Robot-based cooperative target six-dimensional pose full-automatic positioning method and system

Abstract

The application provides a kind of robot-based cooperative target six-dimensional pose full-automatic positioning method and system, comprising: establishing hand-eye coordinate relationship step: through the switching of tool coordinate system and vision sensor coordinate system, the hand-eye coordinate relationship of robot is established;Leveling step: the plane normal is measured and adjusted by cooperative target plane normal measurement device;Wherein, the measurement and adjustment process is a full-automatic process;Establishing initial workpiece coordinate system step: the initial workpiece coordinate system of cooperative target is established by using cooperative target plane normal measurement device;Adjustment step: adjust the posture and position of vision sensor photographing;Photographing step: photographing is carried out by using the vision sensor after the adjustment step, and the surface workpiece coordinate system of cooperative target is calculated;Positioning step: the surface workpiece coordinate system of cooperative target is established according to the photographing result, and the full-automatic positioning of cooperative target six-dimensional pose is completed.The application can be fully automatically operated, the result is accurate, the efficiency is high, and the operation is simple.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of industrial robot calibration, in particular to a robot-based cooperative target six-dimensional pose full-automatic positioning method and system, and especially to a robot vision posture adjustment method based on normal leveling. BACKGROUND

[0002] At present, mobile robot automatic hole making systems have been gradually applied in the manufacturing field of automobiles and the like. In the hole making robot system, the position of the hole making position of each vehicle relative to the position of the robot coordinate system is variable, and the main reasons are as follows: 1. It is difficult to accurately position the driver when parking. 2. The chassis welding process causes the shape and size of the chassis itself to change. 3. The chassis is installed in an independent suspension type, and due to the tire pressure, there is a certain degree of height difference between the girder planes of different vehicles. 4. The chassis assembly process is mainly manual, and it is difficult to ensure the consistency of the installation size and position of each installation component of the chassis.

[0003] For small cars, the machining accurate positioning of the vehicle can be realized by AGV, but for large trucks, AGV is expensive, the system is complex, and the equipment maintenance is troublesome.

[0004] Patent document publication number CN113246135B discloses a robot hand-eye calibration method and device, electronic equipment and storage medium, by making the robot end translate between at least four first position points; at each first position point, the first coordinates of the TCP marker in the vision sensor coordinate system and the first position of the robot end flange coordinate system relative to the robot base coordinate system are obtained; the rotation transformation matrix between the robot base coordinate system and the vision sensor coordinate system is calculated according to the first coordinates and the first position; the robot end is moved to at least one second position point; at each second position point, the second coordinates of the TCP marker collected by the vision sensor in the vision sensor coordinate system and the second pose of the robot end flange coordinate system relative to the robot base coordinate system are obtained; the position transformation matrix between the robot base coordinate system and the vision sensor coordinate system is calculated according to the second coordinates, the second pose and the rotation transformation matrix; thereby the automation of the calibration process can be realized, and the work efficiency is improved.

[0005] However, the patent cannot establish an accurate coordinate system, so there is an urgent need for a robot-based cooperative target six-dimensional pose full-automatic positioning method and system SUMMARY

[0006] In view of the defects in the prior art, the purpose of the present application is to provide a robot-based cooperative target six-dimensional pose full-automatic positioning method and system.

[0007] According to the robot-based cooperative target six-dimensional pose full-automatic positioning method provided by the present application, the following steps are included:

[0008] establishing a hand-eye coordinate relationship step: through switching of the tool coordinate system and the vision sensor coordinate system, a robot hand-eye coordinate relationship is established;

[0009] leveling step: a measurement plane normal is measured and adjusted by a cooperative target plane normal measurement device; wherein the measurement and adjustment process is a fully automatic process;

[0010] establishing an initial workpiece coordinate system step: a cooperative target initial workpiece coordinate system is established by using the cooperative target plane normal measurement device;

[0011] adjustment step: adjusting a vision sensor photographing posture and position;

[0012] photographing step: photographing is performed by using the vision sensor after the adjustment step, and a cooperative target surface workpiece coordinate system is calculated;

[0013] positioning step: a cooperative target surface workpiece coordinate system is established according to the photographing result, and full-automatic positioning of a cooperative target six-dimensional pose is completed.

[0014] Preferably, the establishing a hand-eye coordinate relationship step comprises:

[0015] establishing a coordinate system step: three laser displacement sensors are arranged around a hole-making robot tool, and a robot tool coordinate system O t X t Y t Z t is established by using a robot "4-point method" and "2-point method"; a sharp-point tooling is installed below a vision sensor light source, a sharp-point tooling center axis is ensured to be coaxial with a vision sensor optical axis center line, and a robot vision sensor coordinate system O c X c Y c Z c is established by using the "4-point method" and "2-point method";

[0016] switching step: O t X t Y t Z t and O c X c Y c Z c are switched in the robot tool coordinate system, and a robot hand-eye coordinate relationship is obtained.

[0017] Preferably, the leveling step comprises:

[0018] motion step: a robot teaching trajectory is executed to move to a target plane vicinity area; wherein a teaching program does not require position and posture accuracy;

[0019] Computing step: send the measurement value of the cooperative target plane normal measurement device to the computing program in real time, calculate the coordinate system O t X t Y t Z t The angle and distance with the surface of the cooperative target;

[0020] Adjusting angle step: adjust the posture of the robot through the angle between the coordinate system and the surface of the cooperative target, so that the tool coordinate system O t X t Y t Z t Perpendicular to the surface of the cooperative target;

[0021] Recording step: after adjusting the posture of the robot, record the current tool coordinate system O t X t Y t Z t The coordinates (X1, Y1, Z1, A1, B1, C1) in the robot root coordinate system and the perpendicular distance H of the tool coordinate system to the surface of the cooperative target.

[0022] Preferably, the step of establishing the initial workpiece coordinate system comprises:

[0023] Reading step: read the coordinates (X 1, Y 1, Z 1, A1, B1, C1) and the perpendicular distance H in the recording step;

[0024] Conversion step: obtain the coordinates (X2, Y2, Z2) of the initial coordinate system of the cooperative target in the robot root coordinate system according to the coordinate transformation;

[0025] Euler angle derivation step: derive the Euler angle of the initial coordinate system of the cooperative target by using the mutual relationship between the tool coordinate system and the surface of the cooperative target;

[0026] Establishing the initial coordinate system of the cooperative target step: establish the initial workpiece coordinate system O b1 X b1 Y b1 Z b1 .

[0027] Preferably, the adjusting step comprises:

[0028] Posture adjusting step: adjust the posture angle of the robot, so that the visual sensor coordinate system O b1 X b1 Y b1 Z b1 is perpendicular to the surface of the cooperative target.c X c Y c Z c With C=0 and B=0, the optical axis of the visual sensor is perpendicular to the surface of the target.

[0029] Position adjustment steps: After adjusting the posture of the vision sensor, adjust the position of the vision sensor to the fixed height for taking pictures. At this point, the posture and position of the vision sensor are within the allowable range, which can ensure clear pictures.

[0030] The positioning steps include:

[0031] Steps to establish a planar coordinate system: Take a picture using a vision sensor to acquire an image, select appropriate geometric elements based on the image properties, and establish a planar coordinate system for the image in the vision sensor coordinate system;

[0032] The photo-taking steps include:

[0033] Reading steps: Obtain the XY coordinates of the origin of the workpiece coordinate system on the cooperative target surface in the visual sensor coordinate system by taking a picture. Calculate the Z coordinate of the origin in the visual sensor coordinate system based on a fixed image height. Read the coordinates (X, Y, Z) of the visual sensor coordinate system in the robot's root coordinate system at this point. c Y c Z c A c B c C c );

[0034] Transformation steps: Obtain the coordinates (X4, Y4, Z4) of the origin in the robot root coordinate system based on the robot coordinate transformation matrix; obtain the angle A3 between the coordinate system of the workpiece on the cooperative target surface and the coordinate system of the vision sensor based on the line connecting the origin and the object photographed by the vision sensor; obtain the Euler angles (A4, B4, C4) of the workpiece on the cooperative target surface in the robot root coordinate system based on the inverse Euler angle formula.

[0035] Steps for establishing the coordinate system of the target surface workpiece: Based on the coordinates and Euler angles obtained in the transformation step, establish the coordinate system of the target surface workpiece (X4, Y4, Z4, A4, B4, C4);

[0036] The positioning steps include:

[0037] The root coordinate system transformation step is as follows: The image is transformed from the planar coordinate system under the vision sensor coordinate system to the robot root coordinate system through coordinate transformation to complete the fully automatic localization of the six-dimensional pose of the cooperative target; where Z is the camera capture height, B and C are the camera attitude angles, and A is the angle between the workpiece coordinate system on the cooperative target surface and the vision sensor coordinate system.

[0038] A robot-based cooperative target six-dimensional pose full-automatic positioning system, comprising:

[0039] A hand-eye coordinate relationship establishing module: a robot hand-eye coordinate relationship is established through switching of a tool coordinate system and a vision sensor coordinate system;

[0040] A leveling module: a plane normal is measured and adjusted through a cooperative target plane normal measuring device; wherein the measuring and adjusting process is a full-automatic process;

[0041] An initial workpiece coordinate system establishing module: a cooperative target initial workpiece coordinate system is established by using the cooperative target plane normal measuring device;

[0042] An adjusting module: a vision sensor photographing posture and position are adjusted;

[0043] A photographing module: photographing is performed by using the vision sensor after the adjusting module, and a cooperative target surface workpiece coordinate system is calculated;

[0044] A positioning module: a cooperative target surface workpiece coordinate system is established according to a photographing result, and full-automatic positioning of a cooperative target six-dimensional pose is completed.

[0045] Preferably, the hand-eye coordinate relationship establishing module comprises:

[0046] A coordinate system establishing module: three laser displacement sensors are arranged around a hole-making robot tool, and a robot tool coordinate system O t X t Y t Z t is established by using a robot "4-point method" and "2-point method"; a sharp-point tooling is installed below a vision sensor light source, a sharp-point tooling center axis is coaxial with a vision sensor optical axis center line, and a robot vision sensor coordinate system O c X c Y c Z c is established by using the "4-point method" and "2-point method";

[0047] A switching module: O t X t Y t Z t and O c X c Y c Z c are switched in the robot tool coordinate system, and a robot hand-eye coordinate relationship is obtained.

[0048] Preferably, the leveling module comprises:

[0049] Motion module: execute robot teaching trajectory motion to the target plane near the region; wherein, the teaching program does not require position and attitude accuracy;

[0050] Calculation module: send the measurement value of the cooperative target plane normal measurement device to the calculation program in real time, calculate the tool coordinate system O t X t Y t Z t The angle and distance with the cooperative target surface;

[0051] Adjust the angle module: adjust the robot posture by the angle between the coordinate system and the cooperative target surface, so that the tool coordinate system O t X t Y t Z t Perpendicular to the cooperative target surface;

[0052] Recording module: record the current tool coordinate system O t X t Y t Z t In the robot root coordinate system (X1, Y1, Z1, A1, B1, C1) and the perpendicular distance H of the tool coordinate system and the cooperative target surface.

[0053] Preferably, the initial workpiece coordinate system establishing module comprises:

[0054] Reading module: read the coordinates (X 1, Y 1, Z 1, A1, B1, C1) and the perpendicular distance H in the recording module;

[0055] Conversion module: get the coordinates (X2, Y2, Z2) of the cooperative target initial coordinate system in the robot root coordinate system according to the coordinate transformation;

[0056] Get Euler angle module: get the Euler angle of the cooperative target initial coordinate system by the relationship between the tool coordinate system and the cooperative target surface;

[0057] Establish the cooperative target initial coordinate system module: establish the cooperative target initial workpiece coordinate system O b1 X b1 Y b1 Z b1 .

[0058] Preferably, the adjustment module comprises:

[0059] Posture adjustment module: adjust the posture angle of the robot, so that the vision sensor is perpendicular to the surface of the cooperative target in the initial workpiece coordinate system O b1 X b1 Y b1 Z b1 Lower vision sensor coordinate system O c X c Y c Z c C=0, B=0, so that the optical axis of the vision sensor is perpendicular to the surface of the cooperative target;

[0060] Position adjustment module: after adjusting the posture of the vision sensor, adjust the position of the vision sensor to the fixed height for shooting. At this point, the posture and position of the vision sensor are within the allowed range, which can ensure clear shooting;

[0061] The positioning module comprises:

[0062] Establishing a planar coordinate system module: obtaining an image by shooting with a vision sensor, selecting appropriate geometric elements according to the properties of the image, and establishing a planar coordinate system of the image in the vision sensor coordinate system;

[0063] The shooting module comprises:

[0064] Reading module: obtaining the XY coordinates of the origin of the workpiece coordinate system of the surface of the cooperative target in the vision sensor coordinate system by shooting with a vision sensor, calculating the Z coordinate of the origin in the vision sensor coordinate system from the fixed shooting height, and reading the coordinates (X c , Y c , Z c , A c , B c , C c ) of the vision sensor coordinate system in the robot root coordinate system at this time;

[0065] Conversion module: obtaining the coordinates (X4, Y4, Z4) of the origin in the robot root coordinate system according to the robot coordinate conversion matrix; obtaining the included angle A3 between the workpiece coordinate system of the surface of the cooperative target and the vision sensor coordinate system according to the line connecting the origin and the shooting object of the vision sensor; and obtaining the Euler angles (A4, B4, C4) of the workpiece coordinate system of the surface of the cooperative target in the robot root coordinate system according to the inverse Euler angle formula;

[0066] Establishing a workpiece coordinate system of the surface of the cooperative target module: establishing the workpiece coordinate system (X4, Y4, Z4, A4, B4, C4) of the surface of the cooperative target according to the coordinates and Euler angles obtained by the conversion module;

[0067] The positioning module comprises:

[0068] The conversion root coordinate system module converts the planar coordinate system of the image under the vision sensor coordinate system to the robot root coordinate system through coordinate conversion, and completes the full-automatic positioning of the six-dimensional pose of the cooperative target;The Z value is the camera shooting height, the B and C angles are the attitude angles of the camera, and A is the included angle between the cooperative target surface workpiece coordinate system and the vision sensor coordinate system.

[0069] Compared with the prior art, the present application has the following beneficial effects:

[0070] 1、The present application calibrates the hand-eye relationship between the robot tool coordinate system and the vision sensor coordinate system according to the "4-point method" and "2-point method" of the robot workpiece coordinate system itself, which is simple and effective, and avoids the cumbersome process during calibration using a laser interferometer.

[0071] 2、The present application can realize automatic leveling and height automatic adjustment of the vision sensor shooting according to the normal leveling, can guarantee the clarity and measurement accuracy of the shooting, realize the automation of the entire processing process, and can adapt to different cooperative target surfaces. BRIEF DESCRIPTION OF DRAWINGS

[0072] Other features, objects and advantages of the present application will become more apparent from the following detailed description of non-limiting embodiments with reference to the attached drawings:

[0073] Figure 1 The flow chart for the full-automatic positioning of the six-dimensional pose of the cooperative target;

[0074] Figure 2 The schematic diagram of the hole-making robot workstation system;

[0075] Figure 3 The tool coordinate system and vision sensor coordinate system diagram;

[0076] Figure 4 The normal leveling flow chart schematic diagram. DETAILED DESCRIPTION

[0077] The present application will be described in detail below with reference to specific embodiments. The following embodiments will help those skilled in the art to further understand the present application, but do not limit the present application in any form. It should be pointed out that, for those skilled in the art, without departing from the concept of the present application, a number of changes and improvements can be made. These all belong to the protection scope of the present application.

[0078] Example 1

[0079] As Figures 1-4 shown, the present embodiment provides a robot-based full-automatic positioning method for the six-dimensional pose of a cooperative target, comprising:

[0080] The step of establishing the hand-eye coordinate relationship: the hand-eye coordinate relationship of the robot is established through switching of the tool coordinate system and the vision sensor coordinate system; the step of establishing the hand-eye coordinate relationship specifically comprises the following steps:

[0081] The step of establishing the coordinate system: three laser displacement sensors are arranged around the tool of the hole-making robot, and the robot tool coordinate system O t X t Y t Z t is established by using the "4-point method" and the "2-point method"; a sharp-point tool is installed below the light source of the vision sensor, the central axis of the sharp-point tool is coaxial with the central line of the optical axis of the vision sensor, and the robot vision sensor coordinate system O c X c Y c Z c is established by using the "4-point method" and the "2-point method"; the "4-point method" represents a method for establishing the tool coordinate system of the robot, a reference point is determined near the robot, the posture of the robot is controlled to align the tool center point with the reference point, the above steps are repeated three times, the posture of the robot is changed to align the tool center point with the same reference point, an equation group is established and solved on the condition that the coordinates of the tool center point in the world coordinate system are equal four times, and thus the establishment of the position of the tool coordinate system is realized; the "2-point method" represents that, on the basis of the 4-point method, if the tool coordinate system is subjected to posture transformation, the tool center point is moved from the reference point to the x direction of the tool coordinate system to be set at the fifth point, and the tool center point is moved from the reference point to the z direction of the tool coordinate system to be set at the sixth point, and thus the establishment of the posture of the tool coordinate system is realized; the posture taking point has an x and y direction taking point method and an x and z direction taking point method, and is determined according to different types of robots;

[0082] The switching step: O t X t Y t Z t and O c X c Y c Z c are switched in the robot tool coordinate system, and the hand-eye coordinate relationship of the robot is obtained; the hand-eye coordinate relationship of the robot: "hand" refers to the tool coordinate system established by the currently installed tool of the robot; "eye" refers to the tool coordinate system established by the vision sensor as a tool, and the hand-eye coordinate relationship is the transformation matrix between the two coordinate systems.

[0083] The leveling step: the normal line of the measurement plane is measured and adjusted by the cooperative target plane normal line measurement device; the measurement and adjustment process is an automatic process; the leveling step specifically comprises the following steps:

[0084] Motion step: execute the robot teaching trajectory to move to the area near the target plane; wherein the teaching program does not require position and attitude accuracy;

[0085] Calculation step: send the measurement value of the cooperative target plane normal measurement device to the calculation program in real time, and calculate the tool coordinate system O t X t Y t Z t The angle and distance with the cooperative target surface;

[0086] Adjust the angle step: adjust the robot attitude by the angle between the coordinate system and the cooperative target surface, so that the tool coordinate system O t X t Y t Z t Perpendicular to the cooperative target surface;

[0087] Recording step: record the current tool coordinate system O t X t Y t Z t In the robot root coordinate system (X1, Y1, Z1, A1, B1, C1) and the perpendicular distance H of the tool coordinate system and the cooperative target surface.

[0088] Establishing an initial workpiece coordinate system step: establishing a cooperative target initial workpiece coordinate system by using a cooperative target plane normal measurement device; the establishing an initial workpiece coordinate system step specifically includes the following:

[0089] Reading step: read the coordinates (X 1, Y 1, Z 1, A1, B1, C1) and the perpendicular distance H in the recording step;

[0090] Conversion step: obtain the coordinates (X2, Y2, Z2) of the cooperative target initial coordinate system in the robot root coordinate system according to the coordinate transformation; the robot root coordinate system: fixed at the center of the robot base, that is, the robot origin, and functions as the basic coordinate system for internal coordinate transformation of the robot;

[0091] Euler angle obtaining step: obtain the Euler angle of the cooperative target initial coordinate system by using the mutual relationship between the tool coordinate system and the cooperative target surface;

[0092] Cooperative target initial coordinate system establishing step: establish the cooperative target initial workpiece coordinate system O b1 X b1 Y b1 Z b1 .

[0093] Adjusting the posture and position of the vision sensor; the adjusting step specifically includes the following steps:

[0094] Adjusting the posture angle of the robot, so that the vision sensor is perpendicular to the surface of the cooperative target, and the C=0 and B=0 of the vision sensor coordinate system O b1 X b1 Y b1 Z b1 of the vision sensor coordinate system O c X c Y c Z c of the vision sensor coordinate system O

[0095] Adjusting the position of the vision sensor to a fixed height for photographing after adjusting the posture of the vision sensor; at this point, the posture and position of the vision sensor are within the allowable range, which can ensure clear photographing.

[0096] Photographing by using the vision sensor after the adjusting step, and calculating the workpiece coordinate system of the surface of the cooperative target; the photographing step specifically includes the following steps:

[0097] Reading the XY coordinates of the origin of the workpiece coordinate system of the surface of the cooperative target in the vision sensor coordinate system through photographing by the vision sensor, calculating the Z coordinate of the origin in the vision sensor coordinate system from the fixed photographing height, and reading the coordinates (X c , Y c , Z c , A c , B c , C c ) of the vision sensor coordinate system in the robot root coordinate system at this time;

[0098] Converting the coordinates (X4, Y4, Z4) of the origin in the robot root coordinate system according to the robot coordinate conversion matrix; obtaining the included angle A3 between the workpiece coordinate system of the surface of the cooperative target and the vision sensor coordinate system according to the line connecting the origin and the photographing object of the vision sensor, and obtaining the Euler angles (A4, B4, C4) of the workpiece coordinate system of the surface of the cooperative target in the robot root coordinate system according to the inverse Euler angle formula;

[0099] Establishing the workpiece coordinate system of the surface of the cooperative target according to the coordinates and Euler angles obtained in the converting step.

[0100] Positioning according to the photographing result to establish the workpiece coordinate system of the surface of the cooperative target, and completing the full-automatic positioning of the six-dimensional pose of the cooperative target; the positioning step specifically includes the following steps:

[0101] The step of establishing a plane coordinate system: an image is obtained by photographing through a visual sensor, and a plane coordinate system of the image in the visual sensor coordinate system is established according to the image properties and by selecting appropriate geometric elements;

[0102] The step of converting a root coordinate system: the plane coordinate system of the image in the visual sensor coordinate system is converted to a robot root coordinate system through coordinate transformation, and full-automatic positioning of the six-dimensional pose of the cooperative target is completed; wherein, the Z value is the photographing height of the camera, the B and C angles are the attitude angles of the camera, and A is the included angle between the workpiece coordinate system of the surface of the cooperative target and the visual sensor coordinate system.

[0103] The application also provides a robot-based full-automatic positioning system for the six-dimensional pose of a cooperative target, which can be realized by executing the flow steps of the robot-based full-automatic positioning method for the six-dimensional pose of a cooperative target, that is, the robot-based full-automatic positioning method for the six-dimensional pose of a cooperative target can be understood by those skilled in the art as the preferred implementation of the robot-based full-automatic positioning system for the six-dimensional pose of a cooperative target.

[0104] Example 2

[0105] The embodiment provides a robot-based full-automatic positioning system for the six-dimensional pose of a cooperative target, which comprises:

[0106] The module of establishing a hand-eye coordinate relationship: a robot hand-eye coordinate relationship is established through switching of a tool coordinate system and a visual sensor coordinate system; the module of establishing a hand-eye coordinate relationship specifically comprises the following modules:

[0107] The module of establishing a coordinate system: three laser displacement sensors are arranged around a tool of a hole-making robot, and a robot tool coordinate system O t X t Y t Z t is established by using a “4-point method” and a “2-point method”; a sharp-point tool is installed below a light source of the visual sensor, a central axis of the sharp-point tool is coaxial with a central axis of the light source of the visual sensor, and a robot visual sensor coordinate system O c X c Y c Z c is established by using the “4-point method” and the “2-point method” again.

[0108] The switching module: O t X t Y t Z t and O c X c Y c Z c, to obtain the robot hand-eye coordinate relationship.

[0109] Leveling module: measuring the plane normal by the cooperative target plane normal measuring device and adjusting; wherein the measuring and adjusting process is a fully automatic process; the leveling module specifically includes the following modules:

[0110] Motion module: executing the robot teaching trajectory motion to the target plane near area; wherein the teaching program does not require position and attitude accuracy;

[0111] Calculation module: sending the measurement value of the cooperative target plane normal measuring device to the calculation program in real time, and calculating the tool coordinate system O t X t Y t Z t and the angle and distance with the cooperative target surface;

[0112] Adjust the angle module: adjust the robot attitude by the angle between the coordinate system and the cooperative target surface, so that the tool coordinate system O t X t Y t Z t is perpendicular to the cooperative target surface;

[0113] Recording module: after adjusting the robot attitude, record the current tool coordinate system O t X t Y t Z t and the perpendicular distance H of the tool coordinate system and the cooperative target surface in the robot root coordinate system (X1, Y1, Z1, A1, B1, C1).

[0114] Establishing an initial workpiece coordinate system module: establishing a cooperative target initial workpiece coordinate system by using a cooperative target plane normal measuring device; the establishing an initial workpiece coordinate system module specifically includes the following modules:

[0115] Reading module: reading the coordinates (X 1, Y 1, Z 1, A1, B1, C1) and the perpendicular distance H in the recording module;

[0116] Conversion module: obtaining the coordinates (X2, Y2, Z2) of the cooperative target initial coordinate system in the robot root coordinate system according to the coordinate transformation;

[0117] Euler angle module: obtaining the Euler angle of the cooperative target initial coordinate system by using the mutual relationship between the tool coordinate system and the cooperative target surface;

[0118] Module for establishing the initial coordinate system of the cooperative target: Using the transformation module and the Euler angles generation module, the initial workpiece coordinate system O of the cooperative target is established (X2, Y2, Z2, A2, B2, C2). b1 X b1 Y b1 Z b1 .

[0119] Adjustment module: Adjusts the posture and position of the vision sensor when taking pictures; the adjustment module specifically includes the following modules:

[0120] Attitude adjustment module: Adjusts the robot's attitude angle so that it is aligned with the initial workpiece coordinate system O of the cooperative target. b1 X b1 Y b1 Z b1 Lower vision sensor coordinate system O c X c Y c Z c With C=0 and B=0, the optical axis of the visual sensor is perpendicular to the surface of the target.

[0121] Position adjustment module: After adjusting the posture of the vision sensor, the position of the vision sensor is adjusted to the fixed height for taking pictures. At this point, the posture and position of the vision sensor are within the allowable range, which can ensure clear pictures.

[0122] The image capture module takes pictures using a vision sensor with an adjusted module and calculates the coordinate system of the workpiece on the target surface. The image capture module specifically includes the following modules:

[0123] Reading module: This module acquires the XY coordinates of the origin of the workpiece coordinate system on the cooperative target surface in the visual sensor coordinate system by taking a picture. It then calculates the Z coordinate of the origin in the visual sensor coordinate system based on a fixed image height, and reads the coordinates (X, Y, Z) of the visual sensor coordinate system in the robot's root coordinate system at this point. c Y c Z c A c B c C c );

[0124] Transformation module: Obtain the coordinates (X4, Y4, Z4) of the origin in the robot root coordinate system based on the robot coordinate transformation matrix; obtain the angle A3 between the coordinate system of the workpiece on the cooperative target surface and the coordinate system of the vision sensor based on the line connecting the origin and the object photographed by the vision sensor; obtain the Euler angles (A4, B4, C4) of the workpiece on the cooperative target surface in the robot root coordinate system based on the inverse Euler angle formula.

[0125] A module of establishing a cooperative target surface workpiece coordinate system: a cooperative target surface workpiece coordinate system (X4, Y4, Z4, A4, B4, C4) is established according to the coordinates and Euler angles obtained by the conversion module.

[0126] A positioning module: a cooperative target six-dimensional pose is automatically positioned according to the photographing result; the positioning module specifically includes the following modules:

[0127] A module of establishing a plane coordinate system: an image is obtained by photographing through a visual sensor, and a plane coordinate system of the image in a visual sensor coordinate system is established according to the image properties and by selecting appropriate geometric elements;

[0128] A conversion root coordinate system module: the plane coordinate system of the image in the visual sensor coordinate system is converted to a robot root coordinate system through coordinate transformation, and the cooperative target six-dimensional pose is automatically positioned; wherein, the Z value is the photographing height of the camera, the B and C angles are the attitude angles of the camera, and A is the included angle between the cooperative target surface workpiece coordinate system and the visual sensor coordinate system.

[0129] Example 3

[0130] Those skilled in the art can understand this embodiment as a more specific description of Embodiment 1 and Embodiment 2.

[0131] This embodiment provides a robot visual pose adjustment method based on normal leveling, and belongs to the technical field of industrial robot calibration. Figure 2 As shown in the figure, the method first calibrates a robot hole-making executor tool coordinate system O t X t Y t Z t and a visual sensor coordinate system O c X c Y c Z c Then, 3 laser displacement sensors are used to measure the relationship between the 2 angles B and C and the distance H between the cooperative target surface and the tool coordinate system O t X t Y t Z t An initial workpiece coordinate system O b1 X b1 Y b1 Z b1 is established, and then the robot is converted to a visual photographing teaching pose, and the visual sensor coordinate system O c X c Y c Z c is established in the initial workpiece coordinate system O b1 X b1 Yb1 Z b1 C and B are adjusted to zero respectively and the value of Z is adjusted to a fixed value, so that the visual sensor optical axis is parallel to the normal of the machining surface, and then two mark points on the cooperative target surface are photographed, and a coordinate transformation is performed according to the photographed results to establish a workpiece coordinate system O b2 X b2 Y b2 Z b2 , for guiding the drill to perform hole machining.

[0132] Step one: establish the hand-eye coordinate relationship of the hole machining robot.

[0133] Three laser displacement sensors are arranged around the tool of the hole machining robot, and the robot "4-point method" and "2-point method" are used to calibrate the tool coordinate system O t X t Y t Z t of the hole machining robot; a sharp point tool is installed below the light source of the visual sensor, the center axis of the sharp point tool is coaxial with the center line of the optical axis of the visual sensor, and the "4-point method" and "2-point method" are also used to establish the visual sensor coordinate system O c X c Y c Z c of the hole machining robot; the hand-eye coordinate relationship of the robot is obtained by switching O t X t Y t Z t and O c X c Y c Z c in the tool coordinate system of the robot. An example is shown in Figure 3 .

[0134] Step two: the hole machining robot executes the laser normal leveling program.

[0135] The hole machining robot executes the laser normal leveling teaching program, moves to the area to be machined, and obtains the included angle B, C and the distance H of the tool coordinate system O t X t Y t Z t with the cooperative target surface through the distance relationship of the three laser displacement sensors with the cooperative target surface, adjusts the posture to make the tool coordinate system O t X t Y t Z t perpendicular to the cooperative target surface with a tolerance of 0.5°, and records the current tool coordinate system O t X t Y t Zt The coordinates (X1, Y1, Z1, A1, B1, C1) in the robot root coordinate system and the perpendicular distance H of the tool coordinate system and the cooperative target surface are leveled by the normal, and the robot returns to the Home point. The normal leveling process is as shown in Figure 1 .

[0136] Step three: establish the initial workpiece coordinate system O b1 X b1 Y b1 Z b1 .

[0137] Read the tool coordinate system O t X t Y t Z t The coordinates (X1, Y1, Z1, A1, B1, C1) in the robot root coordinate system and the displacement H of the laser ranging, according to the coordinate transformation, get the initial workpiece coordinate system of the cooperative target surface in the robot root coordinate system (X2, Y2, Z2)

[0138]

[0139] According to the parallel between the tool coordinate system and the cooperative target surface, the Euler angles of the initial workpiece coordinate system of the work surface are obtained: A2=A1; B2=B1; C2=C1. With this coordinate (X2, Y2, Z2, A2, B2, C2), the initial workpiece coordinate system O b1 X b1 Y b1 Z b1 .

[0140] Step four: the robot executes the visual sensor photographing posture adjustment subroutine.

[0141] The robot runs from the Home point to the initial position of the robot photographing, and the robot workpiece coordinate system is switched to the initial workpiece coordinate system O b1 X b1 Y b1 Z b1 The tool coordinate system is switched to the visual sensor coordinate system O c X c Y c Z c , adjust C and B angles in turn, so that in the initial workpiece coordinate system O b1 X b1 Y b1 Z b1 The visual sensor coordinate system O c X c Y c Z cC=0, B=0, and then adjust the Z value so that the visual sensor position is adjusted to the fixed height of the photograph, ensuring that the visual sensor optical axis is perpendicular to the surface of the cooperative target, and the fixed height ensures clear photography.

[0142] Step five: the visual sensor takes a photograph and calculates the workpiece coordinate system of the surface of the cooperative target;

[0143] The visual sensor photographing program is called, and the visual sensor photographing object is two marker points. The workpiece coordinate system of the surface of the cooperative target takes marker point 1 as the origin, and the line connecting marker points 1 and 2 is the Y-axis direction. The XY coordinates (X3, Y3) of marker point 1 in the visual sensor coordinate system are obtained through visual sensor photography. Since the photographing height is fixed, the Z coordinate Z3 of marker point 1 in the visual sensor coordinate system can be calculated. The coordinates (X c , Y c , Z c , A c , B c , C c ) of the visual sensor coordinate system in the robot root coordinate system are read at this time. According to the robot coordinate conversion matrix, the coordinates (X4, Y4, Z4) of marker point 1 in the robot root coordinate system can be obtained.

[0144]

[0145] According to the line connecting the marker points, the included angle A3 between the workpiece coordinate system of the surface of the cooperative target and the visual sensor coordinate system can be obtained. According to the inverse Euler angle formula, the Euler angles (A4, B4, C4) of the workpiece coordinate system of the surface of the cooperative target in the robot root coordinate system can be obtained.

[0146]

[0147] T=T1*T2

[0148]

[0149] A4=atan2(T(2,1),T(1,1))

[0150] B4=atan2(-T(3,1),k)

[0151] C4=atan2(T(3,2),T(3,3))

[0152] Thus, the workpiece coordinate system of the surface of the cooperative target (X4, Y4, Z4, A4, B4, C4) can be established.

[0153] Step six: the robot executes the hole making program.

[0154] The robot runs to the hole-making teaching position, first performs normal leveling, then switches the workpiece coordinate system to the cooperative target surface workpiece coordinate system (X4, Y4, Z4, A4, B4, C4), reads the corresponding position coordinates in the database, and moves the tool coordinate system to the corresponding coordinates.

[0155] The embodiment also provides a robot-based cooperative target six-dimensional pose full-automatic positioning system, which can be realized by executing the process steps of the robot-based cooperative target six-dimensional pose full-automatic positioning method, i.e., the robot-based cooperative target six-dimensional pose full-automatic positioning method can be understood by those skilled in the art as a preferred implementation of the XX system.

[0156] A robot-based cooperative target six-dimensional pose full-automatic positioning system comprises:

[0157] A hand-eye coordinate relationship establishing module: a robot hand-eye coordinate relationship is established through switching of a tool coordinate system and a vision sensor coordinate system; a leveling module: a plane normal is measured and adjusted by using a cooperative target plane normal measurement device; wherein the measurement and adjustment process is a full-automatic process; an initial workpiece coordinate system establishing module: a cooperative target initial workpiece coordinate system is established by using the cooperative target plane normal measurement device; an adjustment module: a vision sensor photographing posture and position are adjusted;

[0158] A photographing module: photographing is performed by using the vision sensor after the adjustment module, and a cooperative target surface workpiece coordinate system is calculated; a positioning module: a cooperative target surface workpiece coordinate system is established according to the photographing result, and full-automatic positioning of a cooperative target six-dimensional pose is completed.

[0159] Specifically, the hand-eye coordinate relationship establishing module comprises: a coordinate system establishing module: three laser displacement sensors are arranged around a hole-making robot tool, and a robot tool coordinate system O t X t Y t Z t A sharp-point tool is installed below a vision sensor light source, a sharp-point tool center axis is coaxial with a vision sensor optical axis center line, and a robot vision sensor coordinate system O c X c Y c Z c is switched in the robot tool coordinate system to O t X t Y t Z t and O c X c Y c Zc , get the robot hand-eye coordinate relationship.

[0160] Specifically, the leveling module comprises: a motion module: executing robot teaching trajectory motion to the target plane vicinity area; wherein, the teaching program does not require position and attitude accuracy; a calculation module: sending the measurement value of the cooperative target plane normal measurement device to the calculation program in real time, calculating the tool coordinate system O t X t Y t Z t and the angle and distance of the cooperative target surface; an angle adjustment module: adjusting the robot attitude through the angle between the coordinate system and the cooperative target surface, so that the tool coordinate system O t X t Y t Z t is perpendicular to the cooperative target surface; a recording module: recording the coordinates (X1, Y1, Z1, A1, B1, C1) in the robot root coordinate system and the perpendicular distance H of the tool coordinate system and the cooperative target surface after adjusting the robot attitude. t X t Y t Z t .

[0161] Specifically, the initial workpiece coordinate system establishing module comprises: a reading module: reading the coordinates (X 1, Y 1, Z 1, 1, B1, C1) and the perpendicular distance H in the recording module; a conversion module: obtaining the coordinates (X2, Y2, Z2) of the cooperative target initial coordinate system in the robot root coordinate system according to coordinate transformation; an Euler angle obtaining module: obtaining the Euler angle of the cooperative target initial coordinate system by using the mutual relationship between the tool coordinate system and the cooperative target surface; a cooperative target initial workpiece coordinate system establishing module: establishing the cooperative target initial workpiece coordinate system O b1 X b1 Y b1 Z b1 .

[0162] Specifically, the adjusting module comprises: an attitude adjusting module: adjusting the robot attitude angle, so that the vision sensor coordinate system O b1 X b1 Y b1 Z b1 is perpendicular to the cooperative target surface in the cooperative target initial workpiece coordinate system O c X c Y c Z cC=0, B=0, so that the visual sensor optical axis is perpendicular to the cooperative target surface; the position adjustment module: after adjusting the visual sensor posture, the visual sensor position is adjusted to the fixed height for shooting, thus the posture and position of the visual sensor are within the allowed range, which can ensure clear shooting;

[0163] The positioning module comprises: a plane coordinate system establishment module: an image is acquired by shooting with the visual sensor, and a plane coordinate system of the image in the visual sensor coordinate system is established according to the image properties and proper geometric elements are selected;

[0164] The shooting module comprises: a reading module: the XY coordinates of the origin of the cooperative target surface workpiece coordinate system in the visual sensor coordinate system are acquired by shooting with the visual sensor, the Z coordinate of the origin in the visual sensor coordinate system is calculated according to the fixed shooting height, and the coordinates (X c , Y c , Z c , A c , B c , C c ) of the visual sensor coordinate system in the robot root coordinate system are read; a conversion module: the coordinates (X4, Y4, Z4) of the origin in the robot root coordinate system are obtained according to the robot coordinate conversion matrix; the angle A3 between the cooperative target surface workpiece coordinate system and the visual sensor coordinate system is obtained according to the line connecting the origin and the shooting object of the visual sensor; the Euler angles (A4, B4, C4) of the cooperative target surface workpiece coordinate system in the robot root coordinate system are obtained according to the inverse Euler angle formula; a cooperative target surface workpiece coordinate system establishment module: the coordinates and the Euler angles obtained by the conversion module are used to establish the cooperative target surface workpiece coordinate system (X4, Y4, Z4, A4, B4, C4);

[0165] The positioning module comprises: a conversion root coordinate system module: the plane coordinate system of the image in the visual sensor coordinate system is converted to the robot root coordinate system through coordinate transformation, and the full-automatic positioning of the six-dimensional pose of the cooperative target is completed; wherein the Z value is the shooting height of the camera, the angles B and C are the posture angles of the camera, and A is the angle between the cooperative target surface workpiece coordinate system and the visual sensor coordinate system.

[0166] Those skilled in the art know that, in addition to implementing the system provided by the present application and each device, module and unit thereof in the form of pure computer readable program code, the system provided by the present application and each device, module and unit thereof can also be implemented in the form of logic gates, switches, application specific integrated circuits, programmable logic controllers and embedded microcontrollers, etc. by logically programming the method steps to achieve the same functions. Therefore, the system provided by the present application and each device, module and unit thereof can be considered as a hardware component, and the devices, modules and units included therein for achieving various functions can also be considered as structures within the hardware component; the devices, modules and units for achieving various functions can also be considered as both software modules implementing methods and structures within hardware components.

[0167] The specific embodiments of the present application are described above. It needs to be understood that the present application is not limited to the specific embodiments described above, and various changes or modifications can be made by those skilled in the art within the scope of the claims, which does not affect the essential content of the present application. The embodiments of the present application and the features in the embodiments can be combined with each other in any manner without conflict.

Claims

1. A fully automated six-dimensional pose localization method for a cooperative target based on robots, characterized in that, include: Steps to establish hand-eye coordinate relationship: Establish robot hand-eye coordinate relationship by switching between tool coordinate system and vision sensor coordinate system; Leveling steps: The plane normal is measured and adjusted using a cooperative target plane normal measurement device; the measurement and adjustment process is fully automated. Steps for establishing the initial workpiece coordinate system: Establish the initial workpiece coordinate system of the cooperative target using a cooperative target plane normal measurement device; Adjustment steps: Adjust the visual sensor's posture and position for taking pictures; Taking pictures: Take pictures using the vision sensor after the adjustment steps, and calculate the coordinate system of the workpiece on the cooperative target surface; Positioning steps: Establish a coordinate system for the workpiece surface of the cooperative target based on the photographic results, and complete the fully automatic positioning of the six-dimensional pose of the cooperative target; The leveling steps include: Motion steps: Execute the robot's taught trajectory to move to the vicinity of the target plane; the teaching program does not require position and orientation accuracy; Calculation steps: The measured values ​​of the cooperative target plane normal measurement equipment are sent to the calculation program in real time, and the tool coordinate system O is calculated using a specific algorithm. t X t Y t Z t The angle and distance between the object and the surface of the cooperative target; Adjusting the angle: Adjust the robot's posture by the angle between the coordinate system and the cooperative target surface, so that the tool coordinate system O... t X t Y t Z t Perpendicular to the surface of the target object; Recording steps: After adjusting the robot's posture, record the current tool coordinate system O. t X t Y t Z t The coordinates (X1, Y1, Z1, A1, B1, C1) in the robot's root coordinate system and the perpendicular distance H between the tool coordinate system and the cooperative target surface; The adjustment steps include: Attitude adjustment steps: Adjust the robot's attitude angle so that it is aligned with the initial workpiece coordinate system O of the cooperative target. b1 X b1 Y b1 Z b1 Lower vision sensor coordinate system O c X c Y c Z c With C=0 and B=0, the optical axis of the vision sensor is perpendicular to the surface of the target. Position adjustment steps: After adjusting the posture of the vision sensor, adjust the position of the vision sensor to the fixed height for taking pictures. At this point, the posture and position of the vision sensor are within the allowable range, which can ensure clear pictures.

2. The fully automated six-dimensional pose localization method for cooperative targets in robots according to claim 1, characterized in that, The steps to establish hand-eye coordinate relationships include: Steps for establishing the coordinate system: Arrange three laser displacement sensors around the drilling robot tool, and establish the robot tool coordinate system O using the robot's "4-point method" and "2-point method". t X t Y t Z t A pointed fixture is installed below the light source of the vision sensor. The central axis of the pointed fixture is ensured to be coaxial with the center line of the optical axis of the vision sensor. The robot vision sensor coordinate system O is established using the "4-point method" and the "2-point method". c X c Y c Z c ; Switching steps: Switch O in the robot tool coordinate system t X t Y t Z t and O c X c Y c Z c The robot's hand-eye coordinate relationship is obtained.

3. The fully automated six-dimensional pose localization method for cooperative targets in robots according to claim 2, characterized in that, The step of establishing the initial workpiece coordinate system includes: Reading step: Read the coordinates (X) from the recording step. 1, Y 1, Z 1, (A1, B1, C1) and vertical distance H; Transformation steps: Obtain the coordinates (X2, Y2, Z2) of the initial coordinate system of the cooperative target in the robot's root coordinate system according to the coordinate transformation. The steps to derive Euler angles are as follows: Using the relationship between the tool coordinate system and the surface of the cooperative target, the Euler angles of the initial coordinate system of the cooperative target are obtained; Steps to establish the initial coordinate system of the cooperative target: Using the transformation steps and the Euler angle deriving steps, the initial workpiece coordinate system O of the cooperative target is established (X2, Y2, Z2, A2, B2, C2). b1 X b1 Y b1 Z b1 .

4. The fully automated six-dimensional pose localization method for cooperative targets in robots according to claim 3, characterized in that, The adjustment steps also include: The positioning steps include: Steps to establish a planar coordinate system: Take a picture using a vision sensor to acquire an image, select appropriate geometric elements based on the image properties, and establish a planar coordinate system for the image in the vision sensor coordinate system; The photo-taking steps include: Reading steps: Obtain the XY coordinates of the origin of the workpiece coordinate system on the cooperative target surface in the visual sensor coordinate system by taking a picture. Calculate the Z coordinate of the origin in the visual sensor coordinate system based on the fixed image height. Read the coordinates (X, Y, Z) of the visual sensor coordinate system in the robot's root coordinate system at this time. c Y c Z c A c B c C c ); Transformation steps: Obtain the coordinates (X4, Y4, Z4) of the origin in the robot root coordinate system based on the robot coordinate transformation matrix; obtain the angle A3 between the coordinate system of the workpiece on the cooperative target surface and the coordinate system of the vision sensor based on the line connecting the origin and the object photographed by the vision sensor; obtain the Euler angles (A4, B4, C4) of the workpiece on the cooperative target surface in the robot root coordinate system based on the inverse Euler angle formula. Steps for establishing the coordinate system of the target surface workpiece: Based on the coordinates and Euler angles (X4, Y4, Z4, A4, B4, C4) obtained in the transformation step, establish the coordinate system of the target surface workpiece. The positioning steps include: The root coordinate system transformation step is as follows: The image is transformed from the planar coordinate system under the vision sensor coordinate system to the robot root coordinate system through coordinate transformation to complete the fully automatic localization of the six-dimensional pose of the cooperative target; where Z is the camera capture height, B and C are the camera attitude angles, and A is the angle between the workpiece coordinate system on the cooperative target surface and the vision sensor coordinate system.

5. A robot-based cooperative six-dimensional pose fully automated target localization system, characterized in that, include: Module for establishing hand-eye coordinate relationship: By switching between the tool coordinate system and the vision sensor coordinate system, the robot's hand-eye coordinate relationship is established; Leveling module: Measures and adjusts the plane normal using a cooperative target plane normal measurement device; the measurement and adjustment process is fully automated. Initial workpiece coordinate system establishment module: The initial workpiece coordinate system of the cooperative target is established using the cooperative target plane normal measurement equipment; Adjustment module: Adjusts the posture and position of the vision sensor when taking pictures; Photography module: Takes pictures using the vision sensor after the adjustment module and calculates the coordinate system of the workpiece on the cooperative target surface; Positioning module: Establishes a coordinate system for the workpiece surface of the cooperative target based on the photographic results, and completes the fully automatic positioning of the six-dimensional pose of the cooperative target; The leveling module includes: Motion module: Executes the robot's taught trajectory to move it to a region near the target plane; the teaching program does not require position and orientation accuracy. Calculation module: Sends the measured values ​​from the cooperative target plane normal measurement equipment to the calculation program in real time, and calculates the tool coordinate system O using a specific algorithm. t X t Y t Z t The angle and distance between the object and the surface of the cooperative target; Angle Adjustment Module: Adjusts the robot's posture by the angle between the coordinate system and the cooperative target surface, so that the tool coordinate system O... t X t Y t Z t Perpendicular to the surface of the target object; Recording module: After the robot's posture is adjusted, record the current tool coordinate system O. t X t Y t Z t The coordinates (X1, Y1, Z1, A1, B1, C1) in the robot's root coordinate system and the perpendicular distance H between the tool coordinate system and the cooperative target surface; The adjustment module includes: Attitude adjustment module: Adjusts the robot's attitude angle so that it is aligned with the initial workpiece coordinate system O of the cooperative target. b1 X b1 Y b1 Z b1 Lower vision sensor coordinate system O c X c Y c Z c With C=0 and B=0, the optical axis of the vision sensor is perpendicular to the surface of the target. Position adjustment module: After adjusting the posture of the vision sensor, the position of the vision sensor is adjusted to the fixed height for taking pictures. At this point, the posture and position of the vision sensor are within the allowable range, which can ensure clear pictures.

6. The fully automated six-dimensional pose positioning system for cooperative targets in robots according to claim 5, characterized in that, The module for establishing hand-eye coordinate relationships includes: Establishing the coordinate system module: Three laser displacement sensors are arranged around the drilling robot tool. The robot tool coordinate system O is established using the robot's "4-point method" and "2-point method". t X t Y t Z t A pointed fixture is installed below the light source of the vision sensor. The central axis of the pointed fixture is ensured to be coaxial with the center line of the optical axis of the vision sensor. The robot vision sensor coordinate system O is established using the "4-point method" and the "2-point method". c X c Y c Z c ; Switching Modules: Switching O in the robot tool coordinate system t X t Y t Z t and O c X c Y c Z c The robot's hand-eye coordinate relationship is obtained.

7. The fully automated six-dimensional pose positioning system for cooperative targets of robots according to claim 6, characterized in that, The module for establishing the initial workpiece coordinate system includes: Reading module: Reads the coordinates (X) from the recording module. 1, Y 1, Z 1, (A1, B1, C1) and vertical distance H; Transformation module: Obtains the coordinates (X2, Y2, Z2) of the initial coordinate system of the cooperative target in the robot's root coordinate system based on coordinate transformation; The Euler angle module is derived by using the relationship between the tool coordinate system and the surface of the cooperative target to obtain the Euler angles of the initial coordinate system of the cooperative target. Module for establishing the initial coordinate system of the cooperative target: Using the transformation module and the Euler angles generation module, the initial workpiece coordinate system O of the cooperative target is established (X2, Y2, Z2, A2, B2, C2). b1 X b1 Y b1 Z b1 .

8. The fully automated six-dimensional pose positioning system for cooperative targets in robots according to claim 7, characterized in that, The adjustment module further includes: The positioning module includes: The module for establishing a planar coordinate system is as follows: images are captured by a vision sensor, and appropriate geometric elements are selected based on the properties of the images to establish a planar coordinate system for the images in the vision sensor coordinate system. The camera module includes: Reading module: This module acquires the XY coordinates of the origin of the workpiece coordinate system on the target surface in the visual sensor coordinate system by taking a picture. It then calculates the Z coordinate of the origin in the visual sensor coordinate system based on a fixed image height and reads the coordinates (X, Y, Z) of the visual sensor coordinate system in the robot's root coordinate system at that moment. c Y c Z c A c B c C c ); Transformation module: Obtain the coordinates (X4, Y4, Z4) of the origin in the robot root coordinate system based on the robot coordinate transformation matrix; obtain the angle A3 between the coordinate system of the workpiece on the cooperative target surface and the coordinate system of the vision sensor based on the line connecting the origin and the object photographed by the vision sensor; obtain the Euler angles (A4, B4, C4) of the workpiece on the cooperative target surface in the robot root coordinate system based on the inverse Euler angle formula. Establish the coordinate system of the target surface workpiece: Based on the coordinates and Euler angles (X4, Y4, Z4, A4, B4, C4) obtained by the transformation module, establish the coordinate system of the target surface workpiece. The positioning module includes: The root coordinate system transformation module transforms the image from the visual sensor coordinate system to the robot's root coordinate system, completing the fully automatic six-dimensional pose localization of the cooperative target. Here, the Z value is the camera's capture height, angles B and C are the camera's attitude angles, and A is the angle between the workpiece coordinate system on the cooperative target surface and the visual sensor coordinate system.

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