Industrial robot attitude measurement device and method based on laser scanning principle

Abstract

The invention relates to the technical field of industrial robot attitude testing, in particular to an industrial robot attitude measuring device and method based on a laser scanning principle. The method comprises the steps that a base coordinate system and a tail end coordinate system of the mechanical arm are established; establishing a base prism coordinate system and a tail end prism coordinate system; according to the base coordinate system, the tail end coordinate system, the base prism coordinate system and the tail end prism coordinate system, the posture of the tail end coordinate system under the base coordinate system is obtained, and the posture is tail end posture data of the robot; reestablishing a base prism coordinate system and a tail end prism coordinate system to obtain new tail end posture data of the robot; and S4, the operation of the step S4 is repeated for preset times, and final posture data of the robot are obtained according to the multiple sets of robot tail end posture data. The method is based on the laser scanning principle, cost is low, steps are simple, and implementation is easy.

Description

Technical Field

[0001] The present invention relates to the technical field of industrial robot posture testing, and in particular to an industrial robot posture measuring device and method based on the laser scanning principle. Background Art

[0002] At present, most of the deep space exploration missions carried out by humans are unmanned exploration missions. Robots are often used to collect and analyze samples in unmanned exploration missions. For example, the US "Viking" probe and "Phoenix" probe both use arm robots to implement sample collection, transfer and in-situ analysis tasks. The positioning accuracy of the end of the robotic arm is the final assessment indicator of the robotic arm assembly and is of great significance to the realization of product functions and performance.

[0003] Posture information is an important parameter that reflects space targets. It refers to the position and posture of the robot actuator end relative to the measurement coordinate system or the robot base coordinate system. However, the robot base coordinate system and the measurement coordinate system are difficult to determine. The posture parameters can only be obtained through the geometric features of the end. Therefore, the process of measuring the robot end posture through direct measurement means is relatively cumbersome.

[0004] The existing measurement methods such as ballbar, wire sensor and acoustic wave sensor can measure a small working space range and need to use multiple instruments together; the machine vision measurement method is limited by the field of view; the laser tracker measurement method needs to glue several target holders on the product, which affects the rigidity of the product. Summary of the invention

[0005] In view of the above-mentioned shortcomings of the prior art, the purpose of the present invention is to provide an industrial robot posture measurement device and method based on the laser scanning principle, which solves the problems of complex process of directly measuring the robot end posture and difficulty in evaluating the posture measurement accuracy.

[0006] To achieve the above-mentioned and other related purposes, the present invention provides an industrial robot posture measurement device based on the laser scanning principle, comprising:

[0007] A laser tracker mounted on the bracket;

[0008] a control system, which is in communication with the laser tracker and is used to establish a measurement field;

[0009] A laser scanner to scan the robot's mechanical arm;

[0010] a base prism mounted near the base of the robotic arm;

[0011] The end prism is installed near the end of the mechanical arm, and there is no obstruction between the base prism and the end prism.

[0012] In one embodiment of the present invention, the control system comprises:

[0013] A robot controller, which is in communication with the robot arm;

[0014] An IO controller, which is communicatively connected with the robot controller;

[0015] A computer is communicatively connected with the IO controller and the laser tracker.

[0016] The present invention also provides an industrial robot posture measurement method based on the laser scanning principle, comprising:

[0017] S1. Establish the base coordinate system and end coordinate system of the robot arm;

[0018] S2, establishing a base prism coordinate system and an end prism coordinate system;

[0019] S3, according to the base coordinate system, the terminal coordinate system, the base prism coordinate system, and the terminal prism coordinate system, obtaining the posture of the terminal coordinate system in the base coordinate system, that is, the terminal posture data of the robot;

[0020] S4, re-establishing the base prism coordinate system and the terminal prism coordinate system to obtain new terminal posture data of the robot;

[0021] S5. Repeat step S4 for a preset number of times to obtain the final posture data of the robot based on multiple sets of the robot terminal posture data.

[0022] In one embodiment of the present invention, establishing the base coordinate system and the end coordinate system of the robot arm in step S1 includes:

[0023] S11, the robot is in a certain initial position, the laser scanner scans the base features of the robot arm, obtains the point cloud data of the features, and establishes the base coordinate system K J ;

[0024] S12, the laser scanner scans the end features of the robot arm, obtains the point cloud data of the features, and establishes the end coordinate system K M .

[0025] In one embodiment of the present invention, establishing the base prism coordinate system and the end prism coordinate system in step S2 includes:

[0026] S21, the laser scanner scans the base prism and the end prism respectively, obtains point cloud data of three adjacent surfaces of the base prism and the end prism, and performs plane fitting;

[0027] S22. The fixed points of the three surfaces are the coordinate origins. The normal vectors of the three surfaces are the directions of the coordinate axes x, y, and z respectively. The base prism coordinate system K is established. LJ1 and the end prism coordinate system K LJ2 .

[0028] In one embodiment of the present invention, in step S3, the posture of the terminal coordinate system in the base coordinate system is obtained according to the base coordinate system, the terminal coordinate system, the base prism coordinate system, and the terminal prism coordinate system, that is, the terminal posture data of the robot includes:

[0029] S31, obtain the terminal coordinate system K M Go to the end prism coordinate system K LJ2 The transformation matrix under End prism coordinate system K LJ2 Go to base prism coordinate system K LJ1 The transformation matrix under Base prism coordinate system K LJ1 Go to base coordinate system K J The transformation matrix under

[0030] S32, through the formula Get the end coordinate system K M In the base coordinate system K J The posture below is the terminal posture data of the robot.

[0031] In one embodiment of the present invention, re-establishing the base prism coordinate system and the terminal prism coordinate system in step S4 to obtain new terminal posture data of the robot includes:

[0032] S41, the robot starts to move from any position to a fixed position, and the end coordinate system K M and the end prism coordinate system K LJ2 , base prism coordinate system K LJ1 With the base coordinate system K J The relative position remains unchanged;

[0033] S42, scan the base prism and the end prism point cloud data, and re-establish the base prism coordinate system K LJ1 and the end prism coordinate system K LJ2 , obtain the new end posture data of the robot.

[0034] In one embodiment of the present invention, the operation of step S4 is repeated for a preset number of times in step S5, and the final posture data of the robot is obtained according to multiple sets of the robot terminal posture data, including:

[0035] The operation of step S4 is repeated 30 times to obtain 30 sets of the robot terminal posture data, and the final posture data of the robot is obtained by calculating the average value, variance and standard deviation of the 30 sets of the robot terminal posture data.

[0036] The present invention also provides an electronic device, comprising a processor and a memory, wherein the memory stores program instructions, and the processor executes the program instructions to implement the above-mentioned industrial robot posture measurement method based on the laser scanning principle.

[0037] As described above, the industrial robot posture measurement device and method based on the laser scanning principle of the present invention have the following beneficial effects:

[0038] (1) The industrial robot posture measurement method based on the laser scanning principle of the present invention is studied based on the actual posture test of the arm robot for deep space exploration. The cubic mirror posture is established by scanning the star-sensitive cubic mirror installed on the robot, and the robot's end posture is replaced by the cubic mirror posture to obtain the robot's end posture error. This method has been widely used in the posture test of the arm robot for deep space exploration.

[0039] (2) The industrial robot posture measurement method based on the laser scanning principle of the present invention solves the problem that the process of directly measuring the robot end posture is complicated and the posture measurement accuracy is difficult to evaluate.

[0040] (3) The industrial robot posture measurement method based on the laser scanning principle of the present invention is a posture measurement method for a deep space exploration arm robot. The measurement method is based on the laser scanning principle, has low cost, simple steps, and is easy to implement. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 A flowchart of an industrial robot posture measurement method based on the laser scanning principle provided in an embodiment of the present application.

[0042] Figure 2 A principle block diagram of an industrial robot posture measurement device based on the laser scanning principle provided in an embodiment of the present application.

[0043] Figure 3 A schematic diagram of coordinate system transformation of an industrial robot posture measurement method based on the laser scanning principle provided in an embodiment of the present application.

[0044] Component number description

[0045] 1 Laser Tracker

[0046] 2 Laser Scanner

[0047] 3 Bracket

[0048] 4 Base prism

[0049] 5 End prism

[0050] 6 Robots DETAILED DESCRIPTION

[0051] The following describes the embodiments of the present invention by specific examples, and those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that the following embodiments and features in the embodiments can be combined with each other without conflict.

[0052] It should be noted that the illustrations provided in the following embodiments are only used to illustrate the basic concept of the present invention in a schematic manner, and thus the illustrations only show components related to the present invention rather than being drawn according to the number, shape and size of components in actual implementation. In actual implementation, the type, quantity and proportion of each component may be changed arbitrarily, and the component layout may also be more complicated.

[0053] Terms such as first or second can be used to describe various components, but these components are not limited by the above terms. The above terms are used to distinguish one component from another component, for example, without departing from the scope of the concept according to the present disclosure, a first component can be referred to as a second component, and similarly, a second component can be referred to as a first component.

[0054] In addition, "connected / coupled" means that one component is directly electrically coupled to another component or is indirectly electrically coupled through another component. The singular form may include the plural form unless explicitly stated in the sentence. In addition, "include / comprise" or "includes / comprises" used in this specification indicates that one or more components, steps, operations, and elements exist or have been added. The specific structural or functional descriptions of the examples of the implementation of the concepts disclosed in this specification are only illustrated to describe the examples of the implementation of the concepts, and the examples of the implementation of the concepts can be implemented in various forms, but these descriptions are not limited to the examples of the implementation described in this specification.

[0055] According to the concept, various modifications and changes can be applied to the examples of the embodiments, so that the examples of the embodiments will be illustrated in the drawings and described in the specification. However, the examples of the embodiments according to the concept are not limited to the specific embodiments, but include all changes, equivalents or replacements included in the spirit and technical scope of the present disclosure.

[0056] It should be understood that when an element is described as being "coupled" or "connected" to another element, the element may be directly coupled or directly connected to the other element, or may be coupled or connected to the other element through a third element. Conversely, it should be understood that when an element is referred to as being "directly coupled to" or "directly coupled to" another element, no other element is placed between them. Other expressions describing the relationship between components (i.e., "between" and "directly between" or "adjacent to" and "directly adjacent to") need to be interpreted in the same manner.

[0057] The terms used in this specification are only used to describe specific examples of the embodiments and are not intended to limit the present disclosure. If there is no clear opposite meaning in the context, the singular form may include the plural form. In this specification, it should be understood that the term "including" or "having" indicates the presence of the features, quantities, steps, operations, components, parts or combinations thereof described in the specification, but the possibility of the presence or addition of one or more other features, quantities, steps, operations, components, parts or combinations thereof cannot be precluded.

[0058] If there is no contrary definition, all terms (including technical terms or scientific terms) used herein have the same meaning as those generally understood by ordinary technicians in the field. If the terms defined in the commonly used dictionary are not clearly defined in this specification, they should be interpreted as having the same meaning as in the context of the relevant technology, and not interpreted as ideal or overly formal meanings.

[0059] Descriptions of well-known components and processing techniques may be omitted so as not to unnecessarily obscure the embodiments of the disclosure.

[0060] Throughout the specification, the same reference numerals refer to the same elements. Thus, even if a reference numeral is not mentioned or described with reference to one figure, it may be mentioned or described with reference to another figure. Furthermore, even if a reference numeral is not shown in one figure, it may be mentioned or described with reference to another figure.

[0061] In addition, the logic level of the signal may be different or opposite to the described logic level. For example, a signal described as having a logic "high" level may alternatively have a logic "low" level, and a signal described as having a logic "low" level may alternatively have a logic "high" level.

[0062] The following will describe the various embodiments of the present disclosure in detail with reference to the accompanying drawings. However, it will be appreciated by those skilled in the art that in the various embodiments of the present disclosure, many technical details are provided in order to enable the reader to better understand the present disclosure. However, even without these technical details and various changes and modifications based on the following embodiments, the technical solutions claimed in the present disclosure can be implemented.

[0063] See also Figure 2 , Figure 2 The present invention provides a principle block diagram of an industrial robot posture measurement device based on the laser scanning principle, which comprises a laser tracker 1, a laser scanner 2, a bracket 3, a base prism 4, an end prism 5, and a robot 6. The laser tracker 1 is mounted on the bracket 3; the control system is connected to the laser tracker 1 for establishing a measurement field; the laser scanner 2 is used to scan the robot arm of the robot 6; the base prism 4 is mounted near the base of the robot arm; the end prism 5 is mounted near the end of the robot arm, and there is no obstruction between the base prism 4 and the end prism 5.

[0064] Specifically, the control system includes a robot controller, an IO controller, and a computer. The robot controller is communicatively connected to the mechanical arm of the robot 6; the IO controller is communicatively connected to the robot controller; and the computer is communicatively connected to the IO controller and the laser tracker 1.

[0065] In one embodiment of the present invention, the industrial robot posture measurement device based on the laser scanning principle includes a laser tracker 1, a laser scanner 2, a bracket 3, a base prism 4, an end prism 5, and a robot 6, wherein the base prism 4 is installed and fixed near the base, and the end prism 5 is installed and fixed near the end, and it is required that the base prism 4 and the end prism 5 are not blocked after installation.

[0066] In one embodiment of the present invention, the laser scanner 2 may be a T-Scan laser scanner. The industrial robot posture measurement device based on the laser scanning principle of the present invention adopts three-dimensional laser scanning and then processes the scanning data.

[0067] In one embodiment of the present invention, the laser tracker 1 and its control system are used to establish a measurement field and cooperate with the scanning measurement work of the T-Scan laser scanner.

[0068] In one embodiment of the present invention, the T-Scan laser scanner and its control system are used to scan a robotic arm.

[0069] In one embodiment of the present invention, the T-Scan laser scanner includes scanning measurement software for measuring device motion control, data scanning control, and point cloud data processing. The T-Scan laser scanner includes a reflector, an LED marking indicator, a laser beam aperture, a guide beam aperture, and a receiver optical aperture.

[0070] In one embodiment of the present invention, the laser triangulation method used by the T-Scan laser scanner is the most widely used surface data collection method in reverse engineering, and has the characteristics of fast data collection, no influence on the material surface, and good adaptability to complex contours. A beam of laser is emitted from a light source to illuminate the plane of the object to be measured, and finally forms an image on the detector through reflection. When the position of the object surface changes, the image formed on the detector also undergoes corresponding displacement.

[0071] In one embodiment of the present invention, the laser tracker 1 obtains the three-dimensional position parameters of the T-Scan laser scanner, namely, the distance D, the horizontal angle Hz, and the vertical angle V, by measuring the reflector on the surface of the T-Scan laser scanner. The LED indicator light on the surface of the T-Scan laser scanner emits regular infrared rays of known wavelengths, and the CMOS camera uses a shutter to track the image at the same frequency as the infrared rays emitted by the T-Scan laser scanner, which can effectively remove all light sources other than the T-Scan laser scanner itself, and is not affected by the external lighting environment. The pitch, swing and rotation of the T-Scan laser scanner can be identified, that is, the angle values ​​(i, j, k) rotating around the X, Y, and Z axes respectively. These six measurement parameters together constitute six degrees of freedom, which describe the position and posture relationship between the T-Scan laser scanner and the laser tracker 1. These six parameters are then combined with the distance from the surface of the object to be measured to the laser outlet to obtain the spatial coordinates of the surface point of the object to be measured.

[0072] See also Figure 1 , Figure 3 , Figure 1 A flowchart of an industrial robot posture measurement method based on the laser scanning principle provided in an embodiment of the present application. Figure 3 A schematic diagram of coordinate system conversion of an industrial robot posture measurement method based on the laser scanning principle provided in an embodiment of the present application. The present invention provides an industrial robot posture measurement method based on the laser scanning principle, comprising:

[0073] Step S1, establishing the base coordinate system and the end coordinate system of the robot arm.

[0074] Specifically, the establishment of the base coordinate system and the end coordinate system of the robot arm in step S1 includes:

[0075] S11, the robot 6 is in a certain initial position, the laser scanner 2 scans the base features of the robot arm, obtains the point cloud data of the features, and establishes the base coordinate system K J .

[0076] S12, laser scanner 2 scans the end features of the robot arm, obtains the point cloud data of the features, and establishes the end coordinate system K M ;

[0077] Step S2, establishing the base prism 4 coordinate system and the end prism 5 coordinate system.

[0078] Specifically, the establishment of the base prism 4 coordinate system and the end prism 5 coordinate system in step S2 includes:

[0079] S21, the laser scanner 2 scans the base prism 4 and the end prism 5 respectively, obtains point cloud data of three adjacent surfaces of the base prism 4 and the end prism 5, and performs plane fitting.

[0080] S22, the fixed points of the three surfaces are the coordinate origins, the normal vectors of the three surfaces are the directions of the coordinate axes x, y, and z, respectively, and the base prism 4 coordinate system K is established LJ1 and the end prism 5 coordinate system K LJ2 .

[0081] Step S3, according to the base coordinate system, the terminal coordinate system, the base prism 4 coordinate system, and the terminal prism 5 coordinate system, the posture of the terminal coordinate system in the base coordinate system is obtained, which is the terminal posture data of the robot 6.

[0082] Specifically, in step S3, according to the base coordinate system, the terminal coordinate system, the base prism 4 coordinate system, and the terminal prism 5 coordinate system, the posture of the terminal coordinate system in the base coordinate system is obtained, that is, the terminal posture data of the robot 6 includes:

[0083] S31, obtain the terminal coordinate system K M Go to the end prism 5 coordinate system K LJ2 The transformation matrix under End prism 5 coordinate system K LJ2 Go to base prism 4 coordinate system K LJ1 The transformation matrix under Base prism 4 coordinate system K LJ1 Go to base coordinate system K J The transformation matrix under

[0084] S32, through the formula Get the end coordinate system K M In the base coordinate system K J The posture below is the terminal posture data of the robot 6.

[0085] Step S4, re-establishing the base prism 4 coordinate system and the end prism 5 coordinate system to obtain new end posture data of the robot 6.

[0086] Specifically, the re-establishment of the base prism 4 coordinate system and the terminal prism 5 coordinate system in step S4 to obtain the new terminal posture data of the robot 6 includes:

[0087] S41, the robot 6 starts to move from any position to a fixed position, and the end coordinate system K M Coordinate system K with end prism 5 LJ2 、Base prism 4 coordinate system K LJ1 With the base coordinate system K J The relative position remains unchanged.

[0088] S42, scan the point cloud data of the base prism 4 and the end prism 5, and re-establish the coordinate system K of the base prism 4 LJ1 and the end prism 5 coordinate system K LJ2 , obtain the new end posture data of the robot 6.

[0089] Step S5, repeating the operation of step S4 for a preset number of times, and obtaining the final posture data of the robot 6 according to multiple sets of the terminal posture data of the robot 6.

[0090] Specifically: the operation of step S4 is repeated for a preset number of times in step S5, and the final posture data of the robot 6 is obtained according to multiple sets of the terminal posture data of the robot 6, including:

[0091] The operation of step S4 is repeated 30 times to obtain 30 sets of the terminal posture data of the robot 6, and the final posture data of the robot 6 is obtained by calculating the average value, variance and standard deviation of the 30 sets of the terminal posture data of the robot 6.

[0092] In one embodiment of the present invention, the working steps of the industrial robot posture measurement method based on the laser scanning principle of the present invention are as follows:

[0093] a) The robot 6 is at a certain initial position. The laser scanner 2 scans the features on the robot base, obtains the point cloud data of the features, and establishes the base coordinate system K J Similarly, scan the features on the end of the robot 6 and establish the end coordinate system K M ;

[0094] b) The laser scanner 2 scans the base prism 4 and the end prism 5 respectively, obtains the point cloud data of the three adjacent surfaces of the prism and performs plane fitting. The fixed points of the three surfaces are the coordinate origins, and the normal vectors of the three surfaces are the directions of the three axes of coordinate axes x, y, and z respectively. The coordinate system K of the base prism 4 is established.LJ1 and the end prism 5 coordinate system K LJ2 ;

[0095] c) Obtain the terminal coordinate system K M Go to the end prism coordinate system K LJ2 The transformation matrix under End prism coordinate system K LJ2 Go to base prism coordinate system K LJ1 The transformation matrix under Base prism coordinate system K LJ1 Go to base coordinate system K J The transformation matrix under By formula Get the end coordinate system K M In the base coordinate system K J The posture below, that is, the terminal posture data of the robot 6;

[0096] d) The robot 6 moves from any position to a fixed position through teaching programming, and the end coordinate system K M and the end prism coordinate system K LJ2 , base prism coordinate system K LJ1 With the base coordinate system K J The relative position remains unchanged, so it is only necessary to scan the base prism and the end prism point cloud data to re-establish the base prism coordinate system K LJ1 and the end prism coordinate system K LJ2 , obtain the new terminal posture data of robot 6;

[0097] e) In step d), the scanning and calculation are repeated 30 times to obtain 30 sets of posture data of the robot end, and the robot's repeated posture accuracy is obtained by calculating the average, variance and standard deviation of the 30 sets of data.

[0098] The present invention also proposes an electronic device, which includes a processor and a memory, wherein the memory stores program instructions, and the processor runs the program instructions to implement the above-mentioned industrial robot posture measurement method based on the laser scanning principle. The processor can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components; the memory may include a random access memory (RAM), and may also include a non-volatile memory, such as at least one disk memory. The memory can also be an internal memory of the random access memory (RAM) type, and the processor and memory can be integrated into one or more independent circuits or hardware, such as an application-specific integrated circuit (ASIC). It should be noted that the computer program in the above-mentioned memory can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when it is sold or used as an independent product. Based on this understanding, the technical solution of the present invention is essentially or the part that contributes to the prior art or the part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, an electronic device, or a network device, etc.) to perform all or part of the steps of the methods of various embodiments of the present invention.

[0099] The present invention also proposes a computer-readable storage medium, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable the computer to execute the above-mentioned industrial robot posture measurement method based on the laser scanning principle. The computer-readable storage medium can be an electronic medium, a magnetic medium, an optical medium, an electromagnetic medium, an infrared medium or a semiconductor system or a propagation medium. The computer-readable storage medium can also include a semiconductor or solid-state memory, a magnetic tape, a removable computer disk, a random access memory (RAM), a read-only memory (ROM), a hard disk and an optical disk. The optical disk can include a compact disk-read only memory (CD-ROM), a compact disk-read / write (CD-RW) and a DVD.

[0100] In summary, the industrial robot posture measurement method based on the laser scanning principle of the present invention solves the problem that the process of directly measuring the robot's terminal posture is complicated and the posture measurement accuracy is difficult to evaluate. The industrial robot posture measurement method based on the laser scanning principle of the present invention is studied based on the actual deep space exploration arm robot posture test. The cubic mirror posture is established by scanning the star-sensitive cubic mirror installed on the robot, and the robot's terminal posture is replaced by the cubic mirror posture to obtain the robot's terminal posture error. This method has been widely used in the deep space exploration arm robot posture test.

[0101] The above embodiments are merely illustrative of the principles and effects of the present invention, and are not intended to limit the present invention. Anyone familiar with the art may modify or alter the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or alterations made by a person of ordinary skill in the art without departing from the spirit and technical concept disclosed by the present invention shall still be covered by the claims of the present invention.

Claims

1. An industrial robot posture measurement device based on the laser scanning principle, characterized in that: include: A laser tracker (1) mounted on a bracket (3); A control system, which is in communication with the laser tracker (1) and is used to establish a measurement field; A laser scanner (2) for scanning the mechanical arm of the robot (6); A base prism (4), which is mounted near the base of the robotic arm; The end prism (5) is installed near the end of the mechanical arm, and there is no obstruction between the base prism (4) and the end prism (5).

2. The industrial robot posture measurement device based on the laser scanning principle according to claim 1 is characterized in that: The control system comprises: a robot controller, which is communicatively connected to the robot arm of the robot (6); An IO controller, which is communicatively connected with the robot controller; A computer is communicatively connected with the IO controller and the laser tracker (1).

3. A method for measuring the posture of an industrial robot based on the principle of laser scanning, characterized in that: include: S1. Establish the base coordinate system and end coordinate system of the robot arm; S2, establishing a base prism (4) coordinate system and an end prism (5) coordinate system; S3, according to the base coordinate system, the terminal coordinate system, the base prism (4) coordinate system, and the terminal prism (5) coordinate system, the posture of the terminal coordinate system in the base coordinate system is obtained, which is the terminal posture data of the robot (6); S4, re-establishing the base prism (4) coordinate system and the end prism (5) coordinate system to obtain new end posture data of the robot (6); S5. Repeat step S4 for a preset number of times to obtain the final posture data of the robot (6) based on multiple sets of terminal posture data of the robot (6).

4. The method for measuring the posture of an industrial robot based on the laser scanning principle according to claim 3 is characterized in that: The establishment of the base coordinate system and the end coordinate system of the robot arm in step S1 includes: S11, the robot (6) is in a certain initial position, the laser scanner (2) scans the base features of the robot arm, obtains point cloud data of the features, and establishes a base coordinate system K J ; S12, laser scanner (2) scans the end features of the robot arm, obtains point cloud data of the features, and establishes the end coordinate system K M .

5. The method for measuring the posture of an industrial robot based on the laser scanning principle according to claim 4 is characterized in that: The establishment of the base prism (4) coordinate system and the end prism (5) coordinate system in step S2 includes: S21, the laser scanner (2) scans the base prism (4) and the end prism (5) respectively, obtains point cloud data of three adjacent surfaces of the base prism (4) and the end prism (5), and performs plane fitting; S22. The fixed points of the three surfaces are the coordinate origins. The normal vectors of the three surfaces are the directions of the coordinate axes x, y, and z respectively. The base prism (4) coordinate system K is established. LJ1 and the end prism (5) coordinate system K LJ2 .

6. The method for measuring the posture of an industrial robot based on the laser scanning principle according to claim 5 is characterized in that: In step S3, according to the base coordinate system, the terminal coordinate system, the base prism (4) coordinate system, and the terminal prism (5) coordinate system, the posture of the terminal coordinate system in the base coordinate system is obtained, that is, the terminal posture data of the robot (6) includes: S31, obtain the terminal coordinate system K M Go to the end prism (5) coordinate system K LJ2 The transformation matrix under End prism (5) coordinate system K LJ2 Go to base prism (4) coordinate system K LJ1 The transformation matrix under Base prism (4) coordinate system K LJ1 Go to base coordinate system K J The transformation matrix under S32, through the formula Get the end coordinate system K M In the base coordinate system K J The posture below is the terminal posture data of the robot (6).

7. The method for measuring the posture of an industrial robot based on the laser scanning principle according to claim 6 is characterized in that: The re-establishment of the base prism (4) coordinate system and the end prism (5) coordinate system in step S4 to obtain new end posture data of the robot (6) includes: S41, the robot (6) starts to move from any position to a fixed position, and the end coordinate system K M The coordinate system K of the end prism (5) LJ2 、Base prism (4) coordinate system K LJ1 With the base coordinate system K J The relative position remains unchanged; S42, scan the point cloud data of the base prism (4) and the end prism (5), and re-establish the coordinate system K of the base prism (4) LJ1 and the end prism (5) coordinate system K LJ2 , obtain new end posture data of the robot (6).

8. The method for measuring the posture of an industrial robot based on the laser scanning principle according to claim 7, characterized in that: The step S5 repeats the operation of step S4 for a preset number of times, and obtains the final posture data of the robot (6) based on multiple sets of terminal posture data of the robot (6), including: The operation of step S4 is repeated 30 times to obtain 30 sets of terminal posture data of the robot (6), and the final posture data of the robot (6) is obtained by calculating the average value, variance and standard deviation of the 30 sets of terminal posture data of the robot (6).

9. An electronic device, comprising a processor and a memory, wherein the memory stores program instructions, characterized in that: The processor runs program instructions to implement the industrial robot posture measurement method based on the laser scanning principle as described in any one of claims 3 to 8.

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