Robot error compensation method and device and electronic equipment

Abstract

The invention provides an error compensation method and device for a robot and electronic equipment. The method comprises the steps that reference point coordinates and cargo position coordinates are obtained, a robot is controlled to move to the reference point coordinates, actual position coordinates are recorded, and first actual coordinates are obtained; controlling the robot to move from the reference point coordinate to the cargo position coordinate, and recording the actual position coordinate to obtain a second actual coordinate; and calculating a difference value between the second actual coordinate and the first actual coordinate to obtain an offset coordinate, and compensating a movement error of the robot according to the offset coordinate. According to the invention, the problem that errors of a robot need to be measured manually in the prior art is solved.

Description

Technical Field

[0001] The present application relates to the field of robot control technology, and in particular, to a robot error compensation method, device, computer-readable storage medium and electronic device. Background Art

[0002] In industrial automation production lines, SCARA (Selective Compliance Assembly Robot Arm, SCARA for short) robots are widely used for fixed-point handling and assembly of goods. The SCARA robot is an industrial robot with four or six axes. Its arm structure is a parallelogram and can move along the X-axis and Y-axis at the same time. SCARA robots are commonly used in production links such as material handling, assembly, inspection, and packaging. They have the characteristics of high precision, high speed, and high repeatability. However, the grasping action of the SCARA robot usually needs to be set manually, and there are certain errors, which affect the accuracy and flexibility. In order to ensure that the robot can accurately grasp the goods, it is usually necessary to teach the robot accurately to determine the location of the point where the grasping and handling needs to be located. The traditional robot teaching method requires manual measurement and calculation of the offset, which is not only time-consuming but also prone to errors. Summary of the invention

[0003] The main purpose of the present application is to provide a robot error compensation method, device, computer-readable storage medium and electronic device to at least solve the problem in the prior art that robot errors need to be measured manually.

[0004] In order to achieve the above-mentioned purpose, according to one aspect of the present application, a robot error compensation method is provided, including: obtaining reference point coordinates and cargo position coordinates, controlling the robot to move to the reference point coordinates, and recording the actual position coordinates to obtain first actual coordinates; controlling the robot to move from the reference point coordinates to the cargo position coordinates, and recording the actual position coordinates to obtain second actual coordinates; calculating the difference between the second actual coordinates and the first actual coordinates to obtain offset coordinates, and compensating the movement error of the robot according to the offset coordinates.

[0005] Optionally, controlling the robot to move from the reference point coordinates to the cargo location coordinates includes: determining a first direction coordinate corresponding to the cargo location coordinates, and determining a second direction coordinate corresponding to the cargo location coordinates; controlling the robot to move in a first direction to the first direction coordinates, and controlling the robot to move from the first direction coordinates along the second direction to the second direction coordinates, wherein the angle between the first direction and the second direction is 90°.

[0006] Optionally, compensating the movement error of the robot according to the offset coordinates includes: obtaining a standard movement distance of the robot, wherein the standard movement distance includes a first direction distance and a second direction distance, wherein the first direction distance represents the movement distance in the first direction, and the second direction distance represents the movement distance in the second direction; calculating the sum of the offset coordinates and the standard movement distance to obtain a correction distance, and controlling the robot to move according to the correction distance to correct the movement error, wherein the correction distance includes a first direction correction distance and a second direction correction distance.

[0007] Optionally, the sum of the offset coordinate and the standard moving distance is calculated to obtain the corrected distance, including: calculating the sum of the coordinate value corresponding to the first direction of the offset coordinate and the distance in the first direction to obtain the corrected distance in the first direction; calculating the sum of the coordinate value corresponding to the second direction of the offset coordinate and the distance in the second direction to obtain the corrected distance in the second direction.

[0008] Optionally, after obtaining the offset coordinates, the method further comprises: storing the offset coordinates in a storage unit for use in compensating the movement error of the robot.

[0009] Optionally, after compensating for the movement error of the robot according to the offset coordinates, the method further comprises: updating the cargo position coordinates according to the offset coordinates.

[0010] According to another aspect of the present application, a robot error compensation device is provided, including: a first recording unit, used to obtain reference point coordinates and cargo position coordinates, control the robot to move to the reference point coordinates, and record the actual position coordinates to obtain first actual coordinates; a second recording unit, used to control the robot to move from the reference point coordinates to the cargo position coordinates, and record the actual position coordinates to obtain second actual coordinates; a compensation unit, used to calculate the difference between the second actual coordinates and the first actual coordinates to obtain offset coordinates, and compensate for the movement error of the robot according to the offset coordinates.

[0011] According to another aspect of the present application, a robot error compensation system is provided, comprising: a robot for moving and performing cargo handling tasks; a teach pendant for controlling the movement of the robot and determining the coordinates of the teaching points; and a controller comprising a processor, which executes any one of the robot error compensation methods when executed.

[0012] According to another aspect of the present application, a computer-readable storage medium is provided, wherein the computer-readable storage medium includes a stored program, wherein when the program is run, the device where the computer-readable storage medium is located is controlled to execute any one of the robot error compensation methods.

[0013] According to another aspect of the present application, an electronic device is provided, comprising: one or more processors, a memory, and one or more programs, wherein the one or more programs are stored in the memory and are configured to be executed by the one or more processors, and the one or more programs include an error compensation method for executing any one of the robots described.

[0014] By applying the technical solution of the present application, the coordinates of the reference point and the coordinates of the cargo position are obtained, the robot is controlled to move to the reference point coordinates, and the actual position coordinates are recorded to obtain the first actual coordinates; the robot is controlled to move from the reference point coordinates to the cargo position coordinates, and the actual position coordinates are recorded to obtain the second actual coordinates; the difference between the second actual coordinates and the first actual coordinates is calculated to obtain the offset coordinates, and the movement error of the robot is compensated according to the offset coordinates. Compared with the prior art, in which the error of the robot needs to be manually measured, the present application can automatically calculate the actual offset of the robot and compensate for the offset. Therefore, the problem of time-consuming and labor-intensive manual measurement in the prior art can be solved, and the effect of saving manpower and material resources can be achieved. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The drawings constituting part of the present application are used to provide a further understanding of the present application. The illustrative embodiments and descriptions of the present application are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0016] Figure 1 A hardware structure block diagram of a mobile terminal for executing a robot error compensation method provided in an embodiment of the present application is shown;

[0017] Figure 2 A schematic flow chart of a robot error compensation method provided in an embodiment of the present application is shown;

[0018] Figure 3 A schematic flow chart of a specific robot error compensation method provided in an embodiment of the present application is shown;

[0019] Figure 4 A schematic diagram of a specific automatic offset calculation process provided by an embodiment of the present application is shown;

[0020] Figure 5 A structural block diagram of an error compensation device for a robot provided in an embodiment of the present application is shown.

[0021] The above drawings include the following reference numerals:

[0022] 102, processor; 104, memory; 106, transmission device; 108, input and output devices. DETAILED DESCRIPTION

[0023] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0024] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present application.

[0025] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequential order. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present application described here. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0026] As introduced in the background technology, in the prior art, the errors of robots need to be measured manually. To solve the problem that the errors of robots need to be measured manually, the embodiments of the present application provide a robot error compensation method, device, computer-readable storage medium and electronic device.

[0027] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the accompanying drawings in the embodiments of the present invention.

[0028] The method embodiments provided in the embodiments of the present application can be executed in a mobile terminal, a computer terminal or a similar computing device. Taking running on a mobile terminal as an example, Figure 1 FIG. 1 is a hardware structure block diagram of a mobile terminal of a robot error compensation method according to an embodiment of the present invention. Figure 1 As shown, the mobile terminal may include one or more ( Figure 1Only one is shown in the figure) a processor 102 (the processor 102 may include but is not limited to a processing device such as a microprocessor MCU or a programmable logic device FPGA) and a memory 104 for storing data, wherein the mobile terminal may also include a transmission device 106 and an input / output device 108 for communication functions. It can be understood by those skilled in the art that Figure 1 The structure shown is only for illustration and does not limit the structure of the mobile terminal. Figure 1 More or fewer components as shown, or with Figure 1 Different configurations are shown.

[0029] The memory 104 can be used to store computer programs, for example, software programs and modules of application software, such as the computer program corresponding to the error compensation method of the robot in the embodiment of the present invention. The processor 102 executes various functional applications and data processing by running the computer program stored in the memory 104, that is, the above method is implemented. The memory 104 may include a high-speed random access memory, and may also include a non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, the memory 104 may further include a memory remotely arranged relative to the processor 102, and these remote memories can be connected to the mobile terminal via a network. Examples of the above-mentioned network include but are not limited to the Internet, an intranet, a local area network, a mobile communication network, and a combination thereof. The transmission device 106 is used to receive or send data via a network. The above-mentioned specific examples of the network may include a wireless network provided by a communication provider of the mobile terminal. In one example, the transmission device 106 includes a network adapter (Network Interface Controller, referred to as NIC), which can be connected to other network devices through a base station so as to communicate with the Internet. In one example, the transmission device 106 may be a radio frequency (RF) module, which is used to communicate with the Internet wirelessly.

[0030] In this embodiment, a method for compensating a robot error running on a mobile terminal, a computer terminal or a similar computing device is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in an order different from that shown here.

[0031] Figure 2 FIG. 1 is a flow chart of a robot error compensation method according to an embodiment of the present application. Figure 2 As shown, the method comprises the following steps:

[0032] Step S201, obtaining the reference point coordinates and the cargo position coordinates, controlling the robot to move to the reference point coordinates, and recording the actual position coordinates to obtain the first actual coordinates;

[0033] Specifically, the robot can be a SCARA robot, which is manually controlled to move to a specified position on the production line, and this position will serve as the reference origin for all subsequent operations. The reference point coordinates and the cargo position coordinates are predetermined accurate coordinates, but in the actual movement process, the actual coordinates of the robot may have errors. Therefore, the robot is precisely controlled to ensure that it stops stably at the position of the reference point coordinates, and the actual coordinates of the robot at this position, i.e. (X_{origin}, Y_{origin}), are recorded as the first actual coordinates.

[0034] Step S202, controlling the robot to move from the reference point coordinates to the cargo position coordinates, and recording the actual position coordinates to obtain a second actual coordinate;

[0035] Specifically, the cargo position coordinates are input into the control unit as the target point for the robot to move. Through the teach pendant or control panel, a movement command is issued to control the SCARA robot to move from the reference point coordinates (X_{origin}, Y_{origin}) along a predetermined path to the cargo position coordinates. After the robot stops stably at the cargo position coordinates, the actual position coordinates of the robot end effector are immediately recorded at this time, which is the second actual coordinate.

[0036] Step S203, calculating the difference between the second actual coordinate and the first actual coordinate to obtain an offset coordinate, and compensating for the movement error of the robot according to the offset coordinate.

[0037] Specifically, the actual movement offset of the robot in the X-axis and Y-axis directions is calculated based on the first actual coordinate and the second actual coordinate. According to the offset coordinates, the control instructions of the robot are adjusted to compensate for the movement error, ensuring that the robot can perform the predetermined grasping and handling tasks more accurately in subsequent operations.

[0038] Through this embodiment, the reference point coordinates and the cargo position coordinates are obtained, the robot is controlled to move to the reference point coordinates, and the actual position coordinates are recorded to obtain the first actual coordinates; the robot is controlled to move from the reference point coordinates to the cargo position coordinates, and the actual position coordinates are recorded to obtain the second actual coordinates; the difference between the second actual coordinates and the first actual coordinates is calculated to obtain the offset coordinates, and the movement error of the robot is compensated according to the offset coordinates. Compared with the prior art, in which the robot error needs to be manually measured, the present application can automatically calculate the actual offset of the robot and compensate for the offset. Therefore, it can solve the problem of time-consuming and labor-intensive manual measurement in the prior art, and achieve the effect of saving manpower and material resources.

[0039] During the specific implementation process, the above-mentioned step S201 controls the robot to move from the reference point coordinates to the cargo position coordinates, which can be achieved through the following steps: Step S2011: determine the first direction coordinates corresponding to the cargo position coordinates, and determine the second direction coordinates corresponding to the cargo position coordinates; Step S2012: control the robot to move in the first direction to the first direction coordinates, and control the robot to move from the first direction coordinates along the second direction to the second direction coordinates, wherein the angle between the first direction and the second direction is 90°.

[0040] Specifically, in the coordinate system of the SCARA robot, the base of the robot is usually taken as the origin, and the X-axis and Y-axis are two orthogonal moving directions. First, we determine the coordinate of the cargo position in the X-axis direction, that is, the first direction coordinate. The robot is controlled to move in the first direction, so that the SCARA robot starts from the reference point and moves only in the X-axis direction until its X-axis coordinate is aligned with the first direction coordinate.

[0041] After the robot reaches the coordinate in the first direction along the X-axis, we determine the coordinate of the cargo position in the Y-axis, which is the coordinate in the second direction. Control the robot to move in the second direction. When the robot reaches the coordinate in the first direction in the X-axis, issue a control command again to move the robot in the Y-axis until its Y-axis coordinate is aligned with the coordinate in the second direction. When controlling the robot to move, it is necessary to ensure that the angle between the first direction and the second direction is 90 degrees, that is, the X-axis and Y-axis directions are orthogonal. This can avoid cross-directional influences when the coordinates move, ensure that the robot can accurately reach the cargo position along the predetermined path, and improve the accuracy of grasping and handling operations.

[0042] In some optional embodiments, the above-mentioned step S203 compensates the movement error of the robot according to the offset coordinates, which can be achieved by the following steps: Step S2031: Obtain the standard moving distance of the robot, wherein the standard moving distance includes a first direction distance and a second direction distance, wherein the first direction distance represents the moving distance in the first direction, and the second direction distance represents the moving distance in the second direction; Step S2032: Calculate the sum of the offset coordinates and the standard moving distance to obtain a correction distance, and control the robot to move according to the correction distance to correct the movement error, wherein the correction distance includes a first direction correction distance and a second direction correction distance.

[0043] In the specific implementation process, according to the design parameters and control instructions of the SCARA robot, the standard moving distance of the robot in the first direction and the second direction is obtained. This is usually the distance that the robot is expected to move on the X-axis and the Y-axis when executing the control instruction under ideal conditions, that is, the first direction distance and the second direction distance. After obtaining the offset coordinates of the robot during the actual movement, that is, the actual movement deviation on the X-axis and the Y-axis. Add the offset coordinates to the first direction distance and the second direction distance respectively to obtain the first direction correction distance and the second direction correction distance.

[0044] In other optional embodiments, step S2032 can be implemented by the following steps: calculating the sum of the coordinate value corresponding to the first direction of the offset coordinate and the distance in the first direction to obtain the corrected distance in the first direction; calculating the sum of the coordinate value corresponding to the second direction of the offset coordinate and the distance in the second direction to obtain the corrected distance in the second direction.

[0045] Specifically, first obtain the offset coordinate value (\Delta X_{actual}) in the first direction (for example, the X-axis direction), and then obtain the standard moving distance (D_X) of the robot in the first direction. Calculate the first direction correction distance, that is, the corrected moving distance of the robot in the X-axis direction: [first direction correction distance = D_X + \Delta X_{actual}]. If (\Delta X_{actual}) is a positive value, it means that the robot needs to move a longer distance in the X-axis direction to offset the positive deviation; if it is a negative value, it means that the robot needs to move a shorter distance in the X-axis direction to offset the reverse deviation. Similarly, obtain the offset coordinate value in the second direction (for example, the Y-axis direction), recorded as (\Delta Y_{actual}).

[0046] Get the standard moving distance of the robot in the second direction, recorded as (D_Y). Calculate the second direction correction distance, that is, the corrected moving distance of the robot in the Y-axis direction: [Second direction correction distance = D_Y + \Delta Y_{actual}], if (\Delta Y_{actual}) is a positive value, it means that the robot needs to move a longer distance in the Y-axis direction to offset the positive deviation; if it is a negative value, it means that the robot needs to move a shorter distance in the Y-axis direction to offset the negative deviation.

[0047] In some optional embodiments, after obtaining the offset coordinates, the method further includes the following steps: storing the offset coordinates in a storage unit for use in compensating the movement error of the robot.

[0048] Specifically, the control unit of the SCARA robot (or the storage function in the teaching pendant) is used to store these offset coordinate data in a storage unit in the system. The storage unit can be the memory, hard disk or special database of the robot controller, which is used to save and manage various operation data and parameters.

[0049] In a specific implementation process, after compensating the movement error of the robot according to the offset coordinates, the method further includes: updating the cargo position coordinates according to the offset coordinates.

[0050] Specifically, the calculated updated cargo position coordinates ((X_{update}, Y_{update})) are input into the control system of the SCARA robot to replace the original cargo position coordinates, so as to ensure that the robot can operate based on this more accurate position information when performing tasks. After the robot performs grasping and handling operations according to the updated cargo position coordinates, the deviation between its actual position and the target position is verified again. If there is still an error, the above steps are repeated until an acceptable accuracy range is reached. Through the above steps, the SCARA robot can dynamically update the cargo position coordinates based on the offset data accumulated in historical operations, achieve precise control of grasping and handling tasks, reduce positioning inaccuracies caused by movement errors, and thus improve the work efficiency and product quality of automated production lines. This method is particularly suitable for production environments that require frequent and repeated operations, and can significantly improve the consistency and accuracy of robot operations.

[0051] In order to enable those skilled in the art to more clearly understand the technical solution of the present application, the implementation process of the robot error compensation method of the present application will be described in detail below in combination with specific embodiments.

[0052] This embodiment relates to a specific robot error compensation method, such as Figure 3 As shown, the following steps are included:

[0053] Step S1: Start;

[0054] Step S2: Grasping and handling point teaching;

[0055] Step S3: Determine whether the cargo grabbing and handling teaching point has been reached;

[0056] Step S4: if yes, teach the offset origin, if no, execute step S3;

[0057] Step S5: Whether the X-axis teaching point is reached;

[0058] Step S6: If yes, teach the X-axis grabbing and handling points, if no, execute step S3;

[0059] Step S7: Determine whether the Y-axis teaching point has been reached;

[0060] Step S8: If yes, teach the Y-axis grabbing and carrying points; if no, execute step S3.

[0061] This embodiment also relates to a specific schematic diagram of a process for automatically calculating an offset, such as Figure 4 As shown, the following steps are included:

[0062] Step S9: start;

[0063] Step S10: Obtaining the coordinates of the teaching point;

[0064] Step S11: automatically calculating the offset;

[0065] Step S12: Verify the offset result;

[0066] Step S13: Verify whether it is correct;

[0067] Step S14: if yes, store the offset; if no, execute step S11;

[0068] Step S15: End.

[0069] The embodiment of the present application also provides an error compensation device for a robot. It should be noted that the error compensation device for the robot in the embodiment of the present application can be used to execute the error compensation method for the robot provided in the embodiment of the present application. The device is used to implement the above-mentioned embodiments and preferred implementation modes, and the descriptions that have been made will not be repeated. As used below, the term "module" can implement a combination of software and / or hardware for a predetermined function. Although the device described in the following embodiments is preferably implemented in software, the implementation of hardware, or a combination of software and hardware, is also possible and conceived.

[0070] The following is an introduction to the error compensation device of the robot provided in the embodiment of the present application.

[0071] Figure 5 Schematic diagram of an error compensation device for a robot according to an embodiment of the present application. Figure 5 As shown, the device comprises:

[0072] The first recording unit 10 is used to obtain the reference point coordinates and the cargo position coordinates, control the robot to move to the reference point coordinates, and record the actual position coordinates to obtain the first actual coordinates;

[0073] Specifically, the robot can be a SCARA robot, which is manually controlled to move to a specified position on the production line, and this position will serve as the reference origin for all subsequent operations. The reference point coordinates and the cargo position coordinates are predetermined accurate coordinates, but in the actual movement process, the actual coordinates of the robot may have errors. Therefore, the robot is precisely controlled to ensure that it stops stably at the position of the reference point coordinates, and the actual coordinates of the robot at this position, i.e. (X_{origin}, Y_{origin}), are recorded as the first actual coordinates.

[0074] A second recording unit 20 is used to control the robot to move from the reference point coordinates to the cargo position coordinates, and record the actual position coordinates to obtain second actual coordinates;

[0075] Specifically, the cargo position coordinates are input into the control unit as the target point for the robot to move. Through the teach pendant or control panel, a movement command is issued to control the SCARA robot to move from the reference point coordinates (X_{origin}, Y_{origin}) along a predetermined path to the cargo position coordinates. After the robot stops stably at the cargo position coordinates, the actual position coordinates of the robot end effector are immediately recorded at this time, which is the second actual coordinate.

[0076] The compensation unit 30 is used to calculate the difference between the second actual coordinate and the first actual coordinate to obtain an offset coordinate, and compensate for the movement error of the robot according to the offset coordinate.

[0077] Specifically, the actual movement offset of the robot in the X-axis and Y-axis directions is calculated based on the first actual coordinate and the second actual coordinate. According to the offset coordinates, the control instructions of the robot are adjusted to compensate for the movement error, ensuring that the robot can perform the predetermined grasping and handling tasks more accurately in subsequent operations.

[0078] Through this embodiment, the reference point coordinates and the cargo position coordinates are obtained, the robot is controlled to move to the reference point coordinates, and the actual position coordinates are recorded to obtain the first actual coordinates; the robot is controlled to move from the reference point coordinates to the cargo position coordinates, and the actual position coordinates are recorded to obtain the second actual coordinates; the difference between the second actual coordinates and the first actual coordinates is calculated to obtain the offset coordinates, and the movement error of the robot is compensated according to the offset coordinates. Compared with the prior art, in which the robot error needs to be manually measured, the present application can automatically calculate the actual offset of the robot and compensate for the offset. Therefore, it can solve the problem of time-consuming and labor-intensive manual measurement in the prior art, and achieve the effect of saving manpower and material resources.

[0079] During the specific implementation process, the above-mentioned first recording unit includes a determination module and a first control module. The determination module is used to determine the first direction coordinate corresponding to the cargo location coordinate, and determine the second direction coordinate corresponding to the cargo location coordinate; the first control module is used to control the robot to move in the first direction to the first direction coordinate, and control the robot to move from the first direction coordinate along the second direction to the second direction coordinate, wherein the angle between the first direction and the second direction is 90°.

[0080] Specifically, in the coordinate system of the SCARA robot, the base of the robot is usually taken as the origin, and the X-axis and Y-axis are two orthogonal moving directions. First, we determine the coordinate of the cargo position in the X-axis direction, that is, the first direction coordinate. The robot is controlled to move in the first direction, so that the SCARA robot starts from the reference point and moves only in the X-axis direction until its X-axis coordinate is aligned with the first direction coordinate.

[0081] After the robot reaches the coordinate in the first direction along the X-axis, we determine the coordinate of the cargo position in the Y-axis, which is the coordinate in the second direction. Control the robot to move in the second direction. When the robot reaches the coordinate in the first direction in the X-axis, issue a control command again to move the robot in the Y-axis until its Y-axis coordinate is aligned with the coordinate in the second direction. When controlling the robot to move, it is necessary to ensure that the angle between the first direction and the second direction is 90 degrees, that is, the X-axis and Y-axis directions are orthogonal. This can avoid cross-directional influences when the coordinates move, ensure that the robot can accurately reach the cargo position along the predetermined path, and improve the accuracy of grasping and handling operations.

[0082] In some optional embodiments, the compensation unit includes an acquisition module and a second control module, the acquisition module is used to acquire the standard moving distance of the robot, wherein the standard moving distance includes a first direction distance and a second direction distance, wherein the first direction distance represents the moving distance in the first direction, and the second direction distance represents the moving distance in the second direction; the second control module is used to calculate the sum of the offset coordinate and the standard moving distance to obtain a correction distance, and control the robot to move according to the correction distance to correct the movement error, wherein the correction distance includes a first direction correction distance and a second direction correction distance.

[0083] In the specific implementation process, according to the design parameters and control instructions of the SCARA robot, the standard moving distance of the robot in the first direction and the second direction is obtained. This is usually the distance that the robot is expected to move on the X-axis and the Y-axis when executing the control instruction under ideal conditions, that is, the first direction distance and the second direction distance. After obtaining the offset coordinates of the robot during the actual movement, that is, the actual movement deviation on the X-axis and the Y-axis. Add the offset coordinates to the first direction distance and the second direction distance respectively to obtain the first direction correction distance and the second direction correction distance.

[0084] In other optional embodiments, the second control module includes a first calculation submodule and a second calculation submodule, the first calculation submodule is used to calculate the sum of the coordinate value corresponding to the first direction of the offset coordinate and the distance in the first direction to obtain the corrected distance in the first direction; the second calculation submodule is used to calculate the sum of the coordinate value corresponding to the second direction of the offset coordinate and the distance in the second direction to obtain the corrected distance in the second direction.

[0085] Specifically, first obtain the offset coordinate value (\Delta X_{actual}) in the first direction (for example, the X-axis direction), and then obtain the standard moving distance (D_X) of the robot in the first direction. Calculate the first direction correction distance, that is, the corrected moving distance of the robot in the X-axis direction: [first direction correction distance = D_X + \Delta X_{actual}]. If (\Delta X_{actual}) is a positive value, it means that the robot needs to move a longer distance in the X-axis direction to offset the positive deviation; if it is a negative value, it means that the robot needs to move a shorter distance in the X-axis direction to offset the reverse deviation. Similarly, obtain the offset coordinate value in the second direction (for example, the Y-axis direction), recorded as (\Delta Y_{actual}).

[0086] Get the standard moving distance of the robot in the second direction, recorded as (D_Y). Calculate the second direction correction distance, that is, the corrected moving distance of the robot in the Y-axis direction: [Second direction correction distance = D_Y + \Delta Y_{actual}], if (\Delta Y_{actual}) is a positive value, it means that the robot needs to move a longer distance in the Y-axis direction to offset the positive deviation; if it is a negative value, it means that the robot needs to move a shorter distance in the Y-axis direction to offset the negative deviation.

[0087] In some optional embodiments, after obtaining the offset coordinates, the device further includes a storage unit for storing the offset coordinates in the storage unit for use in compensating the movement error of the robot.

[0088] Specifically, the control unit of the SCARA robot (or the storage function in the teaching pendant) is used to store these offset coordinate data in a storage unit in the system. The storage unit can be the memory, hard disk or special database of the robot controller, which is used to save and manage various operation data and parameters.

[0089] In a specific implementation process, after compensating the movement error of the robot according to the offset coordinates, the device further includes an updating unit for updating the cargo position coordinates according to the offset coordinates.

[0090] Specifically, the calculated updated cargo position coordinates ((X_{update}, Y_{update})) are input into the control system of the SCARA robot to replace the original cargo position coordinates, so as to ensure that the robot can operate based on this more accurate position information when performing tasks. After the robot performs grasping and handling operations according to the updated cargo position coordinates, the deviation between its actual position and the target position is verified again. If there is still an error, the above steps are repeated until an acceptable accuracy range is reached. Through the above steps, the SCARA robot can dynamically update the cargo position coordinates based on the offset data accumulated in historical operations, achieve precise control of grasping and handling tasks, reduce positioning inaccuracies caused by movement errors, and thus improve the work efficiency and product quality of automated production lines. This device is particularly suitable for production environments that require frequent and repeated operations, and can significantly improve the consistency and accuracy of robot operations.

[0091] The robot error compensation device includes a processor and a memory, wherein the first recording unit, the second recording unit and the compensation unit are stored in the memory as program units, and the processor executes the program units stored in the memory to realize corresponding functions. The modules are all located in the same processor; or, the modules are located in different processors in any combination.

[0092] The processor includes a kernel, which calls the corresponding program unit from the memory. One or more kernels can be set to automatically measure the movement error of the robot by adjusting the kernel parameters.

[0093] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM, and the memory includes at least one memory chip.

[0094] An embodiment of the present invention provides a computer-readable storage medium, wherein the computer-readable storage medium includes a stored program, wherein when the program is executed, the device where the computer-readable storage medium is located is controlled to execute the error compensation method of the robot.

[0095] Specifically, the robot's error compensation method includes:

[0096] Step S201, obtaining the reference point coordinates and the cargo position coordinates, controlling the robot to move to the reference point coordinates, and recording the actual position coordinates to obtain the first actual coordinates;

[0097] Specifically, the robot can be a SCARA robot, which is manually controlled to move to a specified position on the production line, and this position will serve as the reference origin for all subsequent operations. The reference point coordinates and the cargo position coordinates are predetermined accurate coordinates, but in the actual movement process, the actual coordinates of the robot may have errors. Therefore, the robot is precisely controlled to ensure that it stops stably at the position of the reference point coordinates, and the actual coordinates of the robot at this position, i.e. (X_{origin}, Y_{origin}), are recorded as the first actual coordinates.

[0098] Step S202, controlling the robot to move from the reference point coordinates to the cargo position coordinates, and recording the actual position coordinates to obtain a second actual coordinate;

[0099] Specifically, the cargo position coordinates are input into the control unit as the target point for the robot to move. Through the teach pendant or control panel, a movement command is issued to control the SCARA robot to move from the reference point coordinates (X_{origin}, Y_{origin}) along a predetermined path to the cargo position coordinates. After the robot stops stably at the cargo position coordinates, the actual position coordinates of the robot end effector are immediately recorded at this time, which is the second actual coordinate.

[0100] Step S203, calculating the difference between the second actual coordinate and the first actual coordinate to obtain an offset coordinate, and compensating for the movement error of the robot according to the offset coordinate.

[0101] Specifically, the actual movement offset of the robot in the X-axis and Y-axis directions is calculated based on the first actual coordinate and the second actual coordinate. According to the offset coordinates, the control instructions of the robot are adjusted to compensate for the movement error, ensuring that the robot can perform the predetermined grasping and handling tasks more accurately in subsequent operations.

[0102] An embodiment of the present invention provides an electronic device, including a processor, a memory, and a program stored in the memory and executable on the processor, wherein when the processor executes the program, at least the following steps are implemented:

[0103] Step S201, obtaining the reference point coordinates and the cargo position coordinates, controlling the robot to move to the reference point coordinates, and recording the actual position coordinates to obtain the first actual coordinates;

[0104] Specifically, the robot can be a SCARA robot, which is manually controlled to move to a specified position on the production line, and this position will serve as the reference origin for all subsequent operations. The reference point coordinates and the cargo position coordinates are predetermined accurate coordinates, but in the actual movement process, the actual coordinates of the robot may have errors. Therefore, the robot is precisely controlled to ensure that it stops stably at the position of the reference point coordinates, and the actual coordinates of the robot at this position, i.e. (X_{origin}, Y_{origin}), are recorded as the first actual coordinates.

[0105] Step S202, controlling the robot to move from the reference point coordinates to the cargo position coordinates, and recording the actual position coordinates to obtain a second actual coordinate;

[0106] Specifically, the cargo position coordinates are input into the control unit as the target point for the robot to move. Through the teach pendant or control panel, a movement command is issued to control the SCARA robot to move from the reference point coordinates (X_{origin}, Y_{origin}) along a predetermined path to the cargo position coordinates. After the robot stops stably at the cargo position coordinates, the actual position coordinates of the robot end effector are immediately recorded at this time, which is the second actual coordinate.

[0107] Step S203, calculating the difference between the second actual coordinate and the first actual coordinate to obtain an offset coordinate, and compensating for the movement error of the robot according to the offset coordinate.

[0108] Specifically, the actual movement offset of the robot in the X-axis and Y-axis directions is calculated based on the first actual coordinate and the second actual coordinate. According to the offset coordinates, the control instructions of the robot are adjusted to compensate for the movement error, ensuring that the robot can perform the predetermined grasping and handling tasks more accurately in subsequent operations.

[0109] The devices in this article can be servers, PCs, PADs, mobile phones, etc.

[0110] The present application also provides a computer program product, including a computer program, which, when executed by a processor, implements the steps of the method described in each embodiment of the present application:

[0111] Step S201, obtaining the reference point coordinates and the cargo position coordinates, controlling the robot to move to the reference point coordinates, and recording the actual position coordinates to obtain the first actual coordinates;

[0112] Specifically, the robot can be a SCARA robot, which is manually controlled to move to a specified position on the production line, and this position will serve as the reference origin for all subsequent operations. The reference point coordinates and the cargo position coordinates are predetermined accurate coordinates, but in the actual movement process, the actual coordinates of the robot may have errors. Therefore, the robot is precisely controlled to ensure that it stops stably at the position of the reference point coordinates, and the actual coordinates of the robot at this position, i.e. (X_{origin}, Y_{origin}), are recorded as the first actual coordinates.

[0113] Step S202, controlling the robot to move from the reference point coordinates to the cargo position coordinates, and recording the actual position coordinates to obtain a second actual coordinate;

[0114] Specifically, the cargo position coordinates are input into the control unit as the target point for the robot to move. Through the teach pendant or control panel, a movement command is issued to control the SCARA robot to move from the reference point coordinates (X_{origin}, Y_{origin}) along a predetermined path to the cargo position coordinates. After the robot stops stably at the cargo position coordinates, the actual position coordinates of the robot end effector are immediately recorded at this time, which is the second actual coordinate.

[0115] Step S203, calculating the difference between the second actual coordinate and the first actual coordinate to obtain an offset coordinate, and compensating for the movement error of the robot according to the offset coordinate.

[0116] Specifically, the actual movement offset of the robot in the X-axis and Y-axis directions is calculated based on the first actual coordinate and the second actual coordinate. According to the offset coordinates, the control instructions of the robot are adjusted to compensate for the movement error, ensuring that the robot can perform the predetermined grasping and handling tasks more accurately in subsequent operations.

[0117] Obviously, those skilled in the art should understand that the above modules or steps of the present invention can be implemented by a general computing device, they can be concentrated on a single computing device, or distributed on a network composed of multiple computing devices, they can be implemented by a program code executable by a computing device, so that they can be stored in a storage device and executed by the computing device, and in some cases, the steps shown or described can be executed in a different order than here, or they can be made into individual integrated circuit modules, or multiple modules or steps therein can be made into a single integrated circuit module for implementation. Thus, the present invention is not limited to any specific combination of hardware and software.

[0118] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented in one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that include computer-usable program code.

[0119] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0120] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0121] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0122] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0123] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0124] Computer readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic tape disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include temporary computer readable media (transitory media), such as modulated data signals and carrier waves.

[0125] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0126] From the above description, it can be seen that the above embodiments of the present application achieve the following technical effects:

[0127] 1) In the error compensation method of the present application, the reference point coordinates and the cargo position coordinates are obtained, the robot is controlled to move to the reference point coordinates, and the actual position coordinates are recorded to obtain the first actual coordinates; the robot is controlled to move from the reference point coordinates to the cargo position coordinates, and the actual position coordinates are recorded to obtain the second actual coordinates; the difference between the second actual coordinates and the first actual coordinates is calculated to obtain the offset coordinates, and the movement error of the robot is compensated according to the offset coordinates. Compared with the prior art, in which the robot's error needs to be manually measured, the present application can automatically calculate the actual offset of the robot and compensate for the offset. Therefore, the problem of time-consuming and labor-intensive manual measurement in the prior art can be solved, and the effect of saving manpower and material resources can be achieved.

[0128] 2) In the error compensation device of the present application, the reference point coordinates and the cargo position coordinates are obtained, the robot is controlled to move to the reference point coordinates, and the actual position coordinates are recorded to obtain the first actual coordinates; the robot is controlled to move from the reference point coordinates to the cargo position coordinates, and the actual position coordinates are recorded to obtain the second actual coordinates; the difference between the second actual coordinates and the first actual coordinates is calculated to obtain the offset coordinates, and the movement error of the robot is compensated according to the offset coordinates. Compared with the prior art, in which the error of the robot needs to be manually measured, the present application can automatically calculate the actual offset of the robot and compensate for the offset. Therefore, the problem of time-consuming and labor-intensive manual measurement in the prior art can be solved, and the effect of saving manpower and material resources can be achieved.

[0129] The above description is only the preferred embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A robot error compensation method, characterized in that: include: Acquire the reference point coordinates and the cargo position coordinates, control the robot to move to the reference point coordinates, and record the actual position coordinates to obtain the first actual coordinates; Controlling the robot to move from the reference point coordinates to the cargo position coordinates, and recording the actual position coordinates to obtain a second actual coordinate; The difference between the second actual coordinate and the first actual coordinate is calculated to obtain an offset coordinate, and the movement error of the robot is compensated according to the offset coordinate.

2. The robot error compensation method according to claim 1, characterized in that: Controlling the robot to move from the reference point coordinates to the cargo location coordinates, comprising: Determine the first direction coordinates corresponding to the cargo position coordinates, and determine the second direction coordinates corresponding to the cargo position coordinates; The robot is controlled to move in a first direction to the first direction coordinate, and the robot is controlled to move from the first direction coordinate to the second direction coordinate along a second direction, wherein the angle between the first direction and the second direction is 90°.

3. The robot error compensation method according to claim 1, characterized in that: Compensating the movement error of the robot according to the offset coordinates, comprising: Acquire a standard moving distance of the robot, wherein the standard moving distance includes a first direction distance and a second direction distance, wherein the first direction distance represents a moving distance in a first direction, and the second direction distance represents a moving distance in a second direction; The sum of the offset coordinate and the standard moving distance is calculated to obtain a correction distance, and the robot is controlled to move according to the correction distance to correct the movement error, wherein the correction distance includes a first direction correction distance and a second direction correction distance.

4. The robot error compensation method according to claim 3, characterized in that: Calculating the sum of the offset coordinate and the standard moving distance to obtain the corrected distance includes: Calculate the sum of the coordinate value corresponding to the first direction of the offset coordinate and the distance in the first direction to obtain a corrected distance in the first direction; The sum of the coordinate value corresponding to the second direction of the offset coordinate and the distance in the second direction is calculated to obtain the corrected distance in the second direction.

5. The robot error compensation method according to claim 1, characterized in that: After obtaining the offset coordinates, the method further includes: The offset coordinates are stored in a storage unit for use in compensating the movement error of the robot.

6. The robot error compensation method according to claim 1, characterized in that: After compensating the movement error of the robot according to the offset coordinates, the method further comprises: The cargo location coordinates are updated according to the offset coordinates.

7. A robot error compensation device, characterized in that: include: A first recording unit is used to obtain the reference point coordinates and the cargo position coordinates, control the robot to move to the reference point coordinates, and record the actual position coordinates to obtain first actual coordinates; A second recording unit, used for controlling the robot to move from the reference point coordinates to the cargo position coordinates, and recording the actual position coordinates to obtain second actual coordinates; A compensation unit is used to calculate the difference between the second actual coordinate and the first actual coordinate to obtain an offset coordinate, and compensate for the movement error of the robot according to the offset coordinate.

8. A robot error compensation system, characterized in that: include: Robots, which are used to move and perform cargo handling tasks; Teaching pendant, used to control the movement of the robot and determine the coordinates of the teaching points; A controller comprises a processor, wherein the processor, when executed, performs the robot error compensation method as described in any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium includes a stored program, wherein when the program is executed, the device where the computer-readable storage medium is located is controlled to execute the robot error compensation method according to any one of claims 1 to 6.

10. An electronic device, characterized in that: include: One or more processors, a memory, and one or more programs, wherein the one or more programs are stored in the memory and are configured to be executed by the one or more processors, and the one or more programs include an error compensation method for executing the robot described in any one of claims 1 to 6.

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