Robot tool coordinate system rapid calibration system and method based on point cloud

Abstract

The invention discloses a point cloud-based robot tool coordinate system rapid calibration system and method, and belongs to the technical field of robot TCP calibration, and the system comprises a laser camera which is used for obtaining point cloud data of a robot tail end connection tool; the industrial personal computer is used for controlling the tail end of the robot to descend for a set distance from the initial position in the Z-axis direction of the base coordinate system in the calibration work and the preparation work; according to the point cloud data of all tools in the tail end movement process of the robot in the calibration work and the preparation work, TCP coordinates of the robot after descending by the set distance in the calibration work and the preparation work are determined; determining the offset of the tool coordinate system according to the two TCP coordinates; and calibrating the tool coordinate system according to the offset of the tool coordinate system. According to the invention, rapid calibration of the robot tool coordinate system is realized, and repeated calibration of the robot tool coordinate system is not needed. The problem that TCP calibration needs to be carried out after a current robot works for a period of time is solved.

Description

Technical Field

[0001] The present invention relates to the technical field of robot tool coordinate system calibration, and particularly to a rapid calibration system and method for robot tool coordinate system based on point cloud. Background Art

[0002] The statements in this part only provide background technical information related to the present invention and do not necessarily constitute prior art.

[0003] With the rapid development of robot-related technologies, industrial robots have been widely used in fields such as arc welding, spot welding, and spraying, playing an important role in many fields. To make industrial robots work properly, effective calibration of the tool coordinate system (Tool Center Point, TCP) is required. However, after the robot has worked for a period of time, the movement and offset of the tool often occur, resulting in a large error or even failure of the original TCP calibration, which seriously affects the working accuracy of the robot.

[0004] Therefore, in the actual industrial site, the TCP calibration needs to be carried out again after the robot has worked for a period of time, which not only increases a large amount of workload but also seriously affects the work efficiency. Summary of the Invention

[0005] In order to solve the above problems, the present invention proposes a rapid calibration system and method for robot tool coordinate system based on point cloud, which can calibrate the robot tool coordinate system, avoid repeated calibration, and improve the working accuracy and working efficiency of the robot.

[0006] To achieve the above object, the present invention adopts the following technical solutions: In the first aspect, a rapid calibration system for robot tool coordinate system based on point cloud is proposed, including: A laser camera for obtaining point cloud data of the tool connected to the robot end; An industrial control computer, which is used to control the robot end to descend a set distance from the initial position along the Z-axis direction of the base coordinate system during the calibration work and preparation work; and respectively determine the TCP coordinates of the robot after descending the set distance during the calibration work and preparation work according to the point cloud data of all tools during the movement of the robot end; determine the tool coordinate system offset according to the two TCP coordinates; and calibrate the tool coordinate system according to the tool coordinate system offset; wherein the Z-axis direction of the robot base coordinate system is perpendicular to the working plane of the laser camera.

[0007] Further, the TCP coordinates determined by the industrial control computer include the abscissa and ordinate of the center of the cross-section at the end of the tool, and the vertical coordinate of the end of the robot in the robot base coordinate system; among them, the abscissa and ordinate in the TCP coordinates are calculated based on the point cloud data of all tools during the movement of the end of the robot, and the vertical coordinate in the TCP coordinates is the vertical coordinate of the end of the robot in the robot base coordinate system when the end of the robot is at the initial position.

[0008] Further, the industrial control computer is also used to, during the calibration work, first control the end of the robot to move until the axis of the cylinder at the end of the tool is perpendicular to the working plane of the laser camera, then control the end of the robot to move to the teaching point, and then control the end of the robot to move along the Z-axis direction of the base coordinate system to the initial position.

[0009] Further, the industrial control computer is also used to, during the calibration work, the process of controlling the end of the robot to move until the axis of the cylinder at the end of the tool is perpendicular to the working plane of the laser camera includes: Controlling the end of the robot to descend from the teaching point along the Z-axis direction of the base coordinate system to the first position; controlling the end of the robot to move from the first position to the second position along the Z-axis direction of the base coordinate system; performing cylindrical fitting on the point cloud data of all tools acquired by the laser camera during the process of the end of the robot moving from the first position to the second position, and calculating the axial vector of the fitted cylinder; calculating the angle between the axis of the fitted cylinder and the YOZ plane of the robot base coordinate system and the angle between the axis of the fitted cylinder and the XOZ plane according to the axial vector; controlling the end of the robot to move to make the axis of the cylinder at the end of the tool perpendicular to the working plane of the laser camera according to the two angles.

[0010] Further, when the end of the robot is at the initial position and the first position, the laser camera can acquire the point cloud data of the tool connected to the end of the robot.

[0011] Further, it also includes a calibration frame, and the calibration frame is used to frame the point cloud data acquisition range of the laser camera.

[0012] In the second aspect, a method for quickly calibrating a robot tool coordinate system based on point cloud is proposed, including: During the calibration work and the preparation work, controlling the end of the robot to descend a set distance along the Z-axis direction of the base coordinate system; among them, the Z-axis direction of the robot base coordinate system is perpendicular to the working plane of the laser camera; Acquiring the point cloud data of the tool during the movement of the end of the robot during the calibration work and the preparation work; Respectively determining the TCP coordinates of the robot after descending the set distance during the calibration work and the preparation work according to the point cloud data of all tools during the movement of the end of the robot during the calibration work and the preparation work; Determining the offset of the tool coordinate system according to the two TCP coordinates; Calibrate the tool coordinate system according to the tool coordinate system offset.

[0013] In a third aspect, a computer device is proposed, and the device includes: A processor adapted to execute a computer program; A computer-readable storage medium storing a computer program, which when executed by the processor, implements a method for quickly calibrating a robot tool coordinate system based on point cloud proposed in the second aspect.

[0014] In a fourth aspect, a computer-readable storage medium is proposed, and the computer-readable storage medium stores a computer program, and the computer program is adapted to be loaded and executed by a processor to implement a method for quickly calibrating a robot tool coordinate system based on point cloud proposed in the second aspect.

[0015] In a fifth aspect, a computer program product is proposed, and the computer program product includes a computer program, which when executed by a processor, implements a method for quickly calibrating a robot tool coordinate system based on point cloud proposed in the second aspect.

[0016] Compared with the prior art, the beneficial effects of the present invention are as follows: A system and method for quickly calibrating a robot tool coordinate system based on point cloud proposed by the present invention. During the calibration work and preparation work of the robot tool coordinate system, the system obtains the point cloud data of the tool connected to the robot end through a laser camera, and controls the robot end to descend a set distance along the Z-axis direction of the base coordinate system from the initial position through an industrial control computer; and respectively determines the TCP coordinates of the robot after descending the set distance during the calibration work and preparation work according to the point cloud data of all tools during the movement of the robot end in the calibration work and preparation work; determines the tool coordinate system offset according to the two TCP coordinates; and calibrates the tool coordinate system according to the tool coordinate system offset, which can conveniently and effectively complete the quick calibration work of the robot tool coordinate system, improve the working accuracy of the robot, and has a simple structure, convenient installation, low cost, high precision, and strong adaptability to application scenarios; compared with the traditional robot TCP calibration work, there is no need to perform cumbersome calibration work, which improves the working efficiency of the robot.

[0017] Advantages of additional aspects of the present invention will be partially given in the following description, partially become apparent from the following description, or be understood through the practice of the present invention. Description of the Drawings

[0018] The specification drawings forming a part of this application are used to provide a further understanding of this application. The schematic embodiments of this application and their descriptions are used to explain this application and do not constitute an improper limitation to this application.

[0019] Figure 1 Schematic diagram of the overall structure of a fast calibration system for a robot tool coordinate system based on point cloud disclosed in the embodiment; Figure 2 Schematic diagram of the geometric relationship of the center coordinates of the cross-section of the robot end tool disclosed in the embodiment; Figure 3 Schematic diagram of the position of point P2 disclosed in the embodiment; Figure 4 Schematic diagram of the position of point P3 disclosed in the embodiment; Figure 5 Schematic diagram of the method for calculating the axial deflection angle of the tool disclosed in the embodiment.

[0020] Wherein: 1. Industrial robot, 2. Calibration frame, 3. Laser camera, 4. Industrial control computer. Detailed implementation manners

[0021] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0022] It should be noted that the following detailed description is illustrative and is intended to provide further description of the present application. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by those of ordinary skill in the technical field to which the present application belongs.

[0023] It should be noted that the terms used herein are only for describing specific implementation manners and are not intended to limit the exemplary implementation manners according to the present application. As used herein, unless the context clearly indicates otherwise, the singular forms are also intended to include the plural forms. In addition, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0024] In the present invention, terms such as "fixed connection", "connected", "connected" should be understood in a broad sense, which may mean a fixed connection, an integral connection or a detachable connection; it may be directly connected or indirectly connected through an intermediate medium. For those skilled in the relevant scientific research or technology in this field, the specific meanings of the above terms in the present invention can be determined according to specific situations and should not be construed as a limitation to the present invention.

[0025] Without conflict, the embodiments in the present invention and the features in the embodiments can be combined with each other.

[0026] Embodiment 1 In order to achieve fast calibration of the robot tool coordinate system, in this embodiment, a fast calibration system for a robot tool coordinate system based on point cloud is disclosed, as Figures 1-5 shown, including: A laser camera, which is used to obtain the point cloud data of the tool connected to the end of the robot; An industrial control computer, which is used to control the end of the robot to descend a set distance along the Z-axis direction of the base coordinate system during the calibration work and the preparation work; and respectively determine the TCP coordinates of the robot after descending the set distance during the calibration work and the preparation work according to the point cloud data of all tools during the movement of the end of the robot during the calibration work and the preparation work; determine the tool coordinate system offset according to the two TCP coordinates; and calibrate the tool coordinate system according to the tool coordinate system offset; wherein, the Z-axis direction of the robot base coordinate system is perpendicular to the working plane of the laser camera.

[0027] Among them, the TCP coordinates determined by the industrial control computer include the abscissa and ordinate of the center of the cross-section of the tool end, and the vertical coordinate of the end of the robot in the robot base coordinate system; among them, the abscissa and ordinate in the TCP coordinates are calculated according to the point cloud data of all tools during the movement of the end of the robot, and the vertical coordinate in the TCP coordinates is the vertical coordinate of the end of the robot in the robot base coordinate system when the end of the robot is at the initial position.

[0028] The industrial control computer of this embodiment is further used to control the end of the robot to move to a position where the axis of the tool end cylinder is perpendicular to the working plane of the laser camera during the calibration work, then control the end of the robot to move to the teaching point, and then control the end of the robot to move to the initial position along the Z-axis direction of the base coordinate system.

[0029] The industrial control computer is further used to control the process of the end of the robot moving to a position where the axis of the tool end cylinder is perpendicular to the working plane of the laser camera during the calibration work, including: Controlling the end of the robot to descend from the teaching point to the first position along the Z-axis direction of the base coordinate system; controlling the end of the robot to move from the first position to the second position along the Z-axis direction of the base coordinate system; performing cylindrical fitting on the point cloud data of all tools obtained by the laser camera during the process of the end of the robot moving from the first position to the second position, and calculating the axial vector of the fitted cylinder; calculating the angle between the axis of the fitted cylinder and the YOZ plane of the robot base coordinate system and the angle between the axis of the fitted cylinder and the XOZ plane according to the axial vector; and controlling the end of the robot to move to a position where the axis of the tool end cylinder is perpendicular to the working plane of the laser camera according to the two angles.

[0030] When the end of the robot is at the initial position and the first position, the laser camera can obtain the point cloud data of the tool connected to the end of the robot.

[0031] A fast calibration system for a robot tool coordinate system based on point cloud disclosed in this embodiment further includes a calibration frame, and the calibration frame is used to frame the point cloud data acquisition range of the laser camera.

[0032] Such as Figures 1-4As shown in the figure, a rapid calibration system for a robot tool coordinate system based on point cloud disclosed in this embodiment includes a laser camera 3, a calibration frame 2, an industrial computer 4, and an industrial robot 1. The calibration frame 2 is a U-shaped frame structure. The laser camera 3 is installed at the U-shaped opening of the calibration frame, and the field of view of the laser camera is the same as or smaller than the length of the bottom edge of the calibration frame. The working plane of the laser camera and the plane where the calibration frame is located are perpendicular to the z-axis direction of the robot base coordinate system.

[0033] The laser camera 3 in this embodiment can use a line laser camera.

[0034] The calibration frame can be, but is not limited to, a U-shaped frame structure. Its main functions are: to define the calibration working range of the robot tool coordinate system; to serve as the background for the laser camera to take pictures, facilitating the removal of noise points; and to prevent the line laser from affecting operators and other equipment. According to the actual situation and requirements of the application scenario, using calibration frames of other configurations can also achieve the effects of the present invention.

[0035] The installation method of the calibration frame and the laser camera can be determined according to the application environment, including but not limited to being fixedly installed on the workbench using brackets, as long as the installation is stable and the working plane of the laser camera and the plane where the calibration frame is located are perpendicular to the z-axis direction of the robot base coordinate system.

[0036] The main function of the industrial computer is to process the point cloud images and other key data captured by the laser camera. Selecting other devices such as a PC with this function can also achieve the effects of the present invention.

[0037] The industrial robot mainly targets industrial robots with tools having a cylindrical shape such as arc welding, spot welding, and spraying connected to the end. For robots equipped with other shaped tools, if the robot tool coordinate system calibration can also be carried out using the principle of the present invention, the operations for cylinders, circles, and ellipses should be adjusted accordingly.

[0038] A rapid calibration system for a robot tool coordinate system based on point cloud disclosed in this embodiment can perform preparatory work and calibration work on the robot tool coordinate system. And except for the preparatory work required after each re-TCP calibration, only the calibration work of the tool coordinate system needs to be carried out after the robot has worked for a period of time to complete the calibration of the robot tool coordinate system.

[0039] Taking the tool connected to the end of the robot as a welding torch as an example, the preparatory work and calibration work of a rapid calibration system for a robot tool coordinate system based on point cloud disclosed in this embodiment are described in detail.

[0040] The preparatory work steps are as follows: Step 1: Perform TCP calibration and hand-eye calibration on the robot, and then select a suitable calibration area within the calibration frame so that the welding gun point cloud and the background point cloud can be easily distinguished, ensuring that the welding gun is within the field of view of the laser camera during the calibration process, and there is no risk of collision during the calibration process, and ensuring that there is no debris within the field of view of the line laser camera.

[0041] Control the robot end to move to a suitable position above the calibration area, and make the axis direction of the cylinder at the end of the welding gun parallel to the z-axis direction of the robot base coordinate system, and record this teaching point as the Home point; Step 2: In order to eliminate the influence of background noise points, set the threshold yth, and the point cloud with y coordinates satisfying y>yth will be filtered out as background points. Control the robot end to slowly descend along the z-axis direction of the robot base coordinate system until the laser camera collects the point cloud of non-background points, indicating that the robot end has reached the initial position, and record the coordinates P1 (x0, y0, z0) of the robot end in the robot base coordinate system at this time; Step 3: Control the end of the robot to continue to descend a short set distance along the z-axis direction of the base coordinate system, so that the laser camera can collect a circular arc point cloud of the cylinder at the end of the welding gun. Figure 2 As shown in the figure, the point cloud of the welding gun collected by the laser camera is the point cloud data of the minor arc AB; points A and B are the two points farthest apart from each other in the field of view of the laser camera, and C is the laser camera, so the equations of AC and BC are easy to obtain, and OA and OB are perpendicular to AC and BC respectively, so the equations of OA and OB are also easy to obtain, and then the two straight line equations are combined to obtain the intersection of the two, that is, the coordinate O(x1C, y1C) of the center point O of the welding gun cross section in the camera coordinate system, where x1C is the horizontal coordinate of the center point O of the welding gun cross section obtained in the preparation work in the camera coordinate system, and y1C is the vertical coordinate of the center point O of the welding gun cross section obtained in the preparation work in the camera coordinate system. With the help of the hand-eye calibration matrix, the coordinates of the center in the camera coordinate system are converted to the robot base coordinate system to obtain (x1, y1), where x1 is the horizontal coordinate of the center point O of the welding gun cross section obtained in the preparation work, and y1 is the vertical coordinate of the center point O of the welding gun cross section obtained in the preparation work.

[0042] The preparation work is now completed. Except for the preparation work required after re-calibration of TCP, the robot only needs to be calibrated after working for a period of time.

[0043] After the robot has been working for a period of time, not only will the robot TCP be offset, but the angle between the welding gun and the flange may also change. At this time, the cross-section of the welding gun cylinder is an ellipse when it is cut by the working plane of the laser camera. The method used in the preparation work to obtain the TCP coordinates is no longer applicable. Therefore, it is necessary to first obtain the deflection angle of the welding gun, and then compensate for the deflection angle so that the axis of the cylinder at the end of the welding gun is perpendicular to the working plane of the line laser camera again.

[0044] The specific steps of the calibration work are as follows: Step 1: Control the end of the robot to move to the Home point, and then descend along the z-axis direction of the robot base coordinate system to the first position P2, so that the laser camera can collect a complete and smooth arc or elliptical arc point cloud of the welding torch. The position of point P2 is as Figure 3 shown; then continue to descend slowly and uniformly along the z-axis direction of the base coordinate system to the second position P3, and ensure that the point cloud collected by the laser camera is still the point cloud of the cylinder at the end of the welding torch. The position of point P3 is as Figure 4 shown, and record all the point cloud data collected between P2 and P3; Step 2: Perform cylindrical fitting on the point cloud data between P2 and P3 in the industrial control computer. Let the cylindrical equation be: ; where (a, b, c) is the axial vector of the cylinder , ( l, m, n ) is a point on the axis of the cylinder. The fitted axial vector is , and then according to the axial vector, calculate the angle between the fitted cylinder axis and the YOZ plane of the robot base coordinate system and the angle between the fitted cylinder axis and the XOZ plane.

[0045] The method for calculating is as Figure 5 shown, is the normal vector of the YOZ plane, is the angle between the vector and , and = , then , from which we can get , .

[0046] Control the end of the robot to compensate for the deflection angles and , so that the axis of the cylinder at the end of the welding torch is perpendicular to the working plane of the laser camera again; Step 3: Control the robot to return to the Home point, and then slowly descend along the z-axis direction of the robot base coordinate system until the laser camera collects non-background point cloud, indicating that the end of the robot reaches the initial position. Record the coordinates P4(x2, y2, z2) of the end of the robot in the robot base coordinate system at this time; Step 4: Control the end of the robot to continue descending a small set distance along the z-axis of the robot base coordinate system. According to the arc point cloud collected by the laser camera, calculate the coordinates O2(x3C, y3C) of the center of the welding torch cross-section in the camera coordinate system at this time. With the help of the hand-eye calibration matrix, convert the coordinates of the center in the camera coordinate system to the robot base coordinate system (x3, y3). Here, x3 is the abscissa of the center O point of the welding torch cross-section obtained from the calibration work, and y3 is the ordinate of the center O point of the welding torch cross-section obtained from the calibration work; Step 5: Calculate the offset of the tool coordinate system (TCP): Δx = x 3 - x 1 ,Δy = y 3 - y 1 ,Δz = z 2 - z 0 ,and feed it back to the robot controller to complete the calibration of the robot tool coordinate system, that is, the TCP calibration of the robot.

[0047] A fast calibration system for the robot tool coordinate system based on point cloud disclosed in this embodiment can conveniently and effectively complete the fast calibration work of the robot tool coordinate system, improve the working accuracy of the robot, and has a simple structure, convenient installation, low cost, and strong adaptability to application scenarios; compared with the traditional repeated TCP calibration work, the calibration system proposed in the present invention is faster and more convenient, without the need for cumbersome calibration work, improving the working efficiency of the robot; most of the existing TCP calibration methods rely on manual operation, with high requirements for the proficiency of operators. When calibrating the robot tool coordinate system with the fast calibration system for the robot tool coordinate system proposed in the present invention, the manual requirement is low, reducing the influence of manual proficiency on the accuracy.

[0048] Embodiment 2 In this embodiment, a fast calibration method for the robot tool coordinate system based on point cloud is disclosed, including: During the calibration work and preparation work, control the end of the robot to descend a set distance along the Z-axis of the base coordinate system; among them, the Z-axis direction of the robot base coordinate system is perpendicular to the working plane of the laser camera; Obtain the point cloud data of the tool during the movement of the end of the robot during the calibration work and preparation work; Respectively, according to the point cloud data of all tools during the movement of the end of the robot during the calibration work and preparation work, determine the TCP coordinates of the robot after descending the set distance during the calibration work and preparation work; Determine the offset of the tool coordinate system according to the two TCP coordinates; Calibrate the tool coordinate system according to the offset of the tool coordinate system.

[0049] The present invention also discloses a computer device, which includes: A processor, adapted to execute a computer program; A computer-readable storage medium storing a computer program, which when executed by the processor, implements a method for rapid calibration of a robot tool coordinate system based on point cloud disclosed in Embodiment 2.

[0050] The present invention also discloses a computer-readable storage medium storing a computer program, which is adapted to be loaded and executed by a processor to implement a method for rapid calibration of a robot tool coordinate system based on point cloud disclosed in Embodiment 2.

[0051] The present invention also discloses a computer program product, which includes a computer program, which when executed by a processor, implements a method for rapid calibration of a robot tool coordinate system based on point cloud disclosed in Embodiment 2.

[0052] The method disclosed in Embodiment 2 can be directly embodied as being executed by a hardware processor, or by a combination of hardware and software modules in the processor. The software modules can be located in mature storage media in the art such as random access memory, flash memory, read-only memory, programmable read-only memory, or electrically erasable programmable memory, registers, etc. This storage medium is located in the memory, and the processor reads the information in the memory and combines its hardware to complete the steps of the above method. To avoid repetition, it will not be described in detail here.

[0053] Those of ordinary skill in the art can realize that the units and algorithm steps of each example described in combination with this embodiment can be implemented by electronic hardware or a combination of computer software and electronic hardware. Whether these functions are executed in a hardware or software manner depends on the specific application and design constraints of the technical solution. Professional technicians can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of this application.

[0054] Although the specific implementation manners of the present invention are described above in conjunction with the accompanying drawings, it is not a limitation to the protection scope of the present invention. Those skilled in the art should understand that based on the technical solutions of the present invention, various modifications or deformations that can be made by those skilled in the art without creative efforts are still within the protection scope of the present invention.

Claims

1. A point cloud-based robot tool coordinate system rapid calibration system, characterized in that: include: Laser camera, used to obtain point cloud data of the robot's end connection tool; The industrial computer is used to control the robot end to descend a set distance from the initial position along the Z axis direction of the base coordinate system during calibration and preparation work; And according to the point cloud data of all tools in the robot's end motion process during the calibration and preparation work, the TCP coordinates of the robot after descending a set distance during the calibration and preparation work are determined; according to the two TCP coordinates, the tool coordinate system offset is determined; according to the tool coordinate system offset, the tool coordinate system is calibrated; wherein, the Z-axis direction of the robot base coordinate system is perpendicular to the working plane of the laser camera.

2. A point cloud-based robot tool coordinate system rapid calibration system as claimed in claim 1, characterized in that: The TCP coordinates determined by the industrial computer include the horizontal and vertical coordinates of the center of the cross-section of the tool end, and the vertical coordinate of the robot end in the robot base coordinate system; among them, the horizontal and vertical coordinates in the TCP coordinates are calculated based on the point cloud data of all tools during the movement of the robot end, and the vertical coordinate in the TCP coordinates is the vertical coordinate in the robot base coordinate system when the robot end is in the initial position.

3. The point cloud-based robot tool coordinate system rapid calibration system according to claim 1, characterized in that: The industrial computer is also used in the calibration work. First, the robot end is controlled to move until the axis of the cylinder at the end of the tool is perpendicular to the working plane of the laser camera, and then the robot end is controlled to move to the teaching point. After that, the robot end is controlled to move along the Z-axis direction of the base coordinate system to the initial position.

4. A point cloud-based robot tool coordinate system rapid calibration system as claimed in claim 3, characterized in that: The industrial computer is also used in the calibration work to control the robot end to move until the axis of the cylinder at the end of the tool is perpendicular to the working plane of the laser camera. The process includes: Control the robot end to descend from the teaching point to the first position along the Z-axis direction of the base coordinate system; control the robot end to move from the first position to the second position along the Z-axis direction of the base coordinate system; perform cylindrical fitting on the point cloud data of all tools acquired by the laser camera during the movement of the robot end from the first position to the second position, and calculate the axial vector of the fitted cylinder; according to the axial vector, calculate the angle between the axis of the fitted cylinder and the YOZ plane of the robot base coordinate system and the angle between the axis of the fitted cylinder and the XOZ plane; according to the two angles, control the robot end to move until the axis of the cylinder at the end of the tool is perpendicular to the working plane of the laser camera.

5. The point cloud-based robot tool coordinate system rapid calibration system according to claim 1, characterized in that: When the end of the robot is in the initial position and the first position, the laser camera can obtain point cloud data of the tool connected to the end of the robot.

6. The point cloud-based robot tool coordinate system rapid calibration system according to claim 1, characterized in that: A calibration frame is also included, which is used to frame the point cloud data acquisition range of the laser camera.

7. A method for rapid calibration of robot tool coordinate system based on point cloud, characterized in that: include: During the calibration and preparation work, the end of the robot is controlled to drop a set distance from the initial position along the Z-axis direction of the base coordinate system; wherein the Z-axis direction of the robot base coordinate system is perpendicular to the working plane of the laser camera; Acquire point cloud data of tools during robot end-of-line motion during calibration and preparation work; Determine the TCP coordinates of the robot after descending a set distance in the calibration work and the preparation work according to the point cloud data of all tools in the robot end motion process in the calibration work and the preparation work respectively; According to the two TCP coordinates, the tool coordinate system offset is determined; The tool coordinate system is calibrated according to the tool coordinate system offset.

8. An electronic device, characterized in that: The device comprises: a processor adapted to execute a computer program; A computer-readable storage medium, wherein a computer program is stored in the computer-readable storage medium, and when the computer program is executed by the processor, the method for rapid calibration of a robot tool coordinate system based on a point cloud as described in claim 7 is implemented.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and the computer program is suitable for being loaded by a processor and executing the method for rapid calibration of a robot tool coordinate system based on a point cloud as described in claim 7.

10. A computer program product, characterized in that The computer program product includes a computer program, and when the computer program is executed by a processor, it implements the method for rapid calibration of a robot tool coordinate system based on a point cloud as described in claim 7.

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