Automatic calibration method, device, equipment and computer readable storage medium

Abstract

The application discloses an automatic calibration method, device and equipment and a computer readable storage medium, and belongs to the technical field of automation. The automatic calibration method comprises the following steps: replacing a robot tool with a new tool when the robot moves to a needle replacement position; acquiring a deviation value of the new tool under a base coordinate system of the robot; determining a compensation value of the new tool according to the deviation value and a reference posture of the robot; and determining a calibration parameter of the new tool according to the compensation value and a calibration parameter of the robot tool. After the robot replaces the new tool, the automatic calibration of the new tool is performed, so that the calibration efficiency and calibration accuracy after the tool replacement are improved.

Description

Technical Field

[0001] This application relates to the field of automation technology, and in particular to automatic calibration methods, apparatus, devices and computer-readable storage media. Background Technology

[0002] Glue-applying equipment caters to a variety of products and uses a wide range of adhesives, but they all share a common characteristic: over time, glue can clog the applicator needles, requiring periodic needle replacement. However, due to inherent dimensional and installation errors in the needles, recalibration is necessary after replacement before they can be put back into production. Currently, after tool replacement, glue-applying robots typically rely on manual calibration to confirm tool parameters. This calibration method, largely based on visual inspection, is inefficient and inaccurate. Summary of the Invention

[0003] The main objective of this application is to provide an automatic calibration method, apparatus, device, and computer-readable storage medium, which aims to improve calibration efficiency and accuracy after tool replacement.

[0004] To achieve the above objectives, this application provides an automatic calibration method, which includes the following steps:

[0005] Once the robot has moved to the needle-changing position, replace the robot tool with a new tool.

[0006] Obtain the deviation value of the new tool in the robot's base coordinate system;

[0007] The compensation value of the new tool is determined based on the deviation value and the robot's reference posture;

[0008] The calibration parameters of the new tool are determined based on the compensation value and the calibration parameters of the robot tool.

[0009] Optionally, the step of obtaining the deviation value of the new tool in the robot's base coordinate system includes:

[0010] Obtain the coordinate values ​​of the new tool in the robot's base coordinate system;

[0011] The deviation value is determined based on the coordinate values ​​of the new tool and the coordinate values ​​of the robot tool in the base coordinate system.

[0012] Optionally, the step of obtaining the new tool's coordinate values ​​in the robot's base coordinate system includes:

[0013] The robot is controlled to move along the positive and negative directions of each coordinate axis of the base coordinate system, and the positive and negative positioning coordinates of each coordinate axis are recorded by preset sensors.

[0014] The average of the positive and negative positioning coordinates belonging to the same coordinate axis is used as the coordinate value of the new tool on the corresponding coordinate axis;

[0015] The coordinate values ​​of the new tool on each of the coordinate axes are used as the coordinate values ​​of the new tool.

[0016] Optionally, the step of determining the compensation value of the new tool based on the deviation value and the robot's reference posture includes:

[0017] The installation direction of the new tool and the angle between the projection of the three coordinate axes of the flange coordinate system are determined based on the reference posture of the robot.

[0018] The compensation value of the new tool is determined based on the deviation value and the cosine value of the included angle.

[0019] Optionally, the automatic calibration method further includes:

[0020] When installing the robot tool for the first time, the robot tool is initialized and calibrated to obtain the reference calibration parameters;

[0021] The robot is controlled to perform a preset teaching action along the base coordinate system in order to determine the coordinate values ​​of the robot tool in the base coordinate system.

[0022] The reference calibration parameters and the coordinate values ​​are written into the robot controller as calibration references.

[0023] Optionally, after the step of writing the automatically calibrated posture and reference point as a calibration reference into the robot controller, the automatic calibration method further includes:

[0024] Robot point-to-point teaching and debugging are performed based on the aforementioned calibration benchmark;

[0025] Once the robot's point-to-point teaching and debugging are completed, the robot will be put into production.

[0026] Optionally, after the step of putting the robot into production, the automatic calibration method includes:

[0027] When the robot has been in production for a preset time, control the robot to move to the needle changing position and execute the step of replacing the robot tool with a new tool.

[0028] Furthermore, to achieve the above objectives, this application also provides an automatic calibration device, the automatic calibration device comprising:

[0029] A replacement module is used to replace the robot tool with a new tool when the robot moves to the needle changing position;

[0030] An acquisition module is used to acquire the deviation value of the new tool in the robot's base coordinate system;

[0031] A compensation module is used to determine the compensation value of the new tool based on the deviation value and the reference posture of the robot.

[0032] A calibration module is used to determine the calibration parameters of the new tool based on the compensation value and the calibration parameters of the robot tool.

[0033] In addition, to achieve the above objectives, this application also provides an automatic calibration device, which includes: a memory, a processor, and a computer program stored in the memory and executable on the processor. When the computer program is executed by the processor, it implements the steps of the automatic calibration method as described above.

[0034] In addition, to achieve the above objectives, this application also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps of the automatic calibration method described above.

[0035] This application proposes an automatic calibration method, apparatus, device, and computer-readable storage medium, overcoming the technical shortcomings of conventional human eye calibration methods in the related art, which are characterized by low efficiency and low accuracy. In the automatic calibration method, when the robot moves to the needle-changing position, the robot tool is first replaced with a new tool; then, the deviation value of the new tool in the robot's base coordinate system is obtained, that is, the offset value of the end of the new tool relative to the original tool in the robot's base coordinate system is determined by the robot and sensors; then, the compensation value of the new tool is determined based on the deviation value and the robot's reference posture, that is, the compensation value of the new tool is automatically calculated based on the offset value of the end of the new tool and the robot posture; finally, the calibration parameters of the new tool are determined based on the compensation value and the calibration parameters of the robot tool, thereby completing the automatic calibration of the new tool and improving the calibration efficiency and accuracy after tool replacement. Attached Figure Description

[0036] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only a part of the embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0037] Figure 1 A flowchart illustrating an automatic calibration method provided in an embodiment of this application;

[0038] Figure 2 A flowchart illustrating an automatic calibration method provided in another embodiment of this application;

[0039] Figure 3 A schematic diagram of the structure of a six-axis robot automatic calibration system for applying glue and changing needles, provided in an embodiment of this application;

[0040] Figure 4 This application provides a schematic diagram of an automatic calibration process for a six-axis robot after tool replacement, as an embodiment of the present application.

[0041] Figure 5 This is a schematic diagram of the structure of an automatic calibration device provided in an embodiment of this application;

[0042] Figure 6 This is a schematic diagram of the structure of an automatic calibration device provided in an embodiment of this application. Detailed Implementation

[0043] In the following description, specific details such as particular system architectures and techniques are set forth for illustrative purposes and not for limitation, in order to provide a thorough understanding of the embodiments of this application. However, those skilled in the art will understand that the embodiments of this application can also be implemented in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, apparatuses, circuits, and methods are omitted so as not to obscure the description of the embodiments of this application with unnecessary detail.

[0044] It should be noted that although a logical order is shown in the flowchart, in some cases, the steps shown or described may be performed in a different order than that shown in the flowchart. The terms "first," "second," etc., in the specification, claims, and the aforementioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence.

[0045] It should also be understood that references to "one embodiment" or "some embodiments" in the specification of embodiments of this application mean that one or more embodiments of this application include a specific feature, structure, or characteristic described in connection with that embodiment. Therefore, the phrases "in one embodiment," "in some embodiments," "in other embodiments," "in still other embodiments," etc., appearing in different parts of this specification do not necessarily refer to the same embodiment, but rather mean "one or more, but not all, embodiments," unless otherwise specifically emphasized. The terms "comprising," "including," "having," and variations thereof mean "including but not limited to," unless otherwise specifically emphasized.

[0046] With the rapid development of automated production in manufacturing industries such as 3C (computers, communications, and consumers) and automobiles, the functional complexity of automated equipment is increasing, and customers are demanding greater ease of operation. After the equipment is put into use, customers seek to minimize human intervention and design automated solutions for different application scenarios. Meanwhile, compared to manual production, automated equipment offers numerous advantages, resulting in significant improvements in both production efficiency and product quality.

[0047] In the sub-sector of automated production equipment, dispensing or gluing equipment is widely used, especially automated equipment paired with industrial robots. These machines are characterized by simple design, easy debugging, and easy maintenance, and are increasingly used in the assembly of 3C products and the dispensing of complex components. Specifically, SCARA (Selective Compliance Assembly Robot Arm) robots are frequently used for dispensing and gluing along curves, points, and straight lines in water; while six-axis robots are more commonly used for dispensing along curves and surfaces in space.

[0048] The products that the glue coating equipment is designed for are different, and the types of glue used are numerous. However, they all have one thing in common: with prolonged use, glue will clog the glue coating needles, requiring regular needle replacement. The needles themselves have dimensional and installation errors, so they need to be recalibrated before they can be put back into production.

[0049] After changing tools, the robot typically uses manual calibration to verify the tool parameters. This calibration method is mostly done by eye, which introduces errors; moreover, operators of automated equipment often have low levels of education and find it difficult to master the calibration methods and verify the accuracy of the calibration results.

[0050] Based on this, embodiments of this application provide an automatic calibration method, apparatus, device, and computer-readable storage medium, overcoming the technical defects of low efficiency and low accuracy of conventional human eye calibration methods in related technologies. In the automatic calibration method, when the robot moves to the needle-changing position, the robot tool is first replaced with a new tool; then, the deviation value of the new tool in the robot's base coordinate system is obtained, that is, the offset value of the end of the new tool relative to the original tool in the robot's base coordinate system is realized by the robot and sensors; then, the compensation value of the new tool is determined according to the deviation value and the robot's reference posture, that is, the compensation value of the new tool is automatically calculated by the offset value of the end of the new tool and the robot posture; finally, the calibration parameters of the new tool are determined according to the compensation value and the calibration parameters of the robot tool, thereby completing the automatic calibration of the new tool and improving the calibration efficiency and accuracy after tool replacement.

[0051] The automatic calibration method, apparatus, device, and computer-readable storage medium provided in the embodiments of this application are specifically described through the following embodiments. First, the automatic calibration method in the embodiments of this application is described.

[0052] This application provides an automatic calibration method, referring to... Figure 1 , Figure 1 This is a flowchart illustrating an automatic calibration method according to an embodiment of this application. This automatic calibration method can be applied to automatic calibration equipment, such as... Figure 1 As shown, the automatic calibration method provided in this embodiment includes steps S10 to S40.

[0053] Step S10: When the robot moves to the needle changing position, replace the robot tool with a new tool;

[0054] It should be noted that this embodiment is applied to robots in the production process. Specifically, it is used to realize the automatic calibration process after the robot needs to change tools during the production process. The premise of changing tools is to control the robot to move to a safe needle-changing position and replace the old robot tool with a new tool. The needle-changing position is different from the material placement position where the robot performs production actions in a cycle during the production process. Taking the production task as applying glue as an example, the needle-changing position can be set at a position in the current workstation where the robot will not perform the glue-applying action.

[0055] As an example, the robot in this embodiment can be a six-axis robot for applying adhesive, and both the robot tool and the new tool are needles installed at the end of the six-axis robot for applying adhesive.

[0056] In some feasible embodiments, after step S10 above, the automatic calibration method proposed in this application further includes:

[0057] Step S11: Check if the new tool is installed correctly;

[0058] In this embodiment, a clamping fixture is provided on the end effector of the robot used for installing the tool. The clamping fixture is used to position the tool. If the clamping fixture is installed in place, it indicates that the new tool is installed correctly. If the clamping fixture is not installed in place, it indicates that the new tool is not installed correctly.

[0059] Step S12: If the new tool is not installed correctly, output an installation error message.

[0060] Understandably, since different robotic tools may have size differences, it is necessary to check whether the new tool is installed correctly after replacement. Only if it is installed correctly will the subsequent calibration steps be performed. If it is not installed correctly, an installation error message will be output to remind the operator to solve the problem and reinstall the new tool in time.

[0061] Step S20: Obtain the deviation value of the new tool in the robot's base coordinate system;

[0062] It should be noted that even if the new tool meets the installation specifications, there may be a positional deviation between the new tool and the original tool due to the possible size differences between the tools. Since the position of the robot is constant, and the base coordinate system is a rectangular coordinate system used to describe the movement of the robot body with the robot mounting base as the reference, the positional deviation between the new tool and the original tool can be obtained by using the robot's base coordinate system as a reference to obtain the deviation values ​​of the new tool in each coordinate direction.

[0063] In some feasible embodiments, step S20 above may include:

[0064] Step S21: Obtain the coordinate values ​​of the new tool in the robot's base coordinate system;

[0065] Step S22: Determine the deviation value based on the coordinate values ​​of the new tool and the coordinate values ​​of the robot tool in the base coordinate system.

[0066] It should be noted that in this embodiment, the deviation value refers to the positional deviation between the new tool and the original tool when the robot's base coordinate system is used as a reference. Therefore, it is necessary to first obtain the coordinate value of the new tool in the robot's base coordinate system, and then calculate the difference between it and the coordinate value of the replaced original tool in the base coordinate system. The result is the difference between the two in the X, Y, and Z coordinate axes in the base coordinate system, which is the deviation value.

[0067] Reference Figure 2 In some feasible embodiments, step S21 above may include:

[0068] Step S211: Control the robot to move along the positive and negative directions of each coordinate axis of the base coordinate system, and record the positive and negative positioning coordinates of each coordinate axis through preset sensors.

[0069] Step S212: Take the average of the positive and negative positioning coordinates belonging to the same coordinate axis as the coordinate value of the new tool on the corresponding coordinate axis;

[0070] Step S213: Use the coordinate values ​​of the new tool on each coordinate axis as the coordinate values ​​of the new tool.

[0071] It should be noted that the process of obtaining the coordinate values ​​of the new tool is the same as that of the original tool in the base coordinate system. The robot's motion during the coordinate value acquisition process is automatically realized based on the robot's preset teaching actions. The preset sensors are position sensors installed on the robot's workstation. They are installed in both the positive and negative directions of the X, Y, and Z coordinate axes of the robot's base coordinate system to limit the maximum range of motion of the robot during the working process.

[0072] As an example, in this embodiment, the robot is first controlled to move along the positive X-axis of the base coordinate system until the laser signal between two oppositely positioned position sensors in the positive X-axis direction is blocked. The coordinates at this point are recorded as the positive X-axis position coordinates. Then, the robot is controlled to move along the negative X-axis until the laser signal between the two oppositely positioned position sensors in the negative X-axis direction is blocked. The coordinates at this point are recorded as the negative X-axis position coordinates. Similarly, by controlling the robot to move along the Y-axis and Z-axis, the positive Y-axis position coordinates, negative Y-axis position coordinates, positive Z-axis position coordinates, and negative Z-axis position coordinates can be obtained. After obtaining the positive and negative position coordinates of each coordinate axis, the average of the two is taken as the coordinate value of the new tool on that coordinate axis. That is, the coordinate value of the new tool on the X-axis is the average of the positive and negative X-axis position coordinates; the coordinate value of the new tool on the Y-axis is the average of the positive and negative Y-axis position coordinates; and the coordinate value of the new tool on the Z-axis is the average of the positive and negative Z-axis position coordinates.

[0073] As an example, the positioning sensor could be a crossbeam sensor.

[0074] Understandably, in practical applications, the order in which the robot moves along the three coordinate axes in the base coordinate system during the teaching process can be flexibly adjusted, as long as the complete coordinates of the tool in the base coordinate system can be obtained.

[0075] Step S30: Determine the compensation value of the new tool based on the deviation value and the robot's reference posture;

[0076] It should be noted that the reference posture is a fixed working posture of the robot, that is, the state when the robot is at the mechanical origin. Since the deviation value is obtained in the robot's base coordinate system, it is the value obtained by the new tool relative to the original tool with the robot's mounting base as the reference. It cannot directly represent the deviation of the tool parameters. The tool is mounted on the flange of the robot's end effector. If the robot does not change its working posture, although there may be differences in size between the original tool and the new tool, the installation direction is consistent. Therefore, the angle between the installation direction of the tool and the flange coordinate system on the robot's end effector flange remains unchanged before and after the tool is replaced. Only by combining the deviation value with this angle can we obtain the compensation value that can directly adjust the original tool parameters.

[0077] In some feasible embodiments, step S30 above includes:

[0078] Step S301: Determine the angle between the installation direction of the new tool and the projection of the three coordinate axes of the flange coordinate system based on the robot's reference posture.

[0079] Step S302: Determine the compensation value of the new tool based on the deviation value and the cosine value of the included angle.

[0080] As an example, when the angles between the tool's installation direction and the projections of the X, Y, and Z axes of the flange coordinate system are α, β, and γ, respectively, the X-axis compensation value of the new tool is the product of the X-axis deviation value in the base coordinate system and cosα, the Y-axis compensation value is the product of the Y-axis deviation value in the base coordinate system and cosβ, and the Z-axis compensation value is the product of the Z-axis deviation value in the base coordinate system and cosγ.

[0081] Step S40: Determine the calibration parameters of the new tool based on the compensation value and the calibration parameters of the robot tool.

[0082] In this embodiment, the calibration parameters of the robot tool are the calibration parameters of the original tool before the new tool is replaced. The calculated X-axis, Y-axis and Z-axis compensation values ​​in the flange coordinate system are added to the X-axis, Y-axis and Z-axis coordinate values ​​in the flange coordinate system in the calibration parameters of the original tool, and the new X-axis, Y-axis and Z-axis coordinate values ​​in the flange coordinate system can be used as the calibration parameters of the new tool.

[0083] This embodiment provides an automatic calibration method. When the robot moves to the needle-changing position, the robot tool is replaced with a new tool, ensuring the safety of tool replacement. Then, based on the robot's preset teaching actions, the coordinates of the new tool in the robot's base coordinate system are obtained, and compared with the coordinates of the original tool in the base coordinate system to determine the deviation value of the new tool. This enables the robot, in conjunction with sensors, to accurately determine the offset value of the new tool's end effector relative to the original tool in the robot's base coordinate system. Finally, based on the deviation value and the robot's reference posture, the compensation value of the new tool is determined, i.e., based on the robot's posture. The angle between the tool's installation direction and the projection of each coordinate axis of the flange coordinate system is determined. Then, the compensation value of the new tool is calculated based on the offset value and the cosine of the angle. Finally, the compensation value is added to the coordinate value of the original tool in the flange coordinate system. The resulting coordinate value of the new tool in the flange coordinate system is the calibration parameter of the new tool. This completes the automatic calibration of the new tool. The entire calibration process does not require human intervention, avoiding calibration errors caused by operator mistakes. It improves the calibration efficiency and accuracy of the robot after tool replacement and overcomes the technical defects of low efficiency and low accuracy of the commonly used human eye calibration method in related technologies.

[0084] In some feasible embodiments, after step S40 above, the automatic calibration method further includes:

[0085] Step S50: Write the calibration parameters of the new tool into the robot controller so that the robot can continue to be put into production.

[0086] In this embodiment, after determining the calibration parameters of the new tool, the calibration parameter values ​​of the new tool are written into the robot controller using instructions. At this point, the robot tool parameters are calibrated and can continue to be put into production without changing the robot's working program.

[0087] In some feasible embodiments, prior to step S10 above, the automatic calibration method further includes:

[0088] Step S01: In the case of initial installation of the robot tool, perform initial calibration on the robot tool to obtain the reference calibration parameters;

[0089] Step S02: Control the robot to perform a preset teaching action along the base coordinate system to determine the coordinate values ​​of the robot tool in the base coordinate system;

[0090] Step S03: Write the reference calibration parameters and coordinate values ​​into the robot controller as the calibration reference.

[0091] In this embodiment, the robot tool can be initialized and calibrated using the three-point method through the robot's built-in functions, obtaining the three-axis coordinates of the robot tool in the flange coordinate system as the reference calibration parameters. After calibration, the robot is controlled to perform a preset teaching action, that is, by controlling the robot to move, the robot tool installed at the end of the robot moves to the focal point of the laser emitted by the preset positioning sensor in the positive and negative directions of the three coordinate axes in the base coordinate system, obtaining the coordinate values ​​of the robot tool in the robot's base coordinate system, which serve as a reference standard for obtaining the deviation value after tool replacement. The reference calibration parameters and the coordinate values ​​of the robot tool in the base coordinate system are written into the robot controller as calibration references, so that when the robot needs to be recalibrated after replacing the new tool in the subsequent production process, the calibration parameters of the new tool can be quickly determined directly based on the calibration reference in the robot controller.

[0092] In some feasible embodiments, after step S03 above, the automatic calibration method further includes:

[0093] Step S04: Perform robot point teaching and debugging based on the calibration benchmark;

[0094] Step S05: After the robot's point teaching and debugging are completed, put the robot into production.

[0095] Understandably, after completing the initial calibration of the robot tool, it is necessary to control the robot to perform point-to-point teaching and debugging based on the current calibration reference, determine the motion path from the calibration reference to each working point of the robot, and then derive the complete robot working program before the robot can be put into production.

[0096] In some feasible embodiments, after step S05 above, the automatic calibration method further includes:

[0097] Step S06: When the robot has been in production for a preset time, control the robot to move to the needle changing position and execute the above step S10.

[0098] Understandably, the preset duration can be set by testing the duration that a single robot tool can be used continuously, or it can be set by comprehensively analyzing the historical usage data of multiple robot tools recorded during the production process. The purpose is to replace robot tools in a timely manner to ensure production efficiency.

[0099] As an example, the above embodiments can be based on, for example, Figure 3The illustrated six-axis robot automatic calibration system for dispensing glue and changing needles is implemented. This system includes a six-axis robot, UI (User Interface) software 15, a crossbeam sensor 16, a robot calibration program 17, and a tool parameter writing program 18. The robot calibration program 17 is used for automatic robot operation. In conjunction with the crossbeam sensor 16, it automatically locates the end effector position of the new tool. The robot calibration program resides in the controller of the six-axis robot 15 and can be triggered by a remote device to start the automatic robot operation program. The program functions include the robot automatically running along a set direction until it detects the ON or OFF signal of the sensor, acquiring robot position information, implementing a tool parameter compensation algorithm, and writing tool parameters.

[0100] As an example, refer to Figure 4 The automatic calibration process for a six-axis robot after tool change may include the following steps:

[0101] Step 0: Initial equipment debugging phase.

[0102] Step 1: Installation of robot grippers and supporting equipment.

[0103] Step 2: Use the robot's built-in functions to calibrate the robot tool using the three-point method.

[0104] Step 3: Based on the characteristics of the robot gripper, set the calibration program points.

[0105] Step 4: Manually run the calibration program to obtain the robot's original reference point under the current tool and save the point information.

[0106] Step 5: Teach and debug the robot's working position, and deliver it for production after the requirements are met.

[0107] Step 6: After the equipment has been running for a period of time, a maintenance prompt will appear, or manual intervention will be required.

[0108] Step 7: Operate the equipment interface and start the needle replacement and calibration work. The robot will automatically move to a safe position.

[0109] Step 8: The operator replaces the needle according to the procedure.

[0110] Step 9: The operator starts the automatic calibration program and uses the sensor to check whether the tool is installed correctly.

[0111] Step 10: If the tool is not installed correctly, return to step 7.

[0112] Step 11: Once the robot tools have passed the installation and testing, the program will run automatically.

[0113] Step 12: The robot automatically executes the calibration program and obtains the calibration results.

[0114] Step 13: Automatically write the calibration results into the robot controller.

[0115] Step 14: Calibration process complete.

[0116] Furthermore, this application also proposes an automatic calibration device, referring to... Figure 5 , Figure 5 This is a schematic diagram of the structure of an automatic calibration device provided in an embodiment of this application, as shown below. Figure 5 As shown, in this embodiment, the automatic calibration device includes: a replacement module 100, an acquisition module 200, a compensation module 300, and a calibration module 400.

[0117] The replacement module 100 is used to replace the robot tool with a new tool when the robot moves to the needle changing position;

[0118] The acquisition module 200 is used to acquire the deviation value of the new tool in the robot's base coordinate system;

[0119] The compensation module 300 is used to determine the compensation value of the new tool based on the deviation value and the reference posture of the robot;

[0120] The calibration module 400 is used to determine the calibration parameters of the new tool based on the compensation value and the calibration parameters of the robot tool.

[0121] In some feasible embodiments, the automatic calibration device further includes: a detection module, which is used to detect whether the new tool is installed correctly; and to output an installation error prompt if the new tool is not installed correctly.

[0122] In some feasible embodiments, the acquisition module 200 is further configured to acquire the new tool coordinate values ​​in the robot's base coordinate system; and determine the deviation value based on the new tool coordinate values ​​and the robot tool's coordinate values ​​in the base coordinate system.

[0123] In some feasible embodiments, the acquisition module 200 is further configured to control the robot to move along the positive and negative directions of each coordinate axis of the base coordinate system, record the positive and negative positioning coordinates of each coordinate axis through a preset sensor; take the average value of the positive and negative positioning coordinates belonging to the same coordinate axis as the coordinate value of the new tool on the corresponding coordinate axis; and take the coordinate value of the new tool on each coordinate axis as the coordinate value of the new tool.

[0124] In some feasible embodiments, the compensation module 300 is further configured to determine the angle between the installation direction of the new tool and the projection of the three coordinate axes of the flange coordinate system based on the reference posture of the robot; and to determine the compensation value of the new tool based on the deviation value and the cosine value of the angle.

[0125] In some feasible embodiments, the calibration module 400 is further configured to perform initial calibration on the robot tool to obtain reference calibration parameters when the robot tool is installed for the first time; control the robot to perform a preset teaching action along the base coordinate system to determine the coordinate value of the robot tool in the base coordinate system; and write the reference calibration parameters and the coordinate value as a calibration reference into the robot controller.

[0126] In some feasible embodiments, the automatic calibration device further includes: a debugging module, which is used to perform robot point teaching and debugging based on the calibration benchmark; and to put the robot into production after the robot point teaching and debugging are completed.

[0127] In some feasible embodiments, the replacement module 100 is also used to control the robot to move to the needle changing position and perform the step of replacing the robot tool with a new tool when the robot has been put into production for a preset time.

[0128] The automatic calibration device provided in this embodiment belongs to the same inventive concept as the automatic calibration method provided in the above embodiments. Technical details not described in detail in this embodiment can be found in any of the above embodiments. Furthermore, this embodiment has the same beneficial effects as performing the automatic calibration method.

[0129] Furthermore, this application embodiment also provides an automatic calibration device. The aforementioned automatic calibration method applied to the automatic calibration device can be executed by an automatic calibration apparatus, which can be implemented through software and / or hardware and integrated into the automatic calibration device. The automatic calibration apparatus can be a mobile device capable of communicating with a network side, such as a mobile phone, laptop, or tablet computer.

[0130] Reference Figure 6 , Figure 6 This is a schematic diagram of the hardware structure of an automatic calibration device provided in one embodiment of this application. Figure 6As shown, the automatic calibration device may include: a processor 1001, such as a central processing unit (CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. The communication bus 1002 is used to enable communication between these components. The user interface 1003 may include a display screen or an input unit such as a keyboard; optionally, the user interface 1003 may also include a standard wired interface or a wireless interface. The network interface 1004 may optionally include a standard wired interface or a wireless interface (such as a Wi-Fi interface). The memory 1005 may be a high-speed random access memory (RAM) or a stable non-volatile memory (NVM), such as a disk drive. Optionally, the memory 1005 may also be a storage device independent of the aforementioned processor 1001.

[0131] Those skilled in the art will understand that Figure 6 The structure shown does not constitute a limitation on the automatic calibration device and may include more or fewer components than shown, or combine certain components, or have different component arrangements.

[0132] like Figure 6 As shown, the memory 1005, which serves as a storage medium, may include an operating system, a data storage module, a network communication module, a user interface module, and computer programs.

[0133] exist Figure 6 In the automatic calibration device shown, the network interface 1004 is mainly used for data communication with other devices; the user interface 1003 is mainly used for data interaction with the user; the processor 1001 and memory 1005 in this embodiment can be set in the automatic calibration device, and the automatic calibration device calls the computer program stored in the memory 1005 through the processor 1001 and performs the following operations:

[0134] Once the robot has moved to the needle-changing position, replace the robot tool with a new tool.

[0135] Obtain the deviation value of the new tool in the robot's base coordinate system;

[0136] The compensation value of the new tool is determined based on the deviation value and the robot's reference posture;

[0137] The calibration parameters of the new tool are determined based on the compensation value and the calibration parameters of the robot tool.

[0138] Furthermore, the processor 1001 can call a computer program stored in the memory 1005 and also perform the following operations:

[0139] Obtain the coordinate values ​​of the new tool in the robot's base coordinate system;

[0140] The deviation value is determined based on the coordinate values ​​of the new tool and the coordinate values ​​of the robot tool in the base coordinate system.

[0141] Furthermore, the processor 1001 can call a computer program stored in the memory 1005 and also perform the following operations:

[0142] The robot is controlled to move along the positive and negative directions of each coordinate axis of the base coordinate system, and the positive and negative positioning coordinates of each coordinate axis are recorded by preset sensors.

[0143] The average of the positive and negative positioning coordinates belonging to the same coordinate axis is used as the coordinate value of the new tool on the corresponding coordinate axis;

[0144] The coordinate values ​​of the new tool on each of the coordinate axes are used as the coordinate values ​​of the new tool.

[0145] Furthermore, the processor 1001 can call a computer program stored in the memory 1005 and also perform the following operations:

[0146] The installation direction of the new tool and the angle between the projection of the three coordinate axes of the flange coordinate system are determined based on the reference posture of the robot.

[0147] The compensation value of the new tool is determined based on the deviation value and the cosine value of the included angle.

[0148] Furthermore, the processor 1001 can call a computer program stored in the memory 1005 and also perform the following operations:

[0149] When installing the robot tool for the first time, the robot tool is initialized and calibrated to obtain the reference calibration parameters;

[0150] The robot is controlled to perform a preset teaching action along the base coordinate system in order to determine the coordinate values ​​of the robot tool in the base coordinate system.

[0151] The reference calibration parameters and the coordinate values ​​are written into the robot controller as calibration references.

[0152] Furthermore, the processor 1001 can call a computer program stored in the memory 1005 and also perform the following operations:

[0153] Robot point-to-point teaching and debugging are performed based on the aforementioned calibration benchmark;

[0154] Once the robot's point-to-point teaching and debugging are completed, the robot will be put into production.

[0155] Furthermore, the processor 1001 can call a computer program stored in the memory 1005 and also perform the following operations:

[0156] When the robot has been in production for a preset time, control the robot to move to the needle changing position and execute the step of replacing the robot tool with a new tool.

[0157] The automatic calibration device proposed in this embodiment and the automatic calibration method for automatic calibration devices proposed in the above embodiments belong to the same inventive concept. Technical details not described in detail in this embodiment can be found in any of the above embodiments. Furthermore, this embodiment has the same beneficial effects as performing the automatic calibration method.

[0158] Furthermore, embodiments of this application also propose a computer-readable storage medium applied to a computer. The computer-readable storage medium can be a non-volatile computer-readable storage medium, and a computer program is stored on the computer program. When the computer program is executed by a processor, it implements the automatic calibration method of any of the embodiments described above.

[0159] It will be understood by those skilled in the art that all or some of the steps and systems in the methods disclosed above can be implemented as software, firmware, hardware, and suitable combinations thereof. Some or all of the physical components can be implemented as software executed by a processor, such as a central processing unit, digital signal processor, or microprocessor, or as hardware, or as an integrated circuit, such as an application-specific integrated circuit. Such software can be distributed on a computer-readable medium, which can include computer storage media (or non-transitory media) and communication media (or transient media). As is known to those skilled in the art, the term computer storage media includes volatile and non-volatile, removable and non-removable media implemented in any method or technology for storing information (such as computer-readable instructions, data structures, program modules, or other data). Computer storage media includes, but is not limited to, RAM, ROM, EEPROM, flash memory or other memory technologies, CD-ROM, digital versatile disc (DVD) or other optical disc storage, magnetic cartridges, magnetic tape, disk storage or other magnetic storage devices, or any other medium that can be used to store desired information and is accessible to a computer. Furthermore, as is known to those skilled in the art, communication media typically contain computer-readable instructions, data structures, program modules, or other data in modulated data signals such as carrier waves or other transmission mechanisms, and may include any information delivery medium.

[0160] The above is a detailed description of the preferred embodiments of this application. However, the embodiments of this application are not limited to the above-described implementation methods. Those skilled in the art can make various equivalent modifications or substitutions without departing from the spirit of the embodiments of this application. All such equivalent modifications or substitutions are included within the scope defined by the claims of the embodiments of this application.

Claims

1. An automatic calibration method, characterized in that, The automatic calibration method includes the following steps: Once the robot has moved to the needle-changing position, replace the robot tool with a new tool. The robot is controlled to move along the positive and negative directions of each coordinate axis of the base coordinate system, and the positive and negative positioning coordinates of each coordinate axis are recorded by preset sensors. The average of the positive and negative positioning coordinates belonging to the same coordinate axis is used as the coordinate value of the new tool on the corresponding coordinate axis; The coordinate values ​​of the new tool on each of the coordinate axes are used as the coordinate values ​​of the new tool. The deviation value is determined based on the coordinate values ​​of the new tool and the coordinate values ​​of the robot tool in the base coordinate system; The compensation value of the new tool is determined based on the deviation value and the robot's reference posture; The calibration parameters of the new tool are determined based on the compensation value and the calibration parameters of the robot tool.

2. The automatic calibration method as described in claim 1, characterized in that, The step of determining the compensation value of the new tool based on the deviation value and the robot's reference posture includes: The installation direction of the new tool and the angle between the projection of the three coordinate axes of the flange coordinate system are determined based on the reference posture of the robot. The compensation value of the new tool is determined based on the deviation value and the cosine value of the included angle.

3. The automatic calibration method as described in claim 1 or 2, characterized in that, The automatic calibration method further includes: When installing the robot tool for the first time, the robot tool is initialized and calibrated to obtain the reference calibration parameters; The robot is controlled to perform a preset teaching action along the base coordinate system in order to determine the coordinate values ​​of the robot tool in the base coordinate system. The reference calibration parameters and the coordinate values ​​are written into the robot controller as calibration references.

4. The automatic calibration method as described in claim 3, characterized in that, After the step of writing the reference calibration parameters and the coordinate values ​​as calibration references into the robot controller, the automatic calibration method further includes: Robot point-to-point teaching and debugging are performed based on the aforementioned calibration benchmark; Once the robot's point-to-point teaching and debugging are completed, the robot will be put into production.

5. The automatic calibration method as described in claim 4, characterized in that, After the step of putting the robot into production, the automatic calibration method includes: When the robot has been in production for a preset time, control the robot to move to the needle changing position and execute the step of replacing the robot tool with a new tool.

6. An automatic calibration device, characterized in that, The automatic calibration device includes: A replacement module is used to replace the robot tool with a new tool when the robot moves to the needle changing position; The acquisition module controls the robot to move along the positive and negative directions of each coordinate axis of the base coordinate system. It records the positive and negative positioning coordinates of each coordinate axis using preset sensors. The average of the positive and negative positioning coordinates belonging to the same coordinate axis is used as the coordinate value of the new tool on the corresponding coordinate axis. The coordinate values ​​of the new tool on each coordinate axis are used as the coordinate values ​​of the new tool. A deviation value is determined based on the coordinate values ​​of the new tool and the coordinate values ​​of the robot tool in the base coordinate system. A compensation module is used to determine the compensation value of the new tool based on the deviation value and the reference posture of the robot. A calibration module is used to determine the calibration parameters of the new tool based on the compensation value and the calibration parameters of the robot tool.

7. An automatic calibration device, characterized in that, The automatic calibration device includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program, when executed by the processor, implements the steps of the automatic calibration method as described in any one of claims 1 to 5.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, implements the steps of the automatic calibration method as described in any one of claims 1 to 5.

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