Industrial robot posture measuring device and method based on laser scanning principle

Abstract

The present application relates to the technical field of industrial robot posture testing, and particularly relates to an industrial robot posture measuring device and method based on a laser scanning principle.The present application comprises establishing a base coordinate system and an end coordinate system of a mechanical arm;establishing a base prism coordinate system and an end prism coordinate system;obtaining the posture of the end coordinate system in the base coordinate system according to the base coordinate system, the end coordinate system, the base prism coordinate system and the end prism coordinate system, which is the end posture data of the robot;re-establishing the base prism coordinate system and the end prism coordinate system to obtain new end posture data of the robot;repeating the step S4 operation for a predetermined number of times, and obtaining the final posture data of the robot according to multiple sets of the end posture data of the robot.The present application is based on the laser scanning principle, has low cost, simple steps and is easy to implement.

Description

Technical Field

[0001] This invention relates to the field of industrial robot posture testing technology, and in particular to an industrial robot posture measurement device and method based on the principle of laser scanning. Background Technology

[0002] Currently, most deep space exploration missions undertaken by humans are unmanned. Unmanned missions often utilize robots for sample collection and analysis; for example, the US Viking and Phoenix landers both employed robotic arms for sample collection, transfer, and in-situ analysis. The end-effector attitude positioning accuracy, as the final evaluation indicator for robotic arm assembly, is crucial for achieving product functionality and performance.

[0003] Attitude information is an important parameter reflecting a spatial target, referring to the position and orientation of the robot's end effector relative to the measurement coordinate system or the robot's base coordinate system. However, the robot's base coordinate system and measurement coordinate system are difficult to determine, and attitude parameters must be obtained through the geometric features of the end effector. Therefore, measuring the robot's end effector attitude directly is a rather cumbersome process.

[0004] Existing technologies such as ballbars, wire sensors, and acoustic sensors have limited working space ranges and require multiple instruments to be used together; machine vision measurement methods are limited by the field of view; and laser tracker measurement methods require several target mounts to be attached to the product, affecting the product's rigidity. Summary of the Invention

[0005] In view of the shortcomings of the prior art described above, the purpose of this 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 and difficulty in evaluating posture measurement accuracy when directly measuring the robot end posture.

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

[0007] A laser tracker, mounted on a bracket;

[0008] A control system, which is communicatively connected to the laser tracker, is used to establish a measurement field;

[0009] A laser scanner is used to scan the robotic arm of a robot.

[0010] A base prism, which is mounted near the base of the robotic arm;

[0011] An end-effector is mounted near the end of the robotic arm, and there is no obstruction between the base prism and the end-effector.

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

[0013] A robot controller that is communicatively connected to the robot's robotic arm;

[0014] An I / O controller, which is communicatively connected to the robot controller;

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

[0016] This invention also provides a method for measuring the posture of an industrial robot based on the principle of laser scanning, comprising:

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

[0018] S2. Establish the coordinate system of the base prism and the coordinate system of the end prism;

[0019] S3. Based on the base coordinate system, end effector coordinate system, base prism coordinate system, and end effector prism coordinate system, the attitude of the end effector coordinate system in the base coordinate system is obtained, which is the end effector attitude data of the robot.

[0020] S4. Re-establish the base prism coordinate system and the end effector prism coordinate system to obtain the new end effector posture data of the robot;

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

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

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

[0024] S12. A laser scanner scans the end-effector features of the robotic arm to obtain point cloud data of the features and establishes the end-effector 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 origin of the coordinate system is set at the fixed point of the three surfaces, and the normal vectors of the three surfaces point in the directions of the coordinate axes x, y, and z, respectively. Establish the coordinate system K of the base prism. LJ1 and the coordinate system K of the end prism LJ2 .

[0028] In one embodiment of the present invention, step S3, which involves obtaining the attitude of the end effector in the base coordinate system based on the base coordinate system, the end effector coordinate system, the base prism coordinate system, and the end effector prism coordinate system, i.e., the end effector attitude data of the robot, includes:

[0029] S31. Obtain the final coordinate system K M Switch to the end prism coordinate system K LJ2 The transformation matrix below End prism coordinate system K LJ2 Transform to the base prism coordinate system K LJ1 The transformation matrix below Base prism coordinate system K LJ1 Switch to base coordinate system K J The transformation matrix below

[0030] S32, through formula Obtain the end coordinate system K M In the base coordinate system K J The following posture is the end-effector posture data of the robot.

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

[0032] S41. The robot starts moving from any position to a fixed position, with the end-effector coordinate system K... M With the coordinate system K of the end prism LJ2 , Base prism coordinate system K LJ1 With base coordinate system K J The relative positions remain unchanged;

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

[0034] In one embodiment of the present invention, the step S4 operation in step S5, which repeats the operation a preset number of times, to obtain the final robot posture data based on multiple sets of robot end-effector posture data, includes:

[0035] Repeat step S4 30 times to obtain 30 sets of robot end-effector posture data. Calculate the mean, variance, and standard deviation of the 30 sets of robot end-effector posture data to obtain the final robot posture data.

[0036] The present invention also provides an electronic device, including a processor and a memory, wherein the memory stores program instructions, and the processor executes the program instructions to implement the above-described 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 attitude measurement method based on the laser scanning principle of the present invention is based on the attitude test of the actual deep space exploration arm robot. The attitude of the cuboid mirror is established by scanning the star-sensitive cuboid mirror installed on the robot. The attitude of the cuboid mirror is used to replace the end attitude of the robot to obtain the robot end attitude error. This method has been widely used in the attitude test of the deep space exploration arm robot.

[0039] (2) The industrial robot posture measurement method based on the laser scanning principle of the present invention solves the problems of complex process and difficulty in evaluating posture measurement accuracy when directly measuring the robot end posture.

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

[0041] Figure 1 A flowchart illustrating an industrial robot posture measurement method based on laser scanning principle, provided for embodiments of this application.

[0042] Figure 2 This is a schematic diagram of an industrial robot posture measurement device based on laser scanning principle, provided as an embodiment of this application.

[0043] Figure 3 This is a schematic diagram of coordinate system transformation for an industrial robot posture measurement method based on laser scanning principle provided in an embodiment of this application.

[0044] Component designation explanation

[0045] 1. Laser tracker

[0046] 2. Laser scanner

[0047] 3 supports

[0048] 4. Base prism

[0049] 5. End Prism

[0050] 6 robots Detailed Implementation

[0051] The following specific examples illustrate the implementation of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that, unless otherwise specified, the following embodiments and features described therein can be combined with each other.

[0052] It should be noted that the illustrations provided in the following embodiments are only schematic representations of the basic concept of the present invention. Therefore, the illustrations only show the components related to the present invention and are not drawn according to the actual number, shape and size of the components in the actual implementation. In the actual implementation, the form, quantity and proportion of each component can be arbitrarily changed, and the layout of the components may also be more complex.

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

[0054] Furthermore, "connected / linked" indicates that one component is directly electrically connected to another component or indirectly electrically connected through another component. Unless otherwise explicitly stated in the sentence, the singular form may include the plural form. Additionally, the terms "comprising / including" or "containing / including" as used in this specification indicate the presence or addition of one or more components, steps, operations, and elements. Specific structural or functional descriptions of examples of embodiments of the concepts disclosed in this specification are merely illustrative to describe examples of embodiments of the concepts, and examples of embodiments of the concepts can be implemented in various forms, but these descriptions are not limited to the examples of embodiments described in this specification.

[0055] Based on the concept, various modifications and changes can be applied to examples of embodiments, such that examples of embodiments will be illustrated in the accompanying drawings and described in the specification. However, examples of embodiments based on the concept are not limited to specific embodiments, but include all changes, equivalents, or substitutions included within the spirit and scope of this disclosure.

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

[0057] The terminology used in this specification is for the purpose of describing specific examples of implementations only and is not intended to limit this disclosure. The singular form may include the plural form unless there is an explicit contrary meaning in the context. It should be understood in this specification that the terms "comprising" or "having" indicate the presence of the features, quantities, steps, operations, components, parts, or combinations thereof described in the specification, but do not preclude the possibility of the presence or addition of one or more other features, quantities, steps, operations, components, parts, or combinations thereof.

[0058] Unless otherwise defined, all terms used herein (including technical or scientific terms) shall have the same meaning as commonly understood by one of ordinary skill in the art. If a term is not clearly defined in a common dictionary in this specification, it shall be interpreted as having the same meaning as in the context of the relevant art, and not as an ideal or overly formal meaning.

[0059] Descriptions of known components and processing techniques may be omitted to avoid unnecessarily obscuring the embodiments of this disclosure.

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

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

[0062] The embodiments of this disclosure will now be described in detail with reference to the accompanying drawings. However, those skilled in the art will understand that many technical details have been provided in the embodiments of this disclosure to facilitate a better understanding of the disclosure. However, the technical solutions claimed in this disclosure can be implemented even without these technical details and various variations and modifications based on the following embodiments.

[0063] Please see Figure 2 , Figure 2 This invention provides a schematic block diagram of an industrial robot posture measurement device based on laser scanning principle, as provided in an embodiment of this application. The device includes a laser tracker 1, a laser scanner 2, a support 3, a base prism 4, an end effector prism 5, and a robot 6. The laser tracker 1 is mounted on the support 3. A control system is communicatively connected to the laser tracker 1 to establish a measurement field. The laser scanner 2 scans the robotic arm of the robot 6. The base prism 4 is mounted near the base of the robotic arm. The end effector prism 5 is mounted near the end of the robotic arm, and there is no obstruction between the base prism 4 and the end effector prism 5.

[0064] Specifically, the control system includes a robot controller, an I / O controller, and a computer. The robot controller is communicatively connected to the robotic arm of the robot 6; the I / O controller is communicatively connected to the robot controller; and the computer is communicatively connected to the I / O 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. The base prism 4 is installed and fixed near the base, and the end prism 5 is installed and fixed near the end. It is required that the base prism 4 and the end prism 5 are unobstructed after installation.

[0066] In one embodiment of the present invention, the laser scanner 2 can be a T-Scan laser scanner. The industrial robot posture measurement device based on the laser scanning principle of the present invention uses 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 to 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 marker indicator, a laser beam aperture, a guide beam aperture, and a receiver optical aperture.

[0070] In one embodiment of the present invention, the T-Scan laser scanner employs laser triangulation, the most widely used method for acquiring surface data in reverse engineering, which features fast data acquisition, no impact on the material surface, and good adaptability to complex contours. A laser beam is emitted from the light source and illuminates the plane of the object to be measured. After reflection, an image is finally formed on the detector. When the position of the object surface changes, the image formed on the detector also shifts accordingly.

[0071] In one embodiment of the present invention, the laser tracker 1 obtains the three-dimensional position parameters of the T-Scan laser scanner—distance D, horizontal angle Hz, and vertical angle V—by measuring the reflectors on the surface of the T-Scan laser scanner. LED markers on the surface of the T-Scan laser scanner emit infrared light of known wavelengths in a regular pattern. A CMOS camera, using a louver, tracks the image at the same frequency as the infrared light emitted by the T-Scan laser scanner. This effectively eliminates all light sources other than the T-Scan laser scanner itself, making it unaffected by external lighting conditions and allowing the identification of the T-Scan laser scanner's pitch, yaw, and rotation—that is, the angle values ​​(i, j, k) of rotation around the X, Y, and Z axes, respectively. These six measurement parameters together constitute six degrees of freedom, describing the positional relationship between the T-Scan laser scanner and the laser tracker 1. Combining these six parameters with the distance from the surface of the object being measured to the laser emission port yields the spatial coordinates of points on the surface of the object being measured.

[0072] Please see Figure 1 , Figure 3 , Figure 1 A flowchart illustrating an industrial robot posture measurement method based on laser scanning principle, provided for embodiments of this application. Figure 3 This diagram illustrates a coordinate system transformation for an industrial robot attitude measurement method based on laser scanning principles, as provided in an embodiment of this application. The present invention provides an industrial robot attitude measurement method based on laser scanning principles, comprising:

[0073] Step S1: Establish the base coordinate system and end effector coordinate system of the robotic arm.

[0074] Specifically, establishing the base coordinate system and end effector coordinate system of the robotic 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 robotic arm to obtain the point cloud data of the features and establishes the base coordinate system K. J .

[0076] S12, Laser scanner 2 scans the end effector features of the robotic arm to obtain point cloud data of the features and establishes the end effector coordinate system K. M ;

[0077] Step S2: Establish the coordinate system of the base prism 4 and the coordinate system of the end prism 5.

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

[0079] S21. 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 base prism 4 and the end prism 5, and performs plane fitting.

[0080] S22. The origin of the coordinate system is the fixed point of the three surfaces, and the normal vectors of the three surfaces point to the x, y, and z axes, respectively. Establish the 4-coordinate system K of the base prism. LJ1 and the end prism 5 coordinate system K LJ2 .

[0081] Step S3: Based on the base coordinate system, end-effector coordinate system, base prism 4 coordinate system, and end-effector 5 coordinate system, obtain the attitude of the end-effector coordinate system in the base coordinate system, which is the end-effector attitude data of the robot 6.

[0082] Specifically, in step S3, the attitude of the end effector in the base coordinate system is obtained based on the base coordinate system, the end effector coordinate system, the base prism 4 coordinate system, and the end effector 5 coordinate system. This attitude data of the robot 6 includes:

[0083] S31. Obtain the final coordinate system K M Switch to the end prism 5 coordinate system K LJ2 The transformation matrix below End prism 5 coordinate system K LJ2 Transform to the base prism 4-coordinate system K LJ1 The transformation matrix below Base prism 4 coordinate system K LJ1 Switch to base coordinate system K J The transformation matrix below

[0084] S32, through formula Obtain the end coordinate system K M In the base coordinate system K J The following posture is the end-effector posture data of the robot 6.

[0085] Step S4: Re-establish the coordinate system of the base prism 4 and the coordinate system of the end effector prism 5 to obtain the new end effector posture data of the robot 6.

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

[0087] S41. The robot 6 starts moving from any position to a fixed position, with the end-effector coordinate system K... M With the end prism 5 coordinate system K LJ2 , Base prism 4 coordinate system K LJ1 With base coordinate system K J The relative positions remain unchanged.

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

[0089] Step S5: Repeat step S4 a preset number of times to obtain the final posture data of robot 6 based on multiple sets of robot 6 end-effector posture data.

[0090] Specifically: Step S5 involves repeating step S4 a preset number of times to obtain the final posture data of robot 6 based on multiple sets of robot 6 end-effector posture data, including:

[0091] Repeat step S4 30 times to obtain 30 sets of robot 6 end-effector posture data. Calculate the mean, variance, and standard deviation of the 30 sets of robot 6 end-effector posture data to obtain the final posture data of 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 are as follows:

[0093] a) Robot 6 is in a certain initial position. Laser scanner 2 scans the features on the robot base to obtain the point cloud data of the features and establishes the base coordinate system K. J Similarly, by scanning the features on the end effector of the robot, an end effector coordinate system K is established. M ;

[0094] b) Laser scanner 2 scans the base prism 4 and the end prism 5 respectively, obtaining point cloud data of the three adjacent surfaces of the prism and performing plane fitting. The fixed points of the three surfaces are the origin of the coordinate system, and the normal vectors of the three surfaces are the directions of the 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 end coordinate system K M Switch to the end prism coordinate system K LJ2 The transformation matrix below End prism coordinate system K LJ2 Transform to the base prism coordinate system K LJ1 The transformation matrix below Base prism coordinate system K LJ1 Switch to base coordinate system K J The transformation matrix below Through formula Obtain the end coordinate system K M In the base coordinate system K J The following is the posture, i.e., the end-effector posture data of robot 6;

[0096] d) Robot 6 moves from an arbitrary position to a fixed position through teach programming, with the end-effector coordinate system K. M With the coordinate system K of the end prism LJ2 , Base prism coordinate system K LJ1 With base coordinate system K J Since the relative positions remain unchanged, it is only necessary to scan the point cloud data of the base prism and the end prism to re-establish the base prism coordinate system K. LJ1 and the coordinate system K of the end prism LJ2 To obtain new end-effector posture data for robot 6;

[0097] e) In step d), the scan and calculation are repeated 30 times to obtain 30 sets of robot end-effector posture data. The robot repeatability accuracy is obtained by calculating the mean, variance and standard deviation of the 30 sets of data.

[0098] This invention also proposes an electronic device comprising a processor and a memory. The memory stores program instructions, and the processor executes these instructions to implement the aforementioned laser scanning-based industrial robot posture measurement method. 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 gate or transistor logic devices, or discrete hardware components. The memory may include Random Access Memory (RAM) or Non-Volatile Memory, such as at least one disk storage device. The memory can also be an internal memory of the Random Access Memory (RAM) type. 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 when the computer program in the aforementioned memory is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, electronic device, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of the present invention.

[0099] This invention also proposes a computer-readable storage medium storing computer instructions for instructing a computer to execute the aforementioned laser scanning-based industrial robot posture measurement method. The computer-readable storage medium can be an electronic medium, magnetic medium, optical medium, electromagnetic medium, infrared medium, or semiconductor system or propagation medium. It can also include semiconductor or solid-state memory, magnetic tape, removable computer disk, random access memory (RAM), read-only memory (ROM), hard disk, and optical disc. Optical discs can include optical disc-read-only memory (CD-ROM), optical disc-read / write (CD-RW), and DVD.

[0100] In summary, the laser scanning-based industrial robot attitude measurement method of this invention solves the problems of complex process and difficulty in evaluating attitude measurement accuracy when directly measuring the robot's end-effector attitude. This laser scanning-based industrial robot attitude measurement method is based on the attitude testing of an actual deep space exploration robotic arm. It establishes the attitude of a star-sensitive cubic mirror mounted on the robot by scanning it, and uses the cubic mirror attitude to represent the robot's end-effector attitude to obtain the robot's end-effector attitude error. This method has been widely applied in the attitude testing of deep space exploration robotic arms.

[0101] The above embodiments are merely illustrative of the principles and effects of the present invention and are not intended to limit the invention. Any person skilled in the art can 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 those skilled in the art without departing from the spirit and technical concept disclosed in the present invention should still be covered by the claims of the present invention.

Claims

1. A method for measuring the posture of an industrial robot based on the principle of laser scanning, characterized in that, This includes an industrial robot posture measurement device based on the laser scanning principle, the industrial robot posture measurement device based on the laser scanning principle comprising: A laser tracker (1) is mounted on a bracket (3); The control system is communicatively connected to the laser tracker (1) and is used to establish a measurement field; A laser scanner (2) is used to scan the robotic arm of the robot (6); A base prism (4) is mounted near the base of the robotic arm; An end prism (5) is installed near the end of the robotic arm, and there is no obstruction between the base prism (4) and the end prism (5); The industrial robot posture measurement method based on the laser scanning principle includes: S1. Establish the base coordinate system and end effector coordinate system of the robotic arm; S2. Establish the coordinate system of the base prism (4) and the coordinate system of the end prism (5); S3. Based on the base coordinate system, end coordinate system, base prism (4) coordinate system, and end prism (5) coordinate system, the attitude of the end coordinate system under the base coordinate system is obtained, which is the end attitude data of the robot (6). S4. Re-establish the coordinate system of the base prism (4) and the coordinate system of the end prism (5) to obtain the new end pose data of the robot (6); S5. Repeat step S4 a preset number of times to obtain the final posture data of the robot (6) based on multiple sets of end-effector posture data of the robot (6); Step S1, establishing the base coordinate system and end effector coordinate system of the robotic arm, includes: S11. The robot (6) is in a certain initial position. The laser scanner (2) scans the base features of the robotic arm to obtain the point cloud data of the features and establishes the base coordinate system. ; S12, Laser scanner (2) scans the end features of the robotic arm to obtain point cloud data of the features and establishes the end coordinate system. ; The establishment of the coordinate system for the base prism (4) and the coordinate system for the end prism (5) in step S2 includes: S21. 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 base prism (4) and the end prism (5), and performs plane fitting. S22. The fixed point of the three surfaces is the origin of the coordinate system, and the normal vectors of the three surfaces are the directions of the coordinate axes x, y, and z, respectively. Establish the coordinate system of the base prism (4). and the coordinate system of the end prism (5) ; Step S3 involves obtaining the attitude of the end effector in the base coordinate system based on the base coordinate system, the end effector coordinate system, the base prism (4) coordinate system, and the end effector (5) coordinate system. This is the end effector attitude data of the robot (6), which includes: S31. Obtain the end coordinate system Switch to the coordinate system of the end prism (5) The transformation matrix below The coordinate system of the end prism (5) Switch to the base prism (4) coordinate system The transformation matrix below , base prism (4) coordinate system Switch to base coordinate system The transformation matrix below ; S32, through formula Obtain the end coordinate system In the base coordinate system The following posture is the end-effector posture data of the robot (6).

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

3. The industrial robot posture measurement method based on laser scanning principle according to claim 1, characterized in that, In step S4, re-establishing the coordinate system of the base prism (4) and the coordinate system of the end effector prism (5) to obtain new end effector posture data for the robot (6) includes: S41. The robot (6) starts moving from any position to a fixed position, and the end coordinate system... coordinate system with end prism (5) , Base prism (4) coordinate system With base coordinate system The relative positions remain unchanged; S42. Scan the point cloud data of the base prism (4) and the end prism (5) and re-establish the coordinate system of the base prism (4). and the coordinate system of the end prism (5) , thereby obtaining new end-effector posture data of the robot (6).

4. The industrial robot posture measurement method based on laser scanning principle according to claim 3, characterized in that, The operation of repeating step S4 a preset number of times in step S5, based on multiple sets of robot (6) end-effector posture data, yields the final posture data of the robot (6), including: Repeat step S4 30 times to obtain 30 sets of robot (6) end pose data. By calculating the mean, variance and standard deviation of the 30 sets of robot (6) end pose data, the final pose data of the robot (6) is obtained.

5. An electronic device comprising a processor and a memory, the memory storing program instructions, characterized in that: The processor executes program instructions to implement the industrial robot posture measurement method based on the laser scanning principle as described in any one of claims 1 to 4.

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