reference offset coordinates corresponding to the target position.

[0156] Optionally, for each target position, if there are multiple intersections corresponding to the target position, the target intersection corresponding to the target position is filtered out from the multiple intersections corresponding to the target position based on the distances between the multiple intersections corresponding to the target position and the end of the robot.

[0157] Specifically, the intersection point closest to the coordinate source of the robot end is determined as the target intersection point corresponding to the target position. The reference offset coordinates corresponding to the target position are determined based on the intersection coordinates of the target intersection point.

[0158] Specifically, the intersection coordinates of the target intersection point are determined as reference offset coordinates corresponding to the target position.

[0159] Optionally, the process of determining the reference offset coordinates may further include:

[0160] For each of the target positions, if the number of intersection points is zero, determine the point that is closest to the straight line equation among all the points on the sphere represented by the spherical equation corresponding to the target position.

[0161] Specifically, a perpendicular line can be drawn from the spherical equation to the straight line equation, and the point on the sphere represented by the spherical equation with the shortest perpendicular line segment to the straight line equation is taken as the point with the shortest distance.

[0162] The reference offset coordinates corresponding to the target position are determined according to the coordinates of the point closest to the target position.

[0163] Specifically, the coordinates of the point closest to the distance are determined as reference offset coordinates.

[0164] Please refer to Fig.10 , is a schematic diagram of the structure of a robot end tool calibration device 60 provided in an embodiment of the present application. Fig.10 As shown, the robot end tool calibration device 60 includes:

[0165] The determination module 601 is used to determine whether a preset calibration component and a laser rangefinder to be calibrated satisfy a target orientation relationship; wherein the laser rangefinder is connected to a robot end of a target robot; the target orientation relationship includes that the calibration component is connected to the laser rangefinder, and the position of a light spot formed on the calibration component by the laser emitted by the laser rangefinder is located in a target area of ​​the calibration component;

[0166] An adjustment module 602 is used for controlling the target robot to complete the contact between the target area and the preset fixed position in a plurality of different postures respectively when the calibration component and the laser rangefinder satisfy the target orientation relationship and the calibration component is located at a plurality of different target positions respectively;

[0167] An acquisition module 603 is used to acquire, for each of the target positions, the posture coordinates of the robot terminal and the distance measurement value output by the laser rangefinder when the calibration component is located at the target position and the target robot is located at each of the postures;

[0168] The calibration module 604 is used to calibrate the relative position relationship between the laser rangefinder and the robot end according to the posture coordinates and the ranging values ​​corresponding to the multiple target positions.

[0169] Please refer to Fig.11 , is a schematic diagram of the hardware structure of the robot end tool calibration device 70 provided in the embodiment of the present application. Fig.11 As shown, the robot end tool calibration device 70 may include a processor 701 and a memory 702. The memory 702 is used to store one or more computer programs 703. The one or more computer programs 703 are configured to be executed by the processor 701. The one or more computer programs 703 include instructions, and the above instructions can be used to implement the above robot end tool calibration method in the robot end tool calibration device 70.

[0170] It is understandable that the structure illustrated in this embodiment does not constitute a specific limitation on the robot end tool calibration device 70. In other embodiments, the robot end tool calibration device 70 may include more or fewer components than shown, or combine some components, or separate some components, or arrange the components differently.

[0171] The processor 701 may include one or more processing units, for example, the processor 701 may include an application processor (AP), a modem, a graphics processing unit (GPU), an image signal processor (ISP), a controller, a video codec, a digital signal processor (DSP), a baseband processor, and / or a neural-network processing unit (NPU), etc. Different processing units may be independent devices or integrated into one or more processors.

[0172] The processor 701 may also be provided with a memory for storing instructions and data. In some embodiments, the memory in the processor 701 is a cache memory. The memory may store instructions or data that the processor 701 has just used or circulated. If the processor 701 needs to use the instruction or data again, it may be directly called from the memory. This avoids repeated access, reduces the waiting time of the processor 701, and thus improves the efficiency of the system.

[0173] In some embodiments, the processor 701 may include one or more interfaces. The interface may include an inter-integrated circuit (I2C) interface, an inter-integrated circuit sound (I2S) interface, a pulse code modulation (PCM) interface, a universal asynchronous receiver / transmitter (UART) interface, a mobile industry processor interface (MIPI), a general-purpose input / output (GPIO) interface, a SIM interface, and / or a USB interface, etc.

[0174] In some embodiments, processor 701 is used to execute acceleration schemes such as single instruction multiple data (SIMD) and very long instruction word (VLIW).

[0175] In some embodiments, the memory 702 may include a high-speed random access memory and may also include a non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card (Flash Card), at least one disk storage device, a flash memory device, or other volatile solid-state storage devices.

[0176] This embodiment also provides a computer-readable storage medium, which stores computer instructions. When the instructions are executed on a processor, the processor executes the above-mentioned related method steps to implement the robot end tool calibration method in the above-mentioned embodiment.

[0177] Among them, the robot end tool calibration equipment, device, and computer-readable storage medium provided in this embodiment are all used to execute the corresponding methods provided above. Therefore, the beneficial effects that can be achieved can refer to the beneficial effects in the corresponding methods provided above, and will not be repeated here.

[0178] In practical applications, the above functions can be distributed to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0179] In several embodiments provided in the present application, the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are schematic. For example, the division of the modules or units is 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 device, 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.

[0180] The unit described as a separate component may or may not be physically separated, and the component shown as a unit may be one physical unit or multiple physical units, that is, it may be located in one place or distributed in multiple different places. Some or all of the units may be selected according to actual needs to achieve the purpose of the embodiment.

[0181] 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. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0182] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a readable storage medium. Based on this understanding, the technical solution of the embodiment of the present application is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, which is stored in a storage medium, including several instructions to enable a device (which can be a single-chip microcomputer, chip, etc.) or a processor (processor) to perform all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), disk or optical disk and other media that can store program code.

[0183] The above description is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions within the technical scope disclosed in the present application should be included in the protection scope of the present application.

Claims

1. A robot end tool calibration method, characterized in that: The method comprises: Determine whether a preset calibration component and a laser rangefinder to be calibrated satisfy a target orientation relationship; wherein the laser rangefinder is connected to a robot end of a target robot; the target orientation relationship includes that the calibration component is connected to the laser rangefinder, and the position of a light spot formed on the calibration component by the laser emitted by the laser rangefinder is located in a target area of ​​the calibration component; If the calibration component and the laser rangefinder satisfy the target orientation relationship, when the calibration component is located at a plurality of different target positions, the target robot is controlled to complete the contact between the target area and the preset fixed position in a plurality of different postures respectively; For each of the target positions, obtaining the posture coordinates of the robot end and the distance measurement value output by the laser rangefinder when the calibration component is located at the target position and the target robot is located at each of the postures; The relative position relationship between the laser rangefinder and the robot end is calibrated according to the posture coordinates and the ranging values ​​corresponding to the multiple target positions.

2. The method according to claim 1, characterized in that The relative position relationship determination process also includes: For each of the target positions, the target coordinates of the tool center point of the laser rangefinder in each posture are the same when the calibration component is located at the target position, and the multiple posture coordinates corresponding to the target position are calculated to obtain the target coordinates when the calibration component is located at the target position; wherein, when the calibration component is located at one of the target positions, the postures are at least four; The relative position information is determined according to the target coordinates and the distance measurement values ​​respectively corresponding to the multiple target positions.

3. The method according to claim 2, characterized in that The relative position relationship includes an offset angle of the laser emission direction of the laser rangefinder relative to the end of the robot; The calibration process of the offset angle also includes: Fitting is performed according to the target coordinates respectively corresponding to the multiple target positions to obtain a straight line equation corresponding to the laser emission direction; The offset angle is determined according to the direction vector of the straight line equation.

4. The method according to claim 3, characterized in that The relative position relationship includes the target offset coordinates of the laser emission point of the laser rangefinder relative to the end of the robot; The calibration process of the target offset coordinates also includes: For each of the target positions, according to the distance measurement value corresponding to the target position and the target coordinates, a spherical equation corresponding to the laser rangefinder when the calibration component is located at the target position is constructed; the spherical equation is used to characterize the space where the laser emission point is located; For each of the target positions, determining the intersection information between the spherical equation and the straight line equation corresponding to the laser rangefinder when the calibration component is located at the target position; The target offset coordinates are determined according to the intersection information corresponding to the multiple target positions.

5. The method according to claim 4, characterized in that The spherical equation is constructed with the target coordinates as the sphere center and the distance measurement value as the radius; the intersection information includes the number of intersections and the intersection coordinates; the calibration process of the target offset coordinates also includes: For each of the target positions, according to the intersection coordinates corresponding to the target position, determine the reference offset coordinates of the laser emission point relative to the robot end when the calibration component is located at the target position; wherein, if the number of the intersections corresponding to the target position is one, the intersection coordinates corresponding to the target position are determined as the reference offset coordinates; The reference offset coordinates corresponding to the multiple target positions are fitted to obtain the target offset coordinates.

6. The method according to claim 5, characterized in that The process of determining the reference offset coordinates further includes: For each of the target positions, if the number of the intersection points corresponding to the target position is multiple, the target intersection point corresponding to the target position is selected from the multiple intersection points corresponding to the target position according to the distances between the multiple intersection points corresponding to the target position and the end of the robot; The reference offset coordinates corresponding to the target position are determined according to the intersection coordinates of the target intersection.

7. The method according to claim 5, characterized in that The process of determining the reference offset coordinates further includes: For each of the target positions, if the number of intersection points is zero, determine the point that is closest to the straight line equation among all the points on the spherical surface represented by the spherical equation corresponding to the target position; The reference offset coordinates corresponding to the target position are determined according to the coordinates of the point closest to the target position.

8. A robot end tool calibration device, characterized in that: The robot end tool calibration device comprises: A determination module, used to determine whether a preset calibration component and a laser rangefinder to be calibrated satisfy a target orientation relationship; wherein the laser rangefinder is connected to a robot end of a target robot; the target orientation relationship includes that the calibration component is connected to the laser rangefinder, and the position of a light spot formed on the calibration component by the laser emitted by the laser rangefinder is located in a target area of ​​the calibration component; An adjustment module, configured to control the target robot to contact the target area with a preset fixed position in a plurality of different postures respectively when the calibration component and the laser rangefinder satisfy the target orientation relationship and the calibration component is located at a plurality of different target positions respectively; An acquisition module, for acquiring, for each of the target positions, the posture coordinates of the robot end and the distance measurement value output by the laser rangefinder when the calibration component is located at the target position and the target robot is located at each of the postures; The calibration module is used to calibrate the relative position relationship between the laser rangefinder and the robot end according to the posture coordinates corresponding to the multiple target positions and the ranging values.

9. A robot end tool calibration device, comprising a processor and a memory, characterized in that: The memory is used to store instructions, and the processor is used to call the instructions in the memory, so that the robot end tool calibration device executes the robot end tool calibration method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and when the computer instructions are executed on a processor, the processor executes the robot end tool calibration method according to any one of claims 1 to 7.

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