Position correction method and device of mechanical arm, electronic equipment and storage medium

Abstract

The invention provides a position correction method and device of a mechanical arm, electronic equipment and a storage medium. The position correction method comprises the steps that the mechanical arm is controlled to move to a calibration point position; determining current distance information between the mechanical arm and the reference point location by using distance measuring equipment; wherein the working direction of the distance measuring equipment is parallel to the direction of any coordinate axis of a base coordinate system of the mechanical arm; correcting the position information of any teaching working point position corresponding to the mechanical arm by utilizing the relative position information of the reference point position and the calibration point position and the current distance information; wherein any teaching working point position is a working point position determined on the basis of position teaching of the mechanical arm; the relative position between the calibration point location and any teaching working point location is not changed. According to the technical scheme, the position deviation of the mechanical arm can be corrected under the condition that the mechanical arm does not stop, and therefore stable work of the mechanical arm is guaranteed.

Description

Technical Field

[0001] The present application relates to the field of automation technology, and in particular to a method, device, electronic device and storage medium for correcting the position of a robot arm. Background Art

[0002] The robotic arm is a product of the cross-application of multiple fields such as artificial intelligence, automation and control science, and is widely used in various fields. For example, it is used for sorting tasks in the express sorting field, and for assembly, processing and welding of parts in the industrial field. In these structured scenarios, the robotic arm usually completes specific tasks through a teach pendant or offline, so that the taught robotic arm can carry or grab objects at the work point.

[0003] However, after working for a long time, the robot arm is prone to position deviation, and the robot arm needs to be stopped and manually re-taught to ensure the subsequent stable operation of the robot arm. Summary of the invention

[0004] In order to solve the above problems, the present application proposes a method, device, electronic device and storage medium for correcting the position of a robotic arm, which can correct the position deviation of the robotic arm without stopping the robotic arm, thereby ensuring the stable operation of the robotic arm.

[0005] According to a first aspect of an embodiment of the present application, a method for correcting a position of a robot arm is provided, comprising:

[0006] Control the robotic arm to move to the calibration point;

[0007] Determine the current distance information between the robot arm and the reference point by using a distance measuring device; wherein the working direction of the distance measuring device is parallel to any coordinate axis direction of the robot arm base coordinate system;

[0008] The relative position information between the reference point and the calibration point and the current distance information are used to correct the position information of any teaching work point corresponding to the robot arm; wherein, any teaching work point is a work point determined based on the position teaching of the robot arm; the relative position between the calibration point and any teaching work point remains unchanged.

[0009] According to a second aspect of an embodiment of the present application, a position correction device for a robot arm is provided, comprising:

[0010] A control module is used to control the robot arm to move to a calibration point;

[0011] A processing module, used to determine the current distance information between the robot arm and the reference point by using a distance measuring device; wherein the working direction of the distance measuring device is parallel to any coordinate axis direction of the robot arm base coordinate system;

[0012] A correction module is used to correct the position information of any teaching working point corresponding to the robot arm by using the relative position information between the reference point and the calibration point and the current distance information; wherein any teaching working point is a working point determined based on the position teaching of the robot arm; the relative position between the calibration point and any teaching working point remains unchanged.

[0013] A third aspect of the present application provides an electronic device, including:

[0014] Memory and processor;

[0015] The memory is connected to the processor and is used to store programs;

[0016] The processor implements the above-mentioned method for correcting the position of the robot arm by running the program in the memory.

[0017] A fourth aspect of the present application provides a storage medium having a computer program stored thereon. When the computer program is executed by a processor, the above-mentioned method for correcting the position of the robot arm is implemented.

[0018] One embodiment of the above application has the following advantages or beneficial effects:

[0019] Control the robot arm to move to the calibration point; use the current distance information between the robot arm and the reference point determined by the distance measuring device and the relative position information between the reference point and the calibration point to calculate the error position of the robot arm at the calibration point, so that the deviation in the position of the robot arm can be determined without manual re-teaching. Since the relative position between the calibration point and any teaching working point is unchanged, any teaching working point can be corrected according to the error position calculation result of the calibration point, and then the robot arm can automatically correct any corresponding working point without stopping, thereby ensuring the stable operation of the robot arm. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying any creative work.

[0021] Figure 1 A schematic diagram of a flow chart of a method for correcting the position of a robotic arm provided in an embodiment of the present application;

[0022] Figure 2A schematic diagram of distance measurement by a distance measuring device provided in an embodiment of the present application, in which each working direction corresponds to a different calibration point and at least two distance measuring devices are arranged on a workbench;

[0023] Figure 3 A schematic diagram of the distance measurement of the distance measuring device provided in the embodiment of the present application, in which each working direction corresponds to different calibration points and a distance measuring device is arranged on the workbench;

[0024] Figure 4 A schematic diagram of distance measurement by a distance measuring device when different calibration points correspond to each working direction and at least two distance measuring devices are arranged on the robot arm provided in an embodiment of the present application;

[0025] Figure 5 A schematic diagram of distance measurement by a distance measuring device provided in an embodiment of the present application, in which each working direction corresponds to a calibration point and at least two distance measuring devices are arranged on a workbench;

[0026] Figure 6 A schematic diagram of a distance measuring device measuring distance in a case where each working direction corresponds to a calibration point and a distance measuring device is arranged on a workbench provided in an embodiment of the present application;

[0027] Figure 7 A schematic diagram of distance measurement by a distance measuring device provided in an embodiment of the present application, in which each working direction corresponds to a calibration point and at least two distance measuring devices are arranged on the robot arm;

[0028] Figure 8 A schematic diagram of the structure of a position correction device for a robotic arm provided in an embodiment of the present application;

[0029] Fig. 9 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0030] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions 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 are within the scope of protection of this application.

[0031] Exemplary Methods

[0032] Figure 1 : is a flow chart of a method for correcting the position of a robot arm according to an embodiment of the present application. In an exemplary embodiment, a method for correcting the position of a robot arm is provided, comprising:

[0033] S110, controlling the robotic arm to move to the calibration point;

[0034] S120, using a distance measuring device to determine the current distance information between the robot arm and the reference point; wherein the working direction of the distance measuring device is parallel to any coordinate axis direction of the robot arm base coordinate system;

[0035] S130. Utilize the relative position information between the reference point and the calibration point and the current distance information to correct the position information of any teaching working point corresponding to the robot arm; wherein, any teaching working point is a working point determined based on position teaching of the robot arm; and the relative position between the calibration point and any teaching working point remains unchanged.

[0036] In step S110, illustratively, the robot arm can be set on a workbench, and the end of the robot arm is an actuator of the robot arm, which is a device used to move objects on the robot arm. Optionally, the actuator can be a gripper, or a suction cup, etc., which is not limited here. The structure of the gripper is not limited, and can be a two-finger gripper, a four-finger gripper, etc.

[0037] Exemplarily, the calibration point is a position pre-set according to the teaching working point. It is understandable that the calibration point can also be any teaching working point. It should be noted that before the robot arm performs the work of moving objects, it needs to be taught so that the robot arm can reach the specified position (i.e., the teaching working point) according to the specified path and perform operations at the specified position. In this embodiment, the teaching working point is the center position of the working area on the workbench. Multiple teaching working points can be set on the workbench, and the calibration point can be any position on the workbench where the relative position between the teaching working point and the workbench remains unchanged, wherein one calibration point can be set for the teaching working point, and multiple calibration points can be set, which is not limited here.

[0038] Specifically, the robot arm is controlled to move to the position of the calibration point, and the position of the robot arm at this time is recorded to obtain the calibration position. If the robot arm has no position deviation, the calibration position is the position of the calibration point; if the robot arm has position deviation after long-term work, there is a deviation between the calibration position and the position of the calibration point.

[0039] Preferably, step S110 comprises: when the robotic arm satisfies a preset correction condition, controlling the robotic arm to move to a calibration point.

[0040] Optionally, the preset correction condition may be that the time interval between the current time and the last position correction performed by the robot arm reaches a preset time. The preset time is set according to the actual situation, such as 10 hours, 12 hours, 18 hours, 24 hours, etc., which is not limited here. Optionally, the preset correction condition may also be that the robot arm is in an idle state, such as the robot arm has completed an experimental operation. Optionally, the preset correction condition may also be that the time interval between the current time and the last position correction performed by the robot arm reaches a preset time and the robot arm is in an idle state. In this way, before each control of the robot arm to move to the calibration point to start the position correction operation, the current state of the robot arm is judged to determine whether the robot arm is performing an experiment, so as to avoid the situation where the experimental operation being performed by the robot arm has not been completed, that is, the robot arm is started to perform the next position correction action. In this way, the stability of the experimental operation is guaranteed and the experiment is prevented from being interrupted.

[0041] In step S120, illustratively, the distance measuring device may be a laser distance measuring device, an ultrasonic distance measuring device, a radar distance measuring device, an infrared distance measuring device or other distance measuring devices, which are not limited here.

[0042] Exemplarily, the distance measuring device can be set on a workbench or on a robotic arm, which is not limited here. Optionally, the working direction of the distance measuring device includes at least two coordinate axis directions of the robotic arm base coordinate system. For example, the working direction of the distance measuring device includes: the X-axis direction, the Y-axis direction and the Z-axis direction of the robotic arm base coordinate system. Furthermore, different working directions can correspond to the same reference point or the same calibration point, or can correspond to different reference points or different calibration points.

[0043] Optionally, in the case where the distance measuring device is set on a workbench, the reference point is the position of the distance measuring device. Then, the current distance information between the robot arm and the reference point is the distance between the robot arm and the distance measuring device measured by the distance measuring device. For example, in the case where the distance measuring device is a laser distance measuring device, the laser distance measuring device scans the robot arm, and then determines the distance between the robot arm and the distance measuring device, that is, the current distance information between the robot arm and the reference point.

[0044] Optionally, in the case where the distance measuring device is arranged on the robot arm, the reference point can be arranged on the workbench. For example, the reference point can be arranged on the outer shell baffles around the workbench. Then, the current distance information between the robot arm and the reference point represents the distance between the robot arm and the reference point measured by the distance measuring device on the robot arm. For example, in the case where the distance measuring device is a laser distance measuring device, if the reference point is arranged on the outer shell baffles around the workbench, the current distance information between the robot arm and the reference point can be determined based on the laser distance measuring device scanning the outer shell baffles around the workbench.

[0045] In step S130, the relative position information of the reference point and the calibration point represents the standard distance between the reference point and the calibration point. For example, after the robot arm is taught, the robot arm is controlled to move to the calibration point, and the distance between the reference point and the calibration point, i.e., the standard distance, is recorded.

[0046] Optionally, when the distance measuring device is arranged on a workbench, the reference point is the position of the distance measuring device, and the relative position information between the reference point and the calibration point represents the standard distance between the distance measuring device and the calibration point.

[0047] Optionally, when the distance measuring device is arranged on the mechanical arm, the reference point is arranged on the workbench, and the relative position information of the reference point and the calibration point indicates the standard distance between the reference point and the calibration point on the workbench.

[0048] Preferably, step S130 includes: S1310, calculating according to the relative position information between the reference point and the calibration point and the current distance information to obtain a correction value; S1320, correcting the position information of any teaching working point corresponding to the robot arm according to the correction value.

[0049] Specifically, the current distance information is subtracted from the relative position information between the reference point and the calibration point to obtain a correction value. Since the relative position between the calibration point and any of the teaching working points remains unchanged, when the robot arm moves to the calibration point and a position deviation occurs, it means that there is also an error when the robot arm moves to the teaching working point. Therefore, the position information of any teaching working point corresponding to the robot arm is corrected according to the above correction value.

[0050] In the technical solution of the present application, the robot arm is controlled to move to the calibration point; the error position of the robot arm at the calibration point is calculated using the current distance information between the robot arm and the reference point determined by the distance measuring device and the relative position information between the reference point and the calibration point, so that the deviation in the position of the robot arm can be determined without manual re-teaching. Since the relative position between the calibration point and any teaching working point is unchanged, any teaching working point can be corrected according to the error position calculation result of the calibration point, and then the robot arm can automatically correct any corresponding working point without stopping, thereby ensuring the stable operation of the robot arm.

[0051] In one implementation, when the working direction of the ranging device includes at least two coordinate axis directions of the manipulator base coordinate system, step S1310 includes:

[0052] According to the relative position information between the reference point and the calibration point corresponding to each working direction, and the current distance information corresponding to each working direction, the correction value corresponding to each working direction is calculated;

[0053] Correspondingly, step S1320 includes: using the correction value corresponding to each working direction to respectively correct the coordinate value of any teaching working point in the corresponding working direction, so as to obtain the corrected position information of any teaching working point.

[0054] Specifically, the corresponding relationship between each working direction of the distance measuring device and the relative position information of the corresponding reference point and the calibration point is pre-stored. Further, the corresponding corresponding relationship can be stored respectively according to the setting position of the distance measuring device.

[0055] In this embodiment, the position information is used as coordinates for explanation. First, the corresponding relationship is extracted according to the position of the ranging device, and then the relative position information of the corresponding reference point and the calibration point is searched in the corresponding relationship according to the current working direction of the ranging device. The current distance information measured by the ranging device in the current working direction and the relative position information found are subtracted to obtain the correction value of the ranging device in the current working direction.

[0056] According to each working direction, the corresponding target coordinate direction is determined in the robot base coordinate system. The coordinate value in the target coordinate direction is determined in the teaching working point, and the correction value is added to the coordinate value in the target coordinate direction to obtain the corrected coordinate of any teaching working point.

[0057] For example, the working direction of the ranging device includes the X-axis direction, the Y-axis direction and the Z-axis direction of the robot base coordinate system. The ranging device measures the current distance information in the X-axis direction, the current distance information in the Y-axis direction and the current distance information in the Z-axis direction respectively. The relative position information in the X-axis direction is subtracted from the current distance information in the X-axis direction to obtain the correction value in the X-axis direction. The relative position information in the Y-axis direction is subtracted from the current distance information in the Y-axis direction to obtain the correction value in the Y-axis direction. The relative position information in the Z-axis direction is subtracted from the current distance information in the Z-axis direction to obtain the correction value in the Z-axis direction.

[0058] After respectively determining the correction value in the X-axis direction, the correction value in the Y-axis direction, and the correction value in the Z-axis direction, add the correction value in the X-axis direction to the X-axis coordinate in the coordinates of the teaching work point corresponding to the robot arm to obtain the corrected X-axis coordinate; add the correction value in the Y-axis direction to the Y-axis coordinate in the coordinates of the teaching work point corresponding to the robot arm to obtain the corrected Y-axis coordinate; add the correction value in the Z-axis direction to the Z-axis coordinate in the coordinates of the teaching work point corresponding to the robot arm to obtain the corrected Z-axis coordinate. In this way, the position information of the corrected teaching work point is obtained according to the corrected X-axis coordinate, the corrected Y-axis coordinate, and the corrected Z-axis coordinate. In this way, all the work points corresponding to the robot arm can be corrected without stopping the robot arm, thereby improving the stability of the robot arm.

[0059] Among them, the correction value Δ in any working direction is α(L-L0), wherein L represents the current distance information in the working direction, L0 represents the relative position information between the reference point and the calibration point in the working direction, and α represents the direction coefficient, which represents the positive direction or negative direction of the working direction in the robot base coordinate system. For example, the direction coefficient is represented by 1 and -1, 1 represents the negative direction, and -1 represents the positive direction.

[0060] For example, the distance measuring device is set on the workbench, the distance measuring device is a laser distance measuring device, and the laser emission direction (i.e., the working direction) is the positive direction of the X-axis. After the robot arm teaching is completed, the calibration point is selected, the robot arm is controlled to move to the calibration point, and the laser distance measuring device is used to measure the standard distance between the robot arm and the laser distance measuring device in the X-axis direction, which is 90 mm, as the relative position information in the X-axis direction.

[0061] Then, the position information of the calibration point is used to control the robot arm to move to the calibration point. The distance between the robot arm and the laser distance measuring device is measured by the laser distance measuring device, which is 92mm, that is, the current distance information in the X-axis direction. The relative position information in the X-axis direction is subtracted from the current distance information in the X-axis direction, and the difference Δx=90-92=-2mm (at this time α is -1) is calculated to obtain the correction value Δx, and the correction value Δx is added to the X-axis coordinates corresponding to all the working points of the robot arm to obtain the modified working point position information [x1-2, y1, z1, Rx1, Ry1, Rz1]. In this way, the number of manual repeated teaching is reduced, and the positioning error of the robot arm can be automatically corrected without stopping the robot arm, without waiting for an abnormality to occur and then manually re-teaching or regular manual teaching.

[0062] It can be understood that when determining the correction value Δx in the X-axis direction, the correction value Δy in the Y-axis direction and the correction value Δz in the Z-axis direction, the above correction values ​​are added to the corresponding coordinates of the working point respectively to obtain the position information of the modified working point [x1+Δx, y1+Δy, z1+Δz, Rx1, Ry1, Rz1].

[0063] The position correction method of the robotic arm proposed in the embodiment of the present application is introduced in detail below by taking the different calibration points corresponding to each working direction of the ranging device as an example.

[0064] In one example, when the working direction of the ranging device includes at least two coordinate axis directions of the robot base coordinate system, and each working direction of the ranging device corresponds to a different calibration point, the robot arm is controlled to move to the calibration point, step S110 includes:

[0065] According to the position information of each calibration point, the robot arm is controlled to move to the corresponding calibration point on the workbench in sequence.

[0066] For example, if the ranging device has three working directions, namely the X-axis direction, Y-axis direction and Z-axis direction of the robot arm coordinate system, the X-axis direction corresponds to the first calibration point, the Y-axis direction corresponds to the second calibration point and the Z-axis direction corresponds to the third calibration point.

[0067] Taking the position information as coordinates as an example, after the robot arm is taught, the robot arm is moved to the first calibration point, the second calibration point and the third calibration point respectively, and the coordinates of the first calibration point, the second calibration point and the third calibration point are stored respectively. When the robot arm needs to be corrected, the position information of the first calibration point, the second calibration point and the third calibration point is obtained respectively. The robot arm is controlled to move to the corresponding calibration point on the workbench according to the preset order. Among them, the preset order can be set according to actual needs and is not limited here. For example, the robot arm first moves to the first calibration point, then moves to the second calibration point, and finally moves to the third calibration point.

[0068] In one embodiment, when the distance measuring device is arranged on a workbench, the reference point is the position of the distance measuring device. If at least two distance measuring devices are arranged on the workbench, and each distance measuring device has a different working direction, the current distance information between the robot arm and the reference point is determined by using the distance measuring device, and step S120 includes:

[0069] Determine a first target distance measuring device among at least two distance measuring devices according to the calibration point position of the mechanical arm;

[0070] The first target distance measuring device is controlled to measure current distance information between the mechanical arm and the first target distance measuring device.

[0071] For example, if the ranging device has three working directions, namely the X-axis direction, Y-axis direction and Z-axis direction of the robot arm coordinate system. The X-axis direction corresponds to the first calibration point, the Y-axis direction corresponds to the second calibration point and the Z-axis direction corresponds to the third calibration point. In the case where three ranging devices are set on the workbench, the working directions of the first ranging device, the second ranging device and the third ranging device correspond to the X-axis direction of the first calibration point, the Y-axis direction of the second calibration point and the Z-axis direction of the third calibration point respectively.

[0072] like Figure 2 As shown, Figure 2 The white circle in represents the calibration point. If it is determined that the robot arm is at the first calibration point (i.e., the target calibration point), three distance measuring devices are set on the workbench at this time. Therefore, according to the first calibration point, its corresponding distance measuring device is determined to be the first distance measuring device (i.e., the first target distance measuring device). The first distance measuring device is controlled to measure the distance between the robot arm and the first distance measuring device to obtain the current distance information in the X-axis direction. Similarly, according to the above method, the current distance information in the Y-axis direction and the current distance information in the Z-axis direction can be obtained. And the relative position information in the X-axis direction is subtracted from the current distance information in the X-axis direction to obtain the correction value in the X-axis direction. The relative position information in the Y-axis direction is subtracted from the current distance information in the Y-axis direction to obtain the correction value in the Y-axis direction. The relative position information in the Z-axis direction is subtracted from the current distance information in the Z-axis direction to obtain the correction value in the Z-axis direction. Then, according to the above correction values, the coordinate values ​​of the teaching working points are respectively corrected to obtain the corrected teaching working points.

[0073] In one embodiment, when the distance measuring device is set on a workbench, the reference point is the position of the distance measuring device. If a distance measuring device is set on the workbench, the current distance information between the robot arm and the reference point is determined by using the distance measuring device, step S120 includes:

[0074] Determine the working direction corresponding to the calibration point where the robotic arm is located as the target working direction;

[0075] The distance measuring device is controlled to measure the current distance information between the robot arm and the distance measuring device in the target working direction.

[0076] For example, if the distance measuring device has three working directions, namely the X-axis direction, the Y-axis direction and the Z-axis direction of the robot arm coordinate system. The X-axis direction corresponds to the first calibration point, the Y-axis direction corresponds to the second calibration point and the Z-axis direction corresponds to the third calibration point. In the case where only one distance measuring device is arranged on the workbench, a mounting part is arranged on the workbench for the distance measuring device to move (rotate and / or translate) on the workbench, and the mounting part is fixedly connected or slidably connected to the workbench.

[0077] like Figure 3 As shown, Figure 3 The white circle in represents the calibration point. If it is determined that the robot arm is at the first calibration point, the working direction corresponding to the first calibration point is determined to be the X-axis direction (i.e., the target working direction). The distance measuring device is controlled to move so that its working direction is parallel to the X-axis direction of the robot arm base coordinate system, and the first calibration point is located in its working direction, and the distance between the robot arm and the distance measuring device is measured to obtain the current distance information. Similarly, according to the above method, the robot arm is controlled to move to different calibration points respectively, and the current distance information in the Y-axis direction and the current distance information in the Z-axis direction can be obtained through the distance measuring device. And the relative position information in the X-axis direction is subtracted from the current distance information in the X-axis direction to obtain the correction value in the X-axis direction. The relative position information in the Y-axis direction is subtracted from the current distance information in the Y-axis direction to obtain the correction value in the Y-axis direction. The relative position information in the Z-axis direction is subtracted from the current distance information in the Z-axis direction to obtain the correction value in the Z-axis direction. Then, according to the above correction values, the coordinate values ​​of the teaching working points are respectively corrected to obtain the corrected teaching working points.

[0078] In one embodiment, when the distance measuring device is arranged on the robot arm, the reference point is arranged on the workbench, and each working direction of the distance measuring device corresponds to a different reference point; if at least two distance measuring devices are arranged on the robot arm and each distance measuring device has a different working direction, the current distance information between the robot arm and the reference point is determined by using the distance measuring device, and step S120 includes:

[0079] Determine a second target distance measuring device from at least two distance measuring devices according to the calibration point position of the mechanical arm;

[0080] The second target distance measuring device is controlled to measure current distance information between the robot arm and a reference point in a working direction of the second target distance measuring device.

[0081] Exemplarily, if the ranging device has three working directions, namely the X-axis direction, Y-axis direction and Z-axis direction of the robot base coordinate system. The X-axis direction corresponds to the first calibration point, the Y-axis direction corresponds to the second calibration point and the Z-axis direction corresponds to the third calibration point. The reference points are set on the baffles around the workbench, and the reference points correspond to the working directions of the ranging device, namely the reference points in the X-axis direction, the reference points in the Y-axis direction and the reference points in the Z-axis direction. In the case where there are three ranging devices set on the robot, each ranging device on the robot corresponds to a calibration point.

[0082] like Figure 4 As shown, Figure 4 The white circle in the figure represents the calibration point, the black circle represents the reference point, and the square represents the actuator of the robot. The correspondence between each calibration point and the distance measuring device is stored in advance. If it is determined that the robot is at the first calibration point (i.e., the target calibration point), the corresponding distance measuring device in the X-axis direction (i.e., the second target distance measuring device) is found in the above correspondence according to the first calibration point. The reference point in the working direction of the distance measuring device in the X-axis direction is the reference point in the X-axis direction. The distance measuring device in the X-axis direction is controlled to measure the distance between the reference point in the X-axis direction and the distance measuring device in the X-axis direction to obtain the current distance information in the X-axis direction. Similarly, the current distance information in the Y-axis direction and the current distance information in the Z-axis direction can be obtained according to the above method. And the relative position information in the X-axis direction is subtracted from the current distance information in the X-axis direction to obtain the correction value in the X-axis direction. The relative position information in the Y-axis direction is subtracted from the current distance information in the Y-axis direction to obtain the correction value in the Y-axis direction. The relative position information in the Z-axis direction is subtracted from the current distance information in the Z-axis direction to obtain the correction value in the Z-axis direction. Then, the coordinate values ​​of the teaching working point are corrected according to the correction value to obtain the corrected teaching working point.

[0083] In one embodiment, when the distance measuring device is arranged on the mechanical arm, the reference point is arranged on the workbench, and each working direction of the distance measuring device corresponds to a different reference point; if a distance measuring device is arranged on the mechanical arm, the current distance information between the mechanical arm and the reference point is determined by using the distance measuring device, step S120 includes:

[0084] Determine the corresponding reference point as the first target point according to the calibration point where the robotic arm is located;

[0085] The distance measuring device is controlled to measure the current distance information between the robotic arm and the first target point.

[0086] For example, if the ranging device has three working directions, namely the X-axis direction, Y-axis direction and Z-axis direction of the robot base coordinate system. The X-axis direction corresponds to the first calibration point, the Y-axis direction corresponds to the second calibration point and the Z-axis direction corresponds to the third calibration point. The reference points are set on the baffles around the workbench, and the reference points correspond to the working directions of the ranging device, namely the reference points in the X-axis direction, the Y-axis direction and the Z-axis direction. When there is a ranging device set on the robot, the robot moves to each calibration point in turn.

[0087] The corresponding relationship between each calibration point and the reference point is stored in advance. If it is determined that the robot arm is at the first calibration point, the corresponding reference point in the X-axis direction (i.e., the first target point) is found in the above corresponding relationship according to the first calibration point. The distance measuring device on the robot arm is controlled to measure the distance between the reference point in the X-axis direction and the distance measuring device along the X-axis direction to obtain the current distance information in the X-axis direction. Similarly, according to the above method, the robot arm can be controlled to move to different calibration points respectively, and the current distance information in the Y-axis direction and the current distance information in the Z-axis direction can be obtained through the distance measuring device. And the relative position information in the X-axis direction is subtracted from the current distance information in the X-axis direction to obtain the correction value in the X-axis direction. The relative position information in the Y-axis direction is subtracted from the current distance information in the Y-axis direction to obtain the correction value in the Y-axis direction. The relative position information in the Z-axis direction is subtracted from the current distance information in the Z-axis direction to obtain the correction value in the Z-axis direction. Then, according to the above correction values, the coordinate values ​​of the teaching working points are respectively corrected to obtain the corrected teaching working points.

[0088] The following is a detailed introduction to the position correction method of the robotic arm proposed in the embodiment of the present application, taking the same calibration point corresponding to each working direction of the ranging device as an example.

[0089] In one example, when the working direction of the ranging device includes at least two coordinate axis directions of the robot base coordinate system, and each working direction of the ranging device corresponds to the same calibration point, the robot arm is controlled to move to the calibration point, step S110 includes:

[0090] According to the position information of the calibration point, the robot arm is controlled to move to the calibration point on the workbench.

[0091] For example, if the ranging device has three working directions, namely the X-axis direction, Y-axis direction and Z-axis direction of the robot base coordinate system, the X-axis direction, the Y-axis direction and the Z-axis direction all correspond to the same calibration point.

[0092] Taking the position information as coordinates as an example, after the robot arm is taught, the robot arm is moved to the calibration point and the coordinates of the calibration point are stored. When the robot arm needs to be corrected, the position information of the calibration point is obtained and the robot arm is controlled to move to the calibration point.

[0093] In one embodiment, when the distance measuring device is arranged on a workbench, the reference point is the position of the distance measuring device. If at least two distance measuring devices are arranged on the workbench, and each distance measuring device has a different working direction, the current distance information between the robot arm and the reference point is determined by using the distance measuring device, and step S120 includes:

[0094] Each distance measuring device is controlled to simultaneously measure the current distance information between the robot arm and each distance measuring device in its corresponding working direction.

[0095] For example, if the ranging device has three working directions, namely the X-axis direction, Y-axis direction and Z-axis direction of the robot base coordinate system, the working directions of the first ranging device, the second ranging device and the third ranging device correspond to the X-axis direction, Y-axis direction and Z-axis direction of the robot base coordinate system, respectively.

[0096] like Figure 5 As shown, Figure 5 The white circle in the figure indicates the calibration point. After the robot moves to the calibration point, the current distance information between the first distance measuring device and the robot is measured along the X-axis direction according to the first distance measuring device, the current distance information between the second distance measuring device and the robot is measured along the Y-axis direction according to the second distance measuring device, and the current distance information between the third distance measuring device and the robot is measured along the Z-axis direction according to the third distance measuring device.

[0097] Then, the relative position information in the X-axis direction is subtracted from the current distance information in the X-axis direction to obtain the correction value in the X-axis direction. The relative position information in the Y-axis direction is subtracted from the current distance information in the Y-axis direction to obtain the correction value in the Y-axis direction. The relative position information in the Z-axis direction is subtracted from the current distance information in the Z-axis direction to obtain the correction value in the Z-axis direction. Then, according to the above correction values, each coordinate value of the teaching working point is corrected respectively to obtain the corrected teaching working point. In this way, by setting up multiple distance measuring devices, the current distance information of multiple working directions can be determined at one time, thereby simultaneously correcting the positioning error of the robot arm in each coordinate direction, thereby improving the correction efficiency of the robot arm.

[0098] In one embodiment, when the distance measuring device is set on a workbench, the reference point is the position of the distance measuring device. If a distance measuring device is set on the workbench, the current distance information between the robot arm and the reference point is determined by using the distance measuring device, including:

[0099] The distance measuring device is controlled to measure the current distance information between the robot arm and the distance measuring device in different working directions in turn.

[0100] For example, if the distance measuring device has three working directions, namely the X-axis direction, Y-axis direction and Z-axis direction of the robot arm base coordinate system. The X-axis direction, the Y-axis direction and the Z-axis direction correspond to the same calibration point. In the case where only one distance measuring device is set on the workbench, a mounting part for the distance measuring device to move on the workbench is set on the workbench, and the mounting part is slidably connected to the workbench.

[0101] like Figure 6 As shown, Figure 6 The white circle in represents the calibration point. After the robot moves to the calibration point, the distance measuring device is controlled to move so that its working direction is parallel to the X-axis direction of the robot base coordinate system, and the calibration point is located in the working direction, and the distance measuring device measures the current distance information between the distance measuring device and the robot along the X-axis direction; the distance measuring device is controlled to move so that its working direction is parallel to the Y-axis direction of the robot base coordinate system, and the calibration point is located in the working direction, and the distance measuring device measures the current distance information between the distance measuring device and the robot along the Y-axis direction; the distance measuring device is controlled to move so that its working direction is parallel to the Z-axis direction of the robot coordinate system, and the calibration point is located in the working direction, and the distance measuring device measures the current distance information between the distance measuring device and the robot along the Z-axis direction. It can be understood that the movement order of the distance measuring device can be set according to actual needs, which is not limited here.

[0102] Then, the relative position information in the X-axis direction is subtracted from the current distance information in the X-axis direction to obtain the correction value in the X-axis direction. The relative position information in the Y-axis direction is subtracted from the current distance information in the Y-axis direction to obtain the correction value in the Y-axis direction. The relative position information in the Z-axis direction is subtracted from the current distance information in the Z-axis direction to obtain the correction value in the Z-axis direction. Then, according to the above correction values, each coordinate value of the teaching working point is corrected respectively to obtain the corrected teaching working point. In this way, by setting up a distance measuring device, the positioning error of the robot arm in each coordinate direction can be corrected, the detection cost can be reduced, and the position error of the robot arm can be automatically corrected.

[0103] In one embodiment, when the distance measuring device is arranged on the robot arm, the reference point is arranged on the workbench, and each working direction of the distance measuring device corresponds to a different reference point. If at least two distance measuring devices are arranged on the robot arm, and each distance measuring device has a different working direction, the current distance information between the robot arm and the reference point is determined by using the distance measuring device, step S120 includes:

[0104] Each distance measuring device is controlled to measure current distance information between the robot arm and a reference point in a working direction of each distance measuring device.

[0105] For example, if the distance measuring device has three working directions, namely the X-axis direction, Y-axis direction and Z-axis direction of the robot base coordinate system, the first distance measuring device, the second distance measuring device and the third distance measuring device correspond to different working directions respectively. The reference points are respectively set on the baffles around the workbench, and the reference points correspond to the working directions of the distance measuring devices, namely the reference points in the X-axis direction, the reference points in the Y-axis direction and the reference points in the Z-axis direction.

[0106] like Figure 7 As shown, Figure 7 The white circle in the figure represents the calibration point, the black circle represents the reference point, and the square represents the actuator of the robot. After the robot moves to the calibration point, it is determined that the three distance measuring devices on the robot are in different working directions. That is, the first distance measuring device, the second distance measuring device, and the third distance measuring device may correspond to the X-axis direction, the Y-axis direction, and the Z-axis direction, respectively, or the first distance measuring device, the second distance measuring device, and the third distance measuring device may correspond to the Y-axis direction, the Z-axis direction, and the X-axis direction, respectively, which is not limited here.

[0107] Since each reference point is set in a different working direction, the first distance measuring device, the second distance measuring device and the third distance measuring device respectively measure the distance between the reference point and themselves in their working directions. For example, the first distance measuring device, the second distance measuring device and the third distance measuring device correspond to the X-axis direction, the Y-axis direction and the Z-axis direction respectively. The first distance measuring device measures the distance between the first distance measuring device and the reference point in the X-axis direction to obtain the current distance information in the X-axis direction. The second distance measuring device measures the distance between the second distance measuring device and the reference point in the Y-axis direction to obtain the current distance information in the Y-axis direction. Similarly, the current distance information in the Z-axis direction can be obtained according to the above method.

[0108] Then, the relative position information in the X-axis direction is subtracted from the current distance information in the X-axis direction to obtain the correction value in the X-axis direction. The relative position information in the Y-axis direction is subtracted from the current distance information in the Y-axis direction to obtain the correction value in the Y-axis direction. The relative position information in the Z-axis direction is subtracted from the current distance information in the Z-axis direction to obtain the correction value in the Z-axis direction. Then, according to the above correction values, each coordinate value of the teaching working point is corrected respectively to obtain the corrected teaching working point. In this way, the current distance information of multiple working directions can be determined at one time, so that all coordinates of the teaching working points can be corrected at the same time. In this way, by setting up multiple distance measuring devices, the current distance information of multiple working directions can be determined at one time, so that the positioning error of the robot arm in each coordinate direction can be corrected at the same time, thereby improving the correction efficiency of the robot arm.

[0109] In one embodiment, when the distance measuring device is arranged on the robot arm, the reference point is arranged on the workbench, and each working direction of the distance measuring device corresponds to a different reference point. If a distance measuring device is arranged on the robot arm, the current distance information between the robot arm and the reference point is determined by using the distance measuring device, step S120 includes:

[0110] Determine the corresponding reference point as the second target point according to the working direction of the ranging device;

[0111] The distance measuring device is controlled to measure the current distance information between the robotic arm and the second target point.

[0112] For example, if the ranging device has three working directions, namely the X-axis direction, Y-axis direction and Z-axis direction of the robot base coordinate system. The X-axis direction, Y-axis direction and Z-axis direction correspond to the same calibration point. The reference points are set on the baffles around the workbench, and the reference points correspond to the working directions of the ranging device, namely the reference points in the X-axis direction, the reference points in the Y-axis direction and the reference points in the Z-axis direction. When only one ranging device is set on the robot, the robot rotates to different working directions in sequence.

[0113] After the robot arm moves to the calibration point, the corresponding reference point is determined according to the current working direction of the ranging device on the robot arm. For example, if the working direction of the ranging device on the robot arm is the X-axis direction, then the corresponding reference point in the X-axis direction (the second target point) is controlled. The ranging device on the robot arm is controlled to measure the distance between the reference point in the X-axis direction and the ranging device to obtain the current distance information in the X-axis direction. Then the robot arm is controlled to rotate to other working directions of the ranging device, such as the Y-axis direction of the robot arm base coordinate system. If the working direction of the ranging device on the robot arm is the Y-axis direction, then the corresponding reference point in the Y-axis direction is controlled to control the ranging device on the robot arm to measure the distance between the reference point in the Y-axis direction and the ranging device to obtain the current distance information in the Y-axis direction. Similarly, the current distance information in the Z-axis direction can be obtained according to the above method.

[0114] Then, the relative position information in the X-axis direction is subtracted from the current distance information in the X-axis direction to obtain the correction value in the X-axis direction. The relative position information in the Y-axis direction is subtracted from the current distance information in the Y-axis direction to obtain the correction value in the Y-axis direction. The relative position information in the Z-axis direction is subtracted from the current distance information in the Z-axis direction to obtain the correction value in the Z-axis direction. Then, according to the above correction values, each coordinate value of the teaching working point is corrected respectively to obtain the corrected teaching working point. In this way, by setting up a distance measuring device, the positioning error of the robot arm in each coordinate direction can be corrected, the detection cost can be reduced, and the position error of the robot arm can be automatically corrected.

[0115] Exemplary Devices

[0116] Accordingly, Figure 8 1 is a schematic diagram of a position correction device for a robot arm according to an embodiment of the present application. In an exemplary embodiment, a position correction device for a robot arm is provided, comprising:

[0117] The control module 810 is used to control the robot arm to move to the calibration point;

[0118] The processing module 820 is used to determine the current distance information between the robot arm and the reference point by using a distance measuring device; wherein the working direction of the distance measuring device is parallel to any coordinate axis direction of the robot arm base coordinate system;

[0119] The correction module 830 is used to correct the position information of any teaching work point corresponding to the robot arm by using the relative position information between the reference point and the calibration point and the current distance information; wherein the teaching work point and the calibration point are both in the robot arm base coordinate system; any teaching work point is a work point determined based on the position teaching of the robot arm; the relative position between the calibration point and any teaching work point remains unchanged.

[0120] In one embodiment, when the working direction of the ranging device includes at least two coordinate axis directions of the robot arm base coordinate system, and each working direction of the ranging device corresponds to a different calibration point, the control module 810 is specifically configured to:

[0121] According to the position information of each calibration point, the robot arm is controlled to move to the corresponding calibration point on the workbench in sequence.

[0122] In one embodiment, when the distance measuring device is arranged on a workbench, the reference point is the position of the distance measuring device.

[0123] In one implementation, when at least two distance measuring devices are arranged on the workbench and each distance measuring device has a different working direction, the processing module 820 is specifically used to:

[0124] Determine a first target distance measuring device among at least two distance measuring devices according to the calibration point position of the mechanical arm;

[0125] The first target distance measuring device is controlled to measure current distance information between the mechanical arm and the first target distance measuring device.

[0126] In one implementation, when a distance measuring device is provided on the workbench, the processing module 820 is specifically configured to:

[0127] Determine the working direction corresponding to the calibration point where the robotic arm is located as the target working direction;

[0128] The distance measuring device is controlled to measure the current distance information between the robot arm and the distance measuring device in the target working direction.

[0129] In one embodiment, when the distance measuring device is arranged on the robot arm, the reference point is arranged on the workbench, and each working direction of the distance measuring device corresponds to a different reference point.

[0130] In one implementation, when at least two distance measuring devices are provided on the robot arm and each distance measuring device has a different working direction, the processing module 820 is specifically configured to:

[0131] Determine a second target distance measuring device from at least two distance measuring devices according to the calibration point position of the mechanical arm;

[0132] The second target distance measuring device is controlled to measure current distance information between the robot arm and a reference point in a working direction of the second target distance measuring device.

[0133] In one implementation, when a distance measuring device is provided on the mechanical arm, the processing module 820 is specifically configured to:

[0134] Determine the corresponding reference point as the first target point according to the calibration point where the robotic arm is located;

[0135] The distance measuring device is controlled to measure the current distance information between the robotic arm and the first target point.

[0136] In one implementation, when the working direction of the ranging device includes at least two coordinate axis directions of the robot arm base coordinate system, and each working direction of the ranging device corresponds to the same calibration point, the control module 810 is specifically configured to:

[0137] According to the position information of the calibration point, the robot arm is controlled to move to the calibration point on the workbench.

[0138] In one embodiment, when the distance measuring device is arranged on a workbench, the reference point is the position of the distance measuring device.

[0139] In one implementation, when at least two distance measuring devices are arranged on the workbench and each distance measuring device has a different working direction, the processing module 820 is specifically used to:

[0140] Each distance measuring device is controlled to simultaneously measure the current distance information between the robot arm and each distance measuring device in its corresponding working direction.

[0141] In one implementation, when a distance measuring device is provided on the workbench, the processing module 820 is specifically configured to:

[0142] The distance measuring device is controlled to measure the current distance information between the robot arm and the distance measuring device in different working directions in turn.

[0143] In one embodiment, when the distance measuring device is arranged on the robot arm, the reference point is arranged on the workbench, and each working direction of the distance measuring device corresponds to a different reference point.

[0144] In one implementation, when at least two distance measuring devices are provided on the robot arm and each distance measuring device has a different working direction, the processing module 820 is specifically configured to:

[0145] Each distance measuring device is controlled to measure current distance information between the robot arm and a reference point in a working direction of each distance measuring device.

[0146] In one implementation, when a distance measuring device is provided on the mechanical arm, the processing module 820 is specifically configured to:

[0147] Determine the corresponding reference point as the second target point according to the working direction of the ranging device;

[0148] The distance measuring device is controlled to measure the current distance information between the robotic arm and the second target point.

[0149] In one implementation, the correction module 830 is specifically configured to:

[0150] Calculating according to the relative position information between the reference point and the calibration point and the current distance information to obtain a correction value;

[0151] The position information of any teaching working point corresponding to the robot arm is corrected according to the correction value.

[0152] In one embodiment, when the working direction of the distance measuring device includes at least two coordinate axis directions of the robot arm base coordinate system, the calculation based on the relative position information between the reference point and the calibration point and the current distance information to obtain the correction value includes:

[0153] According to the relative position information between the reference point and the calibration point corresponding to each working direction, and the current distance information corresponding to each working direction, the correction value corresponding to each working direction is calculated;

[0154] The step of correcting the position information of any teaching working point corresponding to the robot arm according to the correction value includes:

[0155] The coordinate value of any teaching working point in the corresponding working direction is corrected by using the correction value corresponding to each working direction to obtain the corrected position information of any teaching working point.

[0156] In one embodiment, the correction value Δ corresponding to any working direction is α(L-L0), wherein L represents the current distance information in the working direction, L0 represents the relative position information between the reference point and the calibration point corresponding to the working direction, and α represents the direction coefficient, which represents the positive or negative direction of the working direction in the robot arm base coordinate system.

[0157] In one implementation, the control module 810 is specifically configured to:

[0158] When the robotic arm meets the preset correction conditions, the robotic arm is controlled to move to the calibration point.

[0159] The position correction device of the mechanical arm provided in this embodiment belongs to the same application concept as the position correction method of the mechanical arm provided in the above embodiments of this application, and can execute the position correction method of the mechanical arm provided in any of the above embodiments of this application, and has the corresponding functional modules and beneficial effects of executing the position correction method of the mechanical arm. For the technical details not described in detail in this embodiment, please refer to the specific processing content of the position correction method of the mechanical arm provided in the above embodiments of this application, which will not be repeated here.

[0160] Exemplary Electronic Devices

[0161] Another embodiment of the present application also provides an electronic device, see Fig. 9 As shown, the electronic device includes:

[0162] Memory 900 and processor 910;

[0163] The memory 900 is connected to the processor 910 and is used to store programs;

[0164] The processor 910 is used to implement the position correction method of the robot arm disclosed in any of the above embodiments by running the program stored in the memory 900.

[0165] Specifically, the electronic device may further include: a bus, a communication interface 920 , an input device 930 and an output device 940 .

[0166] The processor 910, the memory 900, the communication interface 920, the input device 930 and the output device 940 are connected to each other via a bus.

[0167] A bus may include a pathway that transfers information between the various components of an electronic device.

[0168] The processor 910 may be a general-purpose processor, such as a general-purpose central processing unit (CPU), a microprocessor, etc., or an application-specific integrated circuit (ASIC), or one or more integrated circuits for controlling the execution of the program of the scheme of the present invention. It may also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

[0169] The processor 910 may include a main processor, and may also include a baseband chip, a modem, and the like.

[0170] The memory 900 stores a program for executing the technical solution of the present invention, and may also store an operating system and other key services. Specifically, the program may include a program code, and the program code includes a computer operation instruction. More specifically, the memory 900 may include a read-only memory (ROM), other types of static storage devices that can store static information and instructions, a random access memory (RAM), other types of dynamic storage devices that can store information and instructions, a disk storage, a flash, and the like.

[0171] The input device 930 may include a device for receiving data and information input by a user, such as a keyboard, a mouse, a camera, a scanner, a light pen, a voice input device, a touch screen, a pedometer, or a gravity sensor.

[0172] Output device 940 may include devices that allow information to be output to a user, such as a display screen, printer, speaker, etc.

[0173] The communication interface 920 may include any transceiver or the like to communicate with other devices or communication networks, such as Ethernet, a radio access network (RAN), a wireless local area network (WLAN), etc.

[0174] The processor 910 executes the program stored in the memory 900 and calls other devices, which can be used to implement each step of any one of the robot arm position correction methods provided in the above embodiments of the present application.

[0175] Exemplary computer program products and storage media

[0176] In addition to the above-mentioned methods and devices, an embodiment of the present application may also be a computer program product, which includes computer program instructions, which, when executed by a processor, enable the processor to execute the steps of the method for correcting the position of the robotic arm according to various embodiments of the present application described in the above-mentioned "Exemplary Method" section of this specification.

[0177] The computer program product may be written in any combination of one or more programming languages ​​to write program codes for performing the operations of the embodiments of the present application, including object-oriented programming languages, such as Java, C++, etc., and conventional procedural programming languages, such as "C" language or similar programming languages. The program code may be executed entirely on the user computing device, partially on the user device, as an independent software package, partially on the user computing device and partially on a remote computing device, or entirely on a remote computing device or server.

[0178] In addition, an embodiment of the present application may also be a storage medium on which a computer program is stored, and the computer program is executed by a processor to execute the steps of the position correction method of the robotic arm according to various embodiments of the present application described in the above "Exemplary Method" section of this specification. The specific working content of the above-mentioned electronic device, as well as the specific working content of the above-mentioned computer program product and the computer program on the storage medium when being executed by the processor, can all be referred to the contents of the above-mentioned method embodiment, and will not be repeated here.

[0179] For the aforementioned method embodiments, for the sake of simplicity, they are all described as a series of action combinations, but those skilled in the art should be aware that the present application is not limited by the order of the actions described, because according to the present application, some steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by the present application.

[0180] It should be noted that each embodiment in this specification is described in a progressive manner, and each embodiment focuses on the differences from other embodiments, and the same or similar parts between the embodiments can be referred to each other. For the device embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0181] The steps in the methods of each embodiment of the present application can be adjusted in sequence, combined and deleted according to actual needs, and the technical features recorded in each embodiment can be replaced or combined.

[0182] The modules and sub-modules in the devices and apparatuses of the embodiments of the present application may be combined, divided, and deleted according to actual needs.

[0183] In the several embodiments provided in the present application, it should be understood that the disclosed devices, apparatuses and methods can be implemented in other ways. For example, the device embodiments described above are only schematic, for example, the division of modules or submodules is only a logical function division, and there may be other division methods in actual implementation, for example, multiple submodules or modules can be combined or integrated into another module, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces, devices or modules, which can be electrical, mechanical or other forms.

[0184] The modules or submodules described as separate components may or may not be physically separated, and the components of the modules or submodules may or may not be physical modules or submodules, that is, they may be located in one place, or they may be distributed on multiple network modules or submodules. Some or all of the modules or submodules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0185] In addition, each functional module or submodule in each embodiment of the present application may be integrated into one processing module, or each module or submodule may exist physically separately, or two or more modules or submodules may be integrated into one module. The above-mentioned integrated modules or submodules may be implemented in the form of hardware or in the form of software functional modules or submodules.

[0186] Professionals may further appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the composition and steps of each example have been generally described in the above description according to function. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professionals and technicians may use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0187] The steps of the method or algorithm described in conjunction with the embodiments disclosed herein may be implemented directly by hardware, software units executed by a processor, or a combination of the two. The software units may be placed in a random access memory (RAM), a memory, a read-only memory (ROM), an electrically programmable ROM, an electrically erasable programmable ROM, a register, a hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.

[0188] Finally, it should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article 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, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.

[0189] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present application. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to the embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A method for correcting the position of a robot arm, characterized in that: include: Control the robotic arm to move to the calibration point; Determine the current distance information between the robot arm and the reference point by using a distance measuring device; wherein the working direction of the distance measuring device is parallel to any coordinate axis direction of the robot arm base coordinate system; The relative position information between the reference point and the calibration point and the current distance information are used to correct the position information of any teaching work point corresponding to the robot arm; wherein, any teaching work point is a work point determined based on the position teaching of the robot arm; the relative position between the calibration point and any teaching work point remains unchanged.

2. The method according to claim 1, characterized in that: In a case where the working direction of the ranging device includes at least two coordinate axis directions of the robot arm base coordinate system, and each working direction of the ranging device corresponds to a different calibration point, controlling the robot arm to move to the calibration point includes: According to the position information of each calibration point, the robot arm is controlled to move to the corresponding calibration point on the workbench in sequence.

3. The method according to claim 2, characterized in that When the distance measuring device is arranged on a workbench, the reference point is the position of the distance measuring device.

4. The method according to claim 3, characterized in that At least two distance measuring devices are arranged on the workbench, and when each distance measuring device has a different working direction, the current distance information between the mechanical arm and the reference point is determined by using the distance measuring device, including: Determine a first target distance measuring device among at least two distance measuring devices according to the calibration point position of the mechanical arm; The first target distance measuring device is controlled to measure current distance information between the mechanical arm and the first target distance measuring device.

5. The method according to claim 3, characterized in that: In the case where a distance measuring device is arranged on the workbench, the current distance information between the mechanical arm and the reference point is determined by using the distance measuring device, including: Determine the working direction corresponding to the calibration point where the robotic arm is located as the target working direction; The distance measuring device is controlled to measure the current distance information between the robot arm and the distance measuring device in the target working direction.

6. The method according to claim 2, characterized in that In the case where the distance measuring device is arranged on the robot arm, the reference point is arranged on the workbench, and each working direction of the distance measuring device corresponds to a different reference point.

7. The method according to claim 6, characterized in that When at least two distance measuring devices are arranged on the mechanical arm and each distance measuring device has a different working direction, the current distance information between the mechanical arm and the reference point is determined by using the distance measuring devices, including: Determine a second target distance measuring device from at least two distance measuring devices according to the calibration point position of the mechanical arm; The second target distance measuring device is controlled to measure current distance information between the robot arm and a reference point in a working direction of the second target distance measuring device.

8. The method according to claim 6, characterized in that In the case where a distance measuring device is provided on the mechanical arm, the method of using the distance measuring device to determine the current distance information between the mechanical arm and the reference point includes: Determine the corresponding reference point as the first target point according to the calibration point where the robotic arm is located; The distance measuring device is controlled to measure the current distance information between the robotic arm and the first target point.

9. The method according to claim 1, characterized in that: In a case where the working direction of the ranging device includes at least two coordinate axis directions of the robot arm base coordinate system, and each working direction of the ranging device corresponds to the same calibration point, controlling the robot arm to move to the calibration point includes: According to the position information of the calibration point, the robot arm is controlled to move to the calibration point on the workbench.

10. The method according to claim 9, characterized in that When the distance measuring device is arranged on a workbench, the reference point is the position of the distance measuring device.

11. The method according to claim 10, characterized in that At least two distance measuring devices are arranged on the workbench, and when each distance measuring device has a different working direction, the current distance information between the mechanical arm and the reference point is determined by using the distance measuring device, including: Each distance measuring device is controlled to simultaneously measure the current distance information between the robot arm and each distance measuring device in its corresponding working direction.

12. The method according to claim 10, characterized in that In the case where a distance measuring device is arranged on the workbench, the current distance information between the mechanical arm and the reference point is determined by using the distance measuring device, including: The distance measuring device is controlled to measure the current distance information between the robot arm and the distance measuring device in different working directions in turn.

13. The method according to claim 9, characterized in that In the case where the distance measuring device is arranged on the robot arm, the reference point is arranged on the workbench, and each working direction of the distance measuring device corresponds to a different reference point.

14. The method according to claim 13, characterized in that When at least two distance measuring devices are arranged on the mechanical arm and each distance measuring device has a different working direction, the current distance information between the mechanical arm and the reference point is determined by using the distance measuring devices, including: Each distance measuring device is controlled to measure current distance information between the robot arm and a reference point in a working direction of each distance measuring device.

15. The method according to claim 13, characterized in that In the case where a distance measuring device is provided on the mechanical arm, the method of using the distance measuring device to determine the current distance information between the mechanical arm and the reference point includes: Determine the corresponding reference point as the second target point according to the working direction of the ranging device; The distance measuring device is controlled to measure the current distance information between the robotic arm and the second target point.

16. The method according to any one of claims 1 to 15, characterized in that The method of using the relative position information between the reference point and the calibration point and the current distance information to correct the position information of any teaching working point corresponding to the robot arm includes: Calculating according to the relative position information between the reference point and the calibration point and the current distance information to obtain a correction value; The position information of any teaching working point corresponding to the robot arm is corrected according to the correction value.

17. The method according to claim 16, characterized in that In the case where the working direction of the distance measuring device includes at least two coordinate axis directions of the robot arm base coordinate system, the calculation is performed according to the relative position information between the reference point and the calibration point and the current distance information to obtain the correction value, including: According to the relative position information between the reference point and the calibration point corresponding to each working direction, and the current distance information corresponding to each working direction, the correction value corresponding to each working direction is calculated; The step of correcting the position information of any teaching working point corresponding to the robot arm according to the correction value includes: The coordinate value of any teaching working point in the corresponding working direction is corrected by using the correction value corresponding to each working direction to obtain the corrected position information of any teaching working point.

18. The method according to claim 17, characterized in that in, The correction value Δ corresponding to any of the working directions is α(L-L0), wherein L represents the current distance information corresponding to the working direction, L0 represents the relative position information between the reference point and the calibration point corresponding to the working direction, and α represents the direction coefficient, which represents the positive or negative direction of the working direction in the robot arm base coordinate system.

19. The method according to any one of claims 1 to 15, characterized in that The controlling the mechanical arm to move to the calibration point comprises: When the robotic arm meets the preset correction conditions, the robotic arm is controlled to move to the calibration point.

20. A position correction device for a robot arm, characterized in that: include: A control module is used to control the robot arm to move to a calibration point; A processing module, used to determine the current distance information between the robot arm and the reference point by using a distance measuring device; wherein the working direction of the distance measuring device is parallel to any coordinate axis direction of the robot arm base coordinate system; A correction module is used to correct the position information of any teaching working point corresponding to the robot arm by using the relative position information between the reference point and the calibration point and the current distance information; wherein any teaching working point is a working point determined based on the position teaching of the robot arm; the relative position between the calibration point and any teaching working point remains unchanged.

21. An electronic device, characterized in that: include: Memory and processor; The memory is connected to the processor and is used to store programs; The processor implements the position correction method of the robot arm as claimed in any one of claims 1 to 19 by running the program in the memory.

22. A storage medium, characterized in that: The storage medium stores a computer program, and when the computer program is executed by the processor, the method for correcting the position of the robot arm as claimed in any one of claims 1 to 19 is implemented.

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