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

Abstract

The present application relates to the field of robot calibration, and specifically to a robot end-tool calibration method, apparatus, device, and computer-readable storage medium. The method includes: determining whether a preset calibration component and a laser rangefinder to be calibrated satisfy the conditions that the calibration component and the laser rangefinder are connected, and the position of the spot formed by the laser emitted by the laser rangefinder on the calibration component is located within the target area of ​​the calibration component; if so, when the calibration component is located at each target position, controlling the target robot to complete contact between the target area and the preset fixed position in multiple different postures; calibrating the relative position relationship between the laser rangefinder and the robot end based on 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 posture. The present application can improve the accuracy and efficiency of the relative position calibration between the laser rangefinder at the robot end and the robot end.

Description

Technical Field

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

[0002] To complete various tasks, various tools, such as fixtures and welding torches, can be installed at the end of an industrial robot. To achieve precise control of the tools and successfully complete the task, the relative positional relationship between the robot end and the tools must be calibrated. Tools installed at the robot end can include laser rangefinders and other instruments that can emit lasers. For example, in a spatial coordinate measuring machine, a collaborative robot serves as the mechanical platform, with a laser rangefinder and an industrial camera integrated at the end of the robot. Automated testing is achieved through the application of machine vision, robot kinematics, linear algebra, and proportional-integral-differential control theory.

[0003] The internal structure of the laser rangefinder is complex and invisible to the outside. In related technologies, it is difficult to achieve a preset calibration posture for the laser rangefinder by improving the processing accuracy of the laser rangefinder and / or precisely 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 existing robot end and the robot end.

[0006] In a first aspect, embodiments of the present application provide 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 the end-tool of a target robot; the target orientation relationship comprises the connection between the calibration component and the laser rangefinder, and the position of a light spot formed by laser light emitted by the laser rangefinder on the calibration component is located within 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 contact between the target area and the preset fixed position in a plurality of different postures;

[0008] For each of the target positions, obtaining the pose coordinates of the robot end and the ranging 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 poses;

[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, and adjusting the robot posture at the same time 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 the posture data of the robot end based on which the existing calibration of the laser rangefinder at the robot end is generally large, and the accuracy of the calibration based on the unreliable posture data is difficult to guarantee. In an embodiment of the present method, the above-mentioned technical solution is adopted. By installing a preset calibration component on the laser rangefinder to be calibrated and controlling the light spot formed by the laser emitted by the laser rangefinder 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-physical laser point with a fixed position, which is difficult, the present method embodiment only requires contacting 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 target position, the target coordinates of the tool center point of the laser rangefinder at each posture are the same when the calibration component is located at the target position, and the target coordinates when the calibration component is located at the target position are calculated. When the calibration component is located at one target position, the number of postures is at least four.

[0013] The relative position information is determined according to the target coordinates and the ranging 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 the target coordinates 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 target position, constructing a spherical equation corresponding to the laser rangefinder when the calibration component is located at the target position based on the distance measurement value and the target coordinates corresponding to the target position; 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 target position, determining the reference offset coordinates of the laser emission point relative to the robot end when the calibration component is located at the target position based on the intersection coordinates corresponding to the target position; wherein, if the number of intersections corresponding to the target position is one, the intersection coordinates corresponding to the target position are determined as the reference offset coordinates;

[0023] Fitting the reference offset coordinates corresponding to the multiple target positions is performed to obtain the target offset coordinates.

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

[0025] For each target position, if there are multiple intersection points corresponding to the target position, 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 target position, if the number of intersection points is zero, determine the point closest to the straight line equation among all points on the sphere 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, configured 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 terminal end of a target robot; and the target orientation relationship includes the calibration component being connected to the laser rangefinder, and the position of a light spot formed on the calibration component by laser light emitted by the laser rangefinder being located within 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 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;

[0033] an acquisition module, configured to acquire, for each target position, the pose coordinates of the robot end and the ranging value output by the laser rangefinder when the calibration component is located at the target position and the target robot is located at each pose;

[0034] A calibration module 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.

[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, which 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 provides a flowchart of the steps of a robot end tool calibration method according to one embodiment of the present application.

[0038] Figure 2 Schematic diagram of the structure of the calibration component in the robot end tool calibration method provided according to one embodiment of the present application.

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

[0040] Figure 4 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 Schematic diagram of the working scenario of the calibration component in the robot end tool calibration method provided according to one embodiment of the present application.

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

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

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

[0047] Figure 11 This is a schematic structural diagram 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 objectives, features and advantages of the present application, the present application is described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be noted that the embodiments of the present application and the features therein can be combined with each other in the absence of conflict.

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

[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 pertains. 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 document, the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, article, or apparatus comprising a list of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not preclude the presence of other identical elements in the process, method, article, or apparatus comprising 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 this 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 this application should not be interpreted as being preferred or advantageous over other embodiments or designs. Rather, the use of words such as "exemplary" or "for example" is intended to present the relevant concepts in a concrete manner.

[0056] Related terms:

[0057] Tool Center Point (TCP): Industrial robots currently mount various tools on their end-pieces to meet specific needs. However, due to the varying shapes and sizes of tools, the robot's actual working point relative to the end-piece can change after tool replacement or adjustment. For example, when a robot performs a task, the end-piece flange needs to be connected to tools such as suction cups, grippers, and laser rangefinders. The position and orientation of these tools relative to the end-piece flange coordinate system must be determined to ensure the accurate orientation relationship between the end-piece tool and its environment, ensuring the smooth execution of the task. A tool coordinate system can be established on the robot tool, with the tool center point as its origin. The tool center point represents the entire tool. When a robot is manually or programmatically controlled to approach a target point in space, the tool center point is essentially being controlled to approach that target point. Specifically, by programming the robot within the tool coordinate system, after tool adjustments, the robot can be reactivated by simply recalibrating the tool coordinate system relative to the robot.

[0058] It's important to note that industrial robots are shipped with a default tool coordinate system. This system is located at the center of the robot's sixth-axis flange and is a rotational offset matrix derived from the base coordinate system corresponding to the robot's mounting base through the robot's forward solution. The default tool coordinate system cannot effectively meet actual work requirements, so one or more new tool coordinate systems must be established based on the type and characteristics of the end effector. Therefore, establishing a new tool coordinate system for the robot allows the operator to flexibly adjust the position of the end effector and more precisely control the robot's 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 three times, change the robot's posture so that the tool center point moves to the same point. The equations are established and solved based on the four equal coordinates of the tool center point in the world coordinate system, 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 posture 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 its end through the synthesis of six joints. The first axis connects to the pre-set base, bearing the entire robot's weight and the base's left and right rotation. The second axis controls the forward and backward swing of the robot's main arm. The third axis controls the forward and backward swing of the robot's forearm. The fourth axis controls the rotation of the robot's forearm. The fifth axis controls and fine-tunes the rotation of the robot's wrist, such as flipping a product after grasping it. The sixth axis rotates the end gripper, allowing the robot to more precisely control and manipulate the target object. Depending on the application scenario, the sixth axis can be designed with different structures.

[0061] In scenarios where the tool mounted on the end of the robot is a laser rangefinder, when calibrating the relative positional relationship between the laser rangefinder and the end of the robot, it is necessary to control the laser rangefinder's spot position to maintain contact with a preset fixed position, while adjusting the robot's posture so that the distance measurement value output by the laser rangefinder remains at a specific value each time. Specifically, the fixed position can be a fixed point on a wall or the ground. The laser line emitted by the laser rangefinder needs to be controlled to hit the fixed point. At the same time, while keeping the laser rangefinder's 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 remains 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 remains at the same value at least four times. However, due to the complex internal structure of the laser rangefinder and its invisibility to the outside world, and unlike other tools with physical tool center points such as the integrated fixture, spray gun, and welding gun at the end of the robot, the tool center point of the laser rangefinder is determined by the laser line emitted by the laser rangefinder, and this 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 accurately coincide with the fixed point. It is also difficult to ensure that the laser rangefinder's light spot and the fixed point always coincide with each other while making multiple adjustments to the robot's posture and keeping the laser rangefinder reading 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 for the relative position relationship between the laser rangefinder at the end of the robot and the robot end has 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 a robot end-tool calibration method provided in one embodiment of the present application. Depending on different requirements, the order of the steps in the flowchart may be changed, and some steps may be omitted. The embodiments of the present invention can be executed based on a preset electronic device that has certain data processing, data storage, and communication capabilities. For example, the electronic device may be a robot teach pendant, a microprocessor, etc., but the embodiments of the present invention are not limited to this.

[0064] See 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 the calibration component being connected to the laser rangefinder, and the position of a light spot formed on the calibration component by laser light emitted by the laser rangefinder is located within a target area of ​​the calibration component.

[0066] When activated, the laser rangefinder emits a laser line. If this laser line falls on a target object, it forms a 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 connected to a pre-set base, and the robot end can be the sixth axis of the target robot. Existing tools integrated into robot end-points primarily include fixtures and guns. Fixtures can include grippers, suction cups, and other tools, while guns can include spray guns and welding guns. Given that tools such as fixtures and guns are typically fully solid structures, their tool center is a point in physical space on the tool, such as the wrist of a gripper or the muzzle of a welding gun. When controlling a laser rangefinder integrated into a robot end-point, since the internal structure of the laser rangefinder is invisible, the laser emission point of the laser rangefinder cannot be directly selected as the tool center. Therefore, the tool center is generally selected as the location of the spot formed by the laser line emitted by the laser rangefinder. This tool center is used to control the posture of the robot end-point, thereby controlling the operation of the laser rangefinder. However, since the laser line is not a physical entity that can be touched and connected like a fixture or gun, one possible implementation method is to calibrate the relative position relationship of the laser rangefinder with respect 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. At the same time, 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 value output by the laser rangefinder each time remains 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, a preset calibration assembly is connected to the laser rangefinder to be calibrated. Before acquiring the required data for laser rangefinder calibration, such as the positional data of the robot end-point, the calibration assembly's installation position is controlled so that the laser light emitted by the laser rangefinder forms a spot on the calibration assembly. This distinguishes the present invention from directly controlling the position of the laser spot by directly controlling the calibration assembly, which is more intuitive and convenient. In addition to materializing the laser rangefinder's spot through the calibration assembly, the position of the laser light spot formed on the calibration assembly by the laser rangefinder is also controlled to be located within the calibration assembly's target area. This means that the calibration assembly's orientation relative to the laser rangefinder is always parallel to the direction of the laser light emitted by the laser rangefinder. Consequently, when controlling the spot's position to contact a predetermined fixed position, the target area can be directly brought into contact with the fixed position. This eliminates calibration data errors caused by the existing difficulty in controlling the spot's position and, therefore, aligning the spot 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 components are located at multiple different target positions, the target robot is controlled to complete the contact between the target area and the preset fixed position in multiple 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 restricted by the installation site of the robot end, and to facilitate contact with 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 through the target area of ​​the calibration component.

[0071] The target robot's end-of-robot laser rangefinder is connected to a calibration component. This allows the target robot to approach a fixed position from various positions and postures until the calibration component's target area comes into contact with the preset fixed position. To improve calibration accuracy, the target robot's different positions and postures should be highly distinct.

[0072] Step 103: For each of the target positions, obtain the posture coordinates of the robot end and the ranging 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 value output by the laser rangefinder is used to represent 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 value is the distance between the laser emission point and the preset fixed position.

[0075] It is understandable that the pose 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 pose 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 distance measurement by emitting laser lines, the relative position relationship can include the offset angle of the laser emission direction of the laser rangefinder relative to the end of the robot and / or the target offset coordinates of the laser emission point of the laser rangefinder relative to the end of the robot.

[0078] Specifically, first, for each target position, under the condition that 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, 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] The calculation of the offset angle is based on the fact that the laser rangefinder's laser emission direction should remain constant during the calibration process. Therefore, even if the robot's end-point pose changes, the laser rangefinder's tool center point should remain on the same straight line, representing the laser emission direction. Therefore, in this embodiment of the present invention, a fitting calculation is performed on the target coordinates corresponding to each target position to obtain the straight line equation corresponding to the laser emission direction, and the offset angle is determined based on this straight line equation.

[0080] Correspondingly, the calculation of the target offset coordinates is based on the fact that the position of the laser rangefinder's laser emission point should remain constant during the calibration process, and the distance between this laser emission point and the fixed position should also be the distance value output by the laser rangefinder. This fixed position is in contact with the target area, which is used to visualize the laser rangefinder's tool center point. Therefore, the distance between the laser emission point and the target coordinates is the distance value. Furthermore, the laser emission point should be located in the previously determined laser emission direction. Based on this, the target offset coordinates of the laser emission point can be calculated based on the distance 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 thin 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 mark points shown are cross points, which can optionally be small through holes. In order to facilitate the calibration of the laser rangefinder 03 in various scenarios, the length of the calibration component 04 can be adjusted, thereby adjusting the distance between the positioning point 041 and the laser rangefinder 03, and realizing 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 slider 045 drives the calibration component 04 to slide on the slide rail 044, thereby driving the positioning point 041 closer to or away from the laser rangefinder 03. Optionally, in order to facilitate the adjustment of the positioning point 041 to the desired target position, the calibration component 04 can also be provided with a ruler 043, and the ruler 043 is provided with a scale 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, tip base 042 can be a workpiece with a secure tip that can be fixed at any position. The tip of tip base 042 should not wobble or move after the entire base is fixed. Optionally, to ensure tight contact between the target area and the predetermined fixed position, the tip of tip base 042 can engage with the positioning point 041 of the calibration assembly 04.

[0083] To more clearly illustrate the relative positional 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. A mounting base 021 is provided on the robot end 02, and a laser rangefinder 03 is mounted on the mounting base 021. One end of the calibration component 04 can be connected to the outside of the laser rangefinder 03, and the other end is provided with a positioning point 041. The area where this positioning point 041 is located is the target area. Furthermore, the calibration component 04 slides on a slide rail 044 via a 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 to locate a preset fixed position.

[0084] Optionally, the installation position of the calibration component 04 can be as follows Figure 4As shown. Robot end 02 is provided with a mounting base plate 021, and laser rangefinder 03 is mounted on mounting base plate 021. Calibration assembly 04 is fixed to the outside of the housing of laser rangefinder 03. By adjusting the mounting hole position of calibration assembly 04, the extension direction of calibration assembly 04 is ensured to be aligned with the direction of laser line 031 emitted by laser rangefinder 03, so that the light spot of laser rangefinder 03 always falls on the positioning point 041 inside calibration assembly 04 at different lengths of calibration assembly 04. Calibration assembly 04 is provided with a scale 043 with scale. The scale 043 on calibration assembly 04 can be used to estimate the current distance measurement value of laser rangefinder 03, thereby adjusting the length of calibration assembly 04.

[0085] Further, Figure 5 Schematic diagram of the 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 to an arbitrary length, and the measurement value currently output by the 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 length D. On the basis of maintaining 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 that the laser rangefinder 03 can be calibrated based on the distance measurement value and the robot posture coordinates. Specifically, the calibration component 04 slides on the slide rail 044 via 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, which 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 the calibration component being connected to the laser rangefinder, and the position of a light spot formed on the calibration component by laser light emitted by the laser rangefinder is located within a target area of ​​the calibration component.

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

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

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

[0090] Step 203: For each of the target positions, obtain the posture coordinates of the robot end and the ranging 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 repeated 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 target coordinate determination process 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. Used to represent the rotation matrix of 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-piece.

[0097] Step 3: Since the spot position coincides with the target area, and the target area always maintains contact with the fixed position, it can be assumed that when the calibration component is at the target position and the target robot is in 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 posture, is the offset matrix of the robot end in the second position based on the robot base. The above target equation is deduced to the following AX=B form equation:

[0100]

[0101] It is understandable that for every two robot poses, an X can be obtained according to the above formula. Therefore, when the robot pose is 4, 6 different X can be obtained. Finally, the X corresponding to all poses is fitted to obtain a relatively accurate X. Specifically, the translation vector of TCP can be fitted by 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 ranging values ​​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] The calculation of the offset angle is based on the fact that the laser rangefinder's laser emission direction should remain constant during the calibration process. Therefore, even if the robot's end-point pose changes, the laser rangefinder's tool center point should remain on the same straight line, representing the laser emission direction. Therefore, in this embodiment of the present invention, a fitting calculation is performed on the target coordinates corresponding to each target position to obtain the straight line equation corresponding to the laser emission direction, and the offset angle is determined based on this straight line equation.

[0105] Correspondingly, the calculation of the target offset coordinates is based on the fact that the position of the laser rangefinder's laser emission point should remain constant during the calibration process, and the distance between this laser emission point and the fixed position should also be the distance value output by the laser rangefinder. This fixed position is in contact with the target area, which is used to visualize the laser rangefinder's tool center point. Therefore, the distance between the laser emission point and the target coordinates is the distance value. Furthermore, the laser emission point should be located in the previously determined laser emission direction. Based on this, the target offset coordinates of the laser emission point can be calculated based on the distance 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 the calibration component being 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 within a target area of ​​the calibration component.

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

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

[0112] The acquisition of the pose coordinates in this step is roughly the same as the acquisition process of the pose coordinates in the aforementioned step 103, and 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 based on the target coordinates corresponding to the multiple target positions 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 measured distance) changes, the laser rangefinder's laser emission direction should remain constant. Therefore, when the calibration assembly is at each target position, the target coordinates of the tool center point corresponding to the laser rangefinder at that target position should lie on the same straight line. This straight line represents the laser emission direction. Therefore, a straight line fitting can be performed based on the multiple target coordinates corresponding to the multiple target positions to obtain the 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 based on the direction vector of the straight line equation.

[0118] Specifically, the direction vector of the line equation is converted to obtain the Euler angle of the laser emission direction of the laser rangefinder, and the offset angle is determined based on the Euler angle. The direction vector of the line equation can be externally rotated using the Euler angle commonly used by robots, and the corresponding Euler angle value can be calculated using 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 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 the calibration component being connected to the laser rangefinder, and the position of a light spot formed on the calibration component by laser light emitted by the laser rangefinder is located within 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 components are located at multiple different target positions, the target robot is controlled to complete the contact between the target area and the preset fixed position in multiple 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 end and the ranging 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 repeated 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 based on the target coordinates corresponding to the multiple target positions 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 target position, based on the distance measurement value and the target coordinates corresponding to the target position, 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] Considering that the distance between the laser emission point and the tool center of the laser rangefinder is the distance value output by the laser rangefinder, the location of the laser emission point can be deduced from the distance value and the target coordinates. To improve the accuracy of the laser emission point, a spherical equation is constructed for each target location. Specifically, a spherical equation is constructed with the target coordinates as the sphere center and the distance 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 target position, 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] When the target position of the calibration component remains unchanged, the laser rangefinder's laser emission point should always be located simultaneously on the sphere represented by the spherical equation and on the line represented by the line equation. Therefore, for each target position, the intersection information of the spherical equation and the line equation corresponding to the laser rangefinder is calculated. This intersection information represents the laser rangefinder's laser emission point. The intersection information includes the number of intersections and their coordinates.

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

[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 sphere represented by the spherical equation and on the straight line represented by the straight line equation, such as Figure 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 the calibration component being connected to the laser rangefinder, and the position of a light spot formed on the calibration component by laser light emitted by the laser rangefinder is located within a target area of ​​the calibration component.

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

[0139] Step 502: If the calibration component and the laser rangefinder satisfy the target orientation relationship, when the calibration components are located at multiple different target positions, the target robot is controlled to complete the contact between the target area and the preset fixed position in multiple 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 end and the ranging 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 based on the target coordinates corresponding to the multiple target positions 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 repeated here.

[0147] Step 506: For each target position, based on the distance measurement value and the target coordinates corresponding to the target position, 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 target position, 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 repeated here.

[0151] Step 508: 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 distance between the multiple intersections corresponding to the target position and the end of the robot.

[0152] Considering that the number of intersections between the equation of a line and the equation of a sphere may be 2, 1, or 0, when the target position corresponds to two intersections, the distance between the two intersections is twice the measured distance. Generally, the laser emission point should be located close to the robot end, so a distance twice the measured distance from the robot end will not occur. Therefore, the intersection point closer to the robot end can be used as the target intersection point corresponding to the target position. Specifically, to improve the accuracy of the laser emission point location, the distance between the intersection point and the robot end can be the distance between the intersection point and the coordinate origin of the robot end.

[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 the 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 distance 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. Then, the reference offset coordinate corresponding to the target position is 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 target position, if the number of intersection points is zero, determine the point closest to the straight line equation among all 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 Figure 10 , is a schematic diagram of the structure of the robot end tool calibration device 60 provided in an embodiment of the present application. Figure 10 As shown, the robot end tool calibration device 60 includes:

[0165] Determination module 601 is configured 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 terminal end of a target robot; the target orientation relationship includes the calibration component being connected to the laser rangefinder, and the position of a light spot formed on the calibration component by laser light emitted by the laser rangefinder is located within a target area of ​​the calibration component;

[0166] An adjustment module 602 is configured to control the target robot to contact the target area with a preset fixed position in a plurality of different postures 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;

[0167] An acquisition module 603 is configured to acquire, for each target position, the pose coordinates of the robot end and the ranging value output by the laser rangefinder when the calibration component is located at the target position and the target robot is located at each pose;

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

[0169] Please refer to Figure 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. Figure 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, which can be used to implement the above-mentioned robot end-tool calibration method in the robot end-tool calibration device 70.

[0170] It is understood 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 may combine or separate certain 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). 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. This memory can store instructions or data that the processor 701 has just used or is reusing. If the processor 701 needs to use the instruction or data again, it can directly call it from the memory. This avoids repeated accesses, reduces the waiting time of the processor 701, and thus improves system efficiency.

[0173] In some embodiments, the processor 701 may include one or more interfaces. The interfaces 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.

[0174] In some embodiments, the 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 memory card (Smart Media Card, SMC), a secure digital (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 device.

[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 the several embodiments provided in this 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. In actual implementation, there may be other division methods, 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 units described as separate components may or may not be physically separate, and the components shown as units may be one physical unit or multiple physical units, that is, they may be located in one place or distributed in multiple places. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0181] In addition, the functional units in the various embodiments of the present application may be integrated into a single processing unit, or each unit may exist physically separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or 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 and includes several instructions for enabling a device (which can be a single-chip microcomputer, chip, etc.) or a processor (processor) to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0183] The above description is only a specific implementation method of the present application, but the protection scope of the present application is not limited thereto. Any changes or replacements 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: 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 includes the calibration component being connected to the laser rangefinder, and a light spot formed on the calibration component by laser light emitted by the laser rangefinder being located within 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 contact between the target area and the preset fixed position in a plurality of different postures; For each of the target positions, obtaining the pose coordinates of the robot end and the ranging 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 poses; 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 further includes: For each target position, the target coordinates of the tool center point of the laser rangefinder at each posture are the same when the calibration component is located at the target position, and the target coordinates when the calibration component is located at the target position are calculated. When the calibration component is located at one target position, the number of postures is at least four. The relative position information is determined according to the target coordinates and the ranging 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 further includes: Fitting the target coordinates 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 target offset coordinate calibration process further includes: For each target position, constructing a spherical equation corresponding to the laser rangefinder when the calibration component is located at the target position based on the distance measurement value and the target coordinates corresponding to the target position; 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 target position, determining the reference offset coordinates of the laser emission point relative to the robot end when the calibration component is located at the target position based on the intersection coordinates corresponding to the target position; wherein, if the number of intersections corresponding to the target position is one, the intersection coordinates corresponding to the target position are determined as the reference offset coordinates; Fitting the reference offset coordinates corresponding to the multiple target positions is performed 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 target position, if there are multiple intersection points corresponding to the target position, 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 target position, if the number of intersection points is zero, determine the point closest to the straight line equation among all points on the sphere 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 includes: a determination module, configured 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 terminal end of a target robot; and the target orientation relationship includes the calibration component being connected to the laser rangefinder, and the position of a light spot formed on the calibration component by laser light emitted by the laser rangefinder being located within 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 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; an acquisition module, configured to acquire, for each target position, the pose coordinates of the robot end and the ranging value output by the laser rangefinder when the calibration component is located at the target position and the target robot is located at each pose; A calibration module 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.

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 is caused to execute the robot end tool calibration method according to any one of claims 1 to 7.

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