Rotating shaft calibration and processing method and processing platform

Abstract

The invention discloses a rotating shaft calibrating and machining method and a machining platform, is applied to the machining platform provided with a 3D camera and a multi-axis movement mechanism, and belongs to the technical field of mechanical machining.The rotating shaft calibrating and machining method comprises the steps that the multi-axis movement mechanism is controlled to drive a calibrating ball to revolve around a rotating shaft, controlling the 3D camera to obtain point cloud data generated by rotation of the calibration ball, and constructing a first transformation matrix from a 3D pixel coordinate system of the 3D camera to a multi-axis space coordinate system of the multi-axis movement mechanism according to the rotation coordinates of the calibration ball driven by the multi-axis movement mechanism and the point cloud data; controlling the 3D camera to obtain a height map scanned by the processing object, extracting a plurality of track feature points according to the height map, and outputting space track data corresponding to the multi-axis space coordinate system according to the track feature points in combination with the first transformation matrix; and the processing platform is controlled to process the processing object according to the space trajectory data, so that the processing precision of the processing object is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of machining, and particularly to a calibration and machining method for a rotating shaft and a machining platform. Background Art

[0002] Considering the need for forming the curved surface shape of the battery cell product, some battery cell products need to be welded to form the curved surface.

[0003] In the related art, the traditional welding guidance scheme generally has the defect of low welding accuracy. Summary of the Invention

[0004] The present invention aims to solve at least one of the technical problems existing in the prior art. For this purpose, the present invention provides a calibration and machining method for a rotating shaft, which is beneficial to improving the machining accuracy of the machining object.

[0005] The present invention also provides a machining platform.

[0006] According to the calibration and machining method for a rotating shaft of the first aspect embodiment of the present invention, it is applied to a machining platform with a 3D camera and a multi-axis motion mechanism. The multi-axis motion mechanism has a rotating shaft. The calibration and machining method for the rotating shaft includes:

[0007] Controlling the multi-axis motion mechanism to drive a calibration ball to revolve around the rotating shaft, and controlling the 3D camera to obtain the point cloud data generated by the rotation of the calibration ball, and constructing a first transformation matrix from the 3D pixel coordinate system of the 3D camera to the multi-axis space coordinate system of the multi-axis motion mechanism according to the rotation coordinates of the calibration ball driven by the multi-axis motion mechanism and the point cloud data;

[0008] Controlling the 3D camera to obtain the height map scanned by the machining object, extracting a plurality of trajectory feature points according to the height map, and outputting the spatial trajectory data corresponding to the multi-axis space coordinate system according to the trajectory feature points in combination with the first transformation matrix;

[0009] Controlling the machining platform to machine the machining object according to the spatial trajectory data.

[0010] The rotation axis calibration and machining method according to the embodiments of the present invention has at least the following beneficial effects: After the user places the calibration ball on the multi-axis motion mechanism, the rotation axis calibration and machining method can control the multi-axis motion mechanism to drive the calibration ball to revolve around the rotation axis, that is, the calibration ball is located at a non-axis center position of the multi-axis motion mechanism, and control the 3D camera to obtain the point cloud data generated by the rotation of the calibration ball. According to the rotation coordinates of the calibration ball driven by the multi-axis motion mechanism and the point cloud data, a first transformation matrix from the 3D pixel coordinate system of the 3D camera to the multi-axis space coordinate system of the multi-axis motion mechanism is constructed, that is, the pose of the rotation axis of the multi-axis motion mechanism is calibrated by the calibration ball and the 3D camera, so as to obtain the first transformation matrix, which is beneficial to improving the mapping accuracy between the 3D pixel coordinate system and the multi-axis space coordinate system. The rotation axis calibration and machining method can control the 3D camera to scan the machining object to obtain the height map of the machining object scan, extract multiple trajectory feature points according to the height map, and output the space trajectory data corresponding to the multi-axis space coordinate system according to the trajectory feature points and the first transformation matrix. The rotation axis calibration and machining method can control the machining platform to perform machining guidance on the machining object according to the space trajectory data to realize the shape of the formed surface of the machining object. The rotation axis calibration and machining method calibrates the rotation axis of the multi-axis motion mechanism through the calibration ball and the 3D camera, which is beneficial to reducing the error of the conversion between the trajectory feature points and the space trajectory data and improving the machining accuracy of the machining object.

[0011] According to some embodiments of the present invention, the machining platform further includes a 2D camera, and the 2D camera applies a machining coordinate system;

[0012] The rotation axis calibration and machining method further includes: constructing a second transformation matrix from the 3D pixel coordinate system to the machining coordinate system according to the first transformation matrix, the first coordinates of the marked points on the calibration block in the 3D pixel coordinate system, and the second coordinates in the machining coordinate system;

[0013] Outputting the space trajectory data corresponding to the multi-axis space coordinate system according to the trajectory feature points and the first transformation matrix includes: obtaining the trajectory coordinates of the trajectory feature points in the machining coordinate system according to the second transformation matrix, optimizing the trajectory coordinates, and then outputting the space trajectory data corresponding to the optimized trajectory coordinates in combination with the first transformation matrix.

[0014] According to some embodiments of the present invention, after optimizing the trajectory coordinates and outputting the space trajectory data corresponding to the optimized trajectory coordinates in combination with the first transformation matrix, it includes:

[0015] Controlling the 2D camera to obtain the actual feature points of the machining object corresponding to the trajectory feature points;

[0016] Performing error correction on the coordinates of the actual feature points and the trajectory coordinates to realize the optimization of the trajectory coordinates.

[0017] According to some embodiments of the present invention, controlling a multi-axis motion mechanism to drive a calibration ball to revolve around a rotation axis, and controlling a 3D camera to acquire point cloud data generated by the rotation of the calibration ball, includes:

[0018] Setting multiple groups of rotation angles, and controlling the multi-axis motion mechanism to drive the calibration ball to perform multiple calibrations on the pose of the rotation axis according to the multiple groups of rotation angles; in one calibration, the calibration ball rotates by the rotation angle around the rotation axis.

[0019] According to some embodiments of the present invention, the multi-axis motion mechanism includes two rotation axes, which are the first rotation axis and the second rotation axis respectively. The multi-axis motion mechanism has an initial state, and the initial state is that the two ends of the first rotation axis are arranged in the left-right direction, and the two ends of the second rotation axis are arranged in the up-down direction;

[0020] Controlling the multi-axis motion mechanism to drive the calibration ball to perform multiple calibrations on the pose of the rotation axis according to multiple groups of rotation angles; in one calibration, the calibration ball rotates by the rotation angle around the rotation axis, includes:

[0021] Controlling the multi-axis motion mechanism to drive the calibration ball to revolve around the first rotation axis, and controlling the 3D camera to acquire the rotation range of the first rotation axis, in which the calibration ball can be kept placed on the multi-axis motion mechanism;

[0022] Setting different multiple groups of first rotation angles within the rotation range, and controlling the multi-axis motion mechanism to drive the calibration ball to perform multiple calibrations on the pose of the first rotation axis according to the multiple groups of first rotation angles, and the rotation angle includes the first rotation angle.

[0023] According to some embodiments of the present invention, controlling the multi-axis motion mechanism to drive the calibration ball to perform multiple calibrations on the pose of the rotation axis according to multiple groups of rotation angles; in one calibration, the calibration ball rotates by the rotation angle around the rotation axis, includes:

[0024] Dividing 360° into the same multiple groups of second rotation angles, and controlling the multi-axis motion mechanism to drive the calibration ball to perform multiple calibrations on the pose of the second rotation axis according to the multiple groups of second rotation angles, and the rotation angle includes the second rotation angle.

[0025] According to some embodiments of the present invention, constructing a first transformation matrix from the 3D pixel coordinate system of the 3D camera to the multi-axis space coordinate system of the multi-axis motion mechanism according to the rotation coordinates and point cloud data of the calibration ball driven by the multi-axis motion mechanism, includes:

[0026] Performing fitting according to the point cloud data to obtain multiple groups of center coordinates of the calibration ball;

[0027] Constructing a fitted space circle according to the multiple groups of center coordinates of the ball, and obtaining the center of the fitted space circle and the normal vector of the rotation axis to represent the installation deviation of the rotation axis;

[0028] Optimizing the first transformation matrix according to the normal vector of the rotation axis.

[0029] According to some embodiments of the present invention, optimizing the first transformation matrix according to the normal vector of the rotation axis includes:

[0030] Obtaining a point on the axis of the rotation axis by using an optimization search algorithm, and optimizing the first transformation matrix according to the normal vector of the rotation axis and the point on the axis of the rotation axis; the optimization search algorithm is calculated by using the following objective function:

[0031]

[0032] where Q ax is the coordinate of the point on the axis of the rotation axis, Q n is the coordinate of the center of the sphere, n takes values from 1 to k, and L is a set distance.

[0033] According to some embodiments of the present invention, optimizing the first transformation matrix according to the normal vector of the rotation axis and the point on the axis of the rotation axis includes:

[0034] Obtaining the first transformation matrix as:

[0035]

[0036] where I3 is the identity matrix with a trace of 3, and J is the target rotation matrix of the normal vector of the rotation axis.

[0037] According to some embodiments of the present invention, the processing object is an electric core, the processing platform is a welding platform, the welding platform is used for welding the electric core, and the welding platform further includes a galvanometer of a welding laser, and both the galvanometer and the 2D camera apply a processing coordinate system;

[0038] Or, the processing object is an electric core, the processing platform is a dispensing platform, and the dispensing platform is used for dispensing the electric core;

[0039] Or, the processing object is an electric core, the processing platform is a cutting platform, and the cutting platform is used for cutting the electric core.

[0040] The processing platform according to the embodiment of the second aspect of the present invention includes: a 3D camera and a multi-axis motion mechanism, which are used to implement the rotation axis calibration and processing method as shown in the first aspect.

[0041] The processing platform according to the embodiments of the present invention has at least the following beneficial effects: The processing platform is used to implement the rotation axis calibration and processing method as shown in the first aspect. After the user places the calibration ball on the multi-axis motion mechanism, the rotation axis calibration and processing method can control the multi-axis motion mechanism to drive the calibration ball to revolve around the rotation axis, that is, the calibration ball is located at a non-axis position of the multi-axis motion mechanism, and control the 3D camera to obtain the point cloud data generated by the rotation of the calibration ball. According to the rotation coordinates of the calibration ball driven by the multi-axis motion mechanism and the point cloud data, a first transformation matrix from the 3D pixel coordinate system of the 3D camera to the multi-axis space coordinate system of the multi-axis motion mechanism is constructed, that is, the pose of the rotation axis of the multi-axis motion mechanism is calibrated by the calibration ball and the 3D camera, so as to obtain the first transformation matrix, which is beneficial to improving the mapping accuracy between the 3D pixel coordinate system and the multi-axis space coordinate system. The rotation axis calibration and processing method can control the 3D camera to scan the processing object to obtain the height map of the processing object scan, extract multiple trajectory feature points according to the height map, and output the space trajectory data corresponding to the multi-axis space coordinate system according to the trajectory feature points combined with the first transformation matrix. The rotation axis calibration and processing method can control the processing platform to perform processing guidance on the processing object according to the space trajectory data to realize the forming surface shape of the processing object. The rotation axis calibration and processing method calibrates the rotation axis of the multi-axis motion mechanism through the calibration ball and the 3D camera, which is beneficial to reducing the error of the conversion between the trajectory feature points and the space trajectory data and improving the processing accuracy of the processing object.

[0042] Additional aspects and advantages of the present invention will be given in part in the following description, become apparent in part from the following description, or be learned through the practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] The following further describes the present invention with reference to the drawings and embodiments, where:

[0044] Figure 1 is a layout schematic diagram of the processing platform of the rotation axis calibration and processing method according to an embodiment of the present invention;

[0045] Figure 2 is a schematic diagram of calibrating the rotation axis by the calibration ball of the rotation axis calibration and processing method according to an embodiment of the present invention;

[0046] Figure 3 is a flowchart of the rotation axis calibration and processing method according to an embodiment of the present invention;

[0047] Figure 4 is a flowchart of constructing the second transformation matrix and outputting the space trajectory data by using the second transformation matrix of the rotation axis calibration and processing method according to an embodiment of the present invention;

[0048] Figure 5Flow chart for optimizing trajectory coordinates of a rotation axis calibration and machining method according to an embodiment of the present invention;

[0049] Figure 6 Flow chart for calibrating a rotation axis and solving the normal vector of the rotation axis by fitting a spatial circle in a rotation axis calibration and machining method according to an embodiment of the present invention;

[0050] Figure 7 Flow chart for calibrating a first rotation axis and a second rotation axis in a rotation axis calibration and machining method according to an embodiment of the present invention. Detailed implementation manners

[0051] The embodiments of the present invention will be described in detail below. The examples of the embodiments are shown in the accompanying drawings, where the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary only for explaining the present invention and should not be construed as limiting the present invention.

[0052] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by terms such as up and down, etc., is based on the orientation or positional relationship shown in the accompanying drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention.

[0053] In the description of the present invention, "a plurality" means more than two. If the first and second are described only for the purpose of distinguishing technical features, they should not be construed as indicating or implying relative importance or implicitly indicating the quantity of the indicated technical features or implicitly indicating the sequence of the indicated technical features.

[0054] In the description of the present invention, unless otherwise clearly defined, terms such as "set", "installed", "connected", etc. should be understood in a broad sense. Those skilled in the art can reasonably determine the specific meanings of the above terms in the present invention in combination with the specific content of the technical solution.

[0055] With the continuous in-depth research of the inventor in the field of battery cells, the inventor believes that the shaped curved surface battery cell is the future development trend of the battery cell shape. The shaped curved surface battery cell can adapt to a richer form of terminal products, and the shaped curved surface battery cell needs to consider welding guidance for it. The current mainstream welding guidance scheme is six-axis welding guidance. Six-axis welding guidance has advantages in product compatibility, but has defects such as low precision and slow running speed, and cannot meet the welding guidance requirements of the current battery cell size accuracy.

[0056] Refer to Figures 1 to 7As shown in the figure, a rotation axis calibration and processing method according to an embodiment of the present invention is applied to a processing platform having a 3D camera, a multi-axis motion mechanism, a 2D camera, and a galvanometer of a welding laser. Specifically, the processing platform is a welding platform, the processing object is an electric core, the welding platform is used for welding the electric core, and the multi-axis motion mechanism can be a five-axis motion mechanism, including three moving axes and two rotating axes. Compared with six-axis welding guidance, five-axis welding guidance has obvious advantages in terms of cost, accuracy, and speed.

[0057] Referring to Figure 1 、 Figure 2 and Figure 3 As shown in the figure, the rotation axis calibration and processing method includes the following steps:

[0058] Step S100, controlling the multi-axis motion mechanism to drive the calibration ball to revolve around the rotation axis, and controlling the 3D camera to obtain the point cloud data generated by the rotation of the calibration ball, and constructing a first transformation matrix from the 3D pixel coordinate system of the 3D camera to the multi-axis space coordinate system of the multi-axis motion mechanism according to the rotation coordinates of the calibration ball driven by the multi-axis motion mechanism and the point cloud data;

[0059] Step S200, controlling the 3D camera to obtain the height map scanned by the processing object, extracting a plurality of trajectory feature points according to the height map, and outputting the spatial trajectory data corresponding to the multi-axis space coordinate system according to the trajectory feature points in combination with the first transformation matrix;

[0060] Step S300, controlling the processing platform to process the processing object according to the spatial trajectory data.

[0061] Referring to Figure 1 、 Figure 2 and Figure 3 As shown in the figure, in step S100, the user places the calibration ball in the multi-axis motion mechanism. The rotation axis calibration and processing method can control the multi-axis motion mechanism to drive the calibration ball to move around multiple rotation axes. The multi-axis motion mechanism can obtain the rotation coordinates for driving the calibration ball to rotate, and scan the calibration ball through the 3D camera, thereby obtaining the point cloud data generated by the rotation of the calibration ball.

[0062] Referring to Figure 1 、 Figure 2 and Figure 3 As shown in the figure, the rotation axis calibration and processing method constructs a first transformation matrix from the 3D pixel coordinate system of the 3D camera to the multi-axis space coordinate system of the multi-axis motion mechanism according to the rotation coordinates of the calibration ball driven by the multi-axis motion mechanism and the point cloud data, that is, calibrates the pose of the rotation axis of the multi-axis motion mechanism through the calibration ball and the 3D camera, thereby obtaining the first transformation matrix, which is beneficial to improving the mapping accuracy between the 3D pixel coordinate system and the multi-axis space coordinate system and reducing the transformation error.

[0063] Referring to Figure 1 、Figure 2 and Figure 3 As shown in Figure 3 , in step S200, the user can install the object to be processed on the stage. The rotation axis calibration and processing method can scan the object to be processed through a 3D camera, that is, control the 3D camera to scan the image data in different product postures according to a fixed trajectory, so as to obtain the height map of the object to be processed scanned.

[0064] Referring to Figure 1 、 Figure 2 and Figure 3 As shown in Figure 3 , the rotation axis calibration and processing method can extract multiple trajectory feature points according to the height map. The trajectory feature points can be obtained according to the reference objects such as the flange or edge of the object to be processed (electric core). The rotation axis calibration and processing method can output the spatial trajectory data corresponding to the multi-axis spatial coordinate system according to the trajectory feature points combined with the first transformation matrix.

[0065] Referring to Figure 1 、 Figure 2 and Figure 3 As shown in Figure 3 , in step S300, the rotation axis calibration and processing method can control the processing platform to weld the object to be processed according to the obtained spatial trajectory data, so as to realize the combination or formed surface shape of the object to be processed.

[0066] Referring to Figure 1 、 Figure 2 and Figure 3 As shown in Figure 3 , the rotation axis calibration and processing method provided by the embodiment of the present invention calibrates the rotation axis of the multi-axis motion mechanism through a calibration ball and a 3D camera, which is beneficial to reducing the error of the conversion between the trajectory feature points and the spatial trajectory data and improving the welding accuracy of the object to be processed.

[0067] Referring to Figure 1 、 Figure 2 and Figure 3 As shown in Figure 3 , it should be noted that the calibration ball is a sphere with known geometric features, such as having an accurate radius, spherical smoothness, etc., and is usually used for the calibration of sensors or mechanical systems. The 3D camera is specifically a 3D line-scanning laser camera, which is a three-dimensional imaging device based on line-scanning technology. By scanning the surface of an object and combining motion information, three-dimensional data is generated. The 3D line-scanning camera mainly projects line laser or structured light onto the surface of an object and captures the reflected light signal through a sensor. Point cloud data is a discrete data set composed of a large number of three-dimensional coordinate points and is mainly used to characterize the geometric shape of the object surface.

[0068] Referring to Figure 1 、 Figure 2 and Figure 4 As shown in Figure 4 , it can be understood that in the processing platform, the 3D camera applies a 3D pixel coordinate system, the multi-axis motion mechanism applies a multi-axis spatial coordinate system, while the galvanometer and the 2D camera both apply a processing coordinate system.

[0069] The method for calibrating and machining the rotation axis further includes the following steps:

[0070] Step S400: Construct a second transformation matrix from the 3D pixel coordinate system to the machining coordinate system according to the first transformation matrix, the first coordinates of the marked points on the calibration block in the 3D pixel coordinate system, and the second coordinates in the machining coordinate system;

[0071] Refer to Figure 1 、 Figure 2 and Figure 4 As shown in

[0072] It should be noted that the galvanometer is used for high-speed and high-precision positioning in welding to determine the welding path, and the 2D camera is mainly used for vision guidance to ensure welding accuracy and reliability. The structures of the 3D camera, multi-axis motion mechanism, galvanometer, and 2D camera are all conventional technical means in this field and will not be elaborated here.

[0073] Refer to Figure 1 and Figure 2 As shown in

[0074] It can be understood that specifically, in step S200, the method for calibrating and machining the rotation axis can change the starting position of the calibration block, so as to obtain multiple sets of the first coordinates of the marked points on the calibration block in the 3D pixel coordinate system and the second coordinates in the machining coordinate system. Through the acquisition of multiple sets of the first coordinates and the second coordinates, sufficient data support can be obtained, which is beneficial to improving the accuracy of the second transformation matrix and thus improving the accuracy of welding guidance for the machining object.

[0074] Refer to Figure 1 and Figure 2 As shown in

[0075] Refer to Figure 1 、 Figure 2 and Figure 4As shown, it can be understood that in step S200 of the rotation axis calibration and machining method, the spatial trajectory data corresponding to the multi-axis spatial coordinate system output according to the trajectory feature points in combination with the first transformation matrix includes the following steps:

[0076] Step S210: Obtain the trajectory coordinates of the trajectory feature points in the machining coordinate system according to the second transformation matrix. After optimizing the trajectory coordinates, output the spatial trajectory data corresponding to the optimized trajectory coordinates in combination with the first transformation matrix.

[0077] Refer to Figure 1 、 Figure 2 and Figure 4 As shown, after the rotation axis calibration and machining method obtains the trajectory feature points through the 3D camera, the second transformation matrix can be used to transform the 3D pixel coordinate system of the trajectory feature points into the machining coordinate system, that is, obtain the trajectory coordinates. Since the trajectory coordinates are converted coordinates and their accuracy needs to be verified or optimized, the rotation axis calibration and machining method also needs to optimize the trajectory coordinates, and then output the spatial trajectory data corresponding to the optimized trajectory feature points in combination with the first transformation matrix. According to the optimized spatial trajectory data, guide the machining platform to perform welding guidance on the machining object. By means of optimization and calibration, it is beneficial to improve the accuracy of converting the trajectory feature points into spatial trajectory data, thereby improving the welding accuracy of the machining object.

[0078] Refer to Figure 1 、 Figure 2 and Figure 5 As shown, it can be understood that in step S210 of the rotation axis calibration and machining method, after optimizing the trajectory coordinates, output the spatial trajectory data corresponding to the optimized trajectory coordinates in combination with the first transformation matrix, including the following steps:

[0079] Step S211: Control the 2D camera to obtain the actual feature points of the machining object corresponding to the trajectory feature points;

[0080] Step S212: Perform error correction on the coordinates of the actual feature points and the trajectory coordinates to optimize the trajectory coordinates.

[0081] Refer to Figure 1 、 Figure 2 and Figure 5 As shown, in step S211, since the trajectory coordinates are the coordinates converted after being photographed by the 3D camera and their accuracy needs to be verified or optimized, the rotation axis calibration and machining method can control the 2D camera to obtain the actual features of the machining object corresponding to the trajectory feature points based on the same reference object on the machining object, that is, the trajectory feature points and the actual features are extracted based on the same reference object. That is, the rotation axis calibration and machining method can obtain multiple actual feature points by actually photographing with the 2D camera.

[0082] Refer to​​Figure 1 , Figure 2 and Figure 5 As shown in Figure 2 and Figure 5 , in step S212, the rotational axis calibration and machining method can correct the error between the coordinates of the actual feature points and the trajectory coordinates, thereby optimizing the trajectory coordinates. By means of optimization and calibration, it is beneficial to improve the accuracy of converting the trajectory feature points into spatial trajectory data, and thus improve the welding accuracy of the machining object.

[0083] Referring to Figure 1 , Figure 2 and Figure 5 As shown, specifically, the rotational axis calibration and machining method can compare multiple sets of corresponding trajectory coordinates with the coordinates of the actual feature points, calculate the error of each set of corresponding points, such as the Euclidean distance, and evaluate the accuracy of the first transformation matrix and the second transformation matrix by statistically analyzing indicators such as the average error and the maximum error of all point sets. According to the results of the error analysis, the rotational axis calibration and machining method can adjust the parameters of the first transformation matrix and the second transformation matrix, such as coefficients of the rotation matrix, translation vector, focal length, etc., so that the trajectory coordinates of the theoretical transformation are as close as possible to the actual feature points. The rotational axis calibration and machining method can optimize the first transformation matrix and the second transformation matrix by means of the least squares method, nonlinear optimization algorithms, etc.

[0084] It should be understood that in some other embodiments, the machining object is an electric core, and the machining platform is a dispensing platform, which is used for dispensing the electric core.

[0085] It should be understood that in some other embodiments, the machining object is an electric core, and the machining platform is a cutting platform, which is used for cutting the electric core.

[0086] Referring to Figure 1 , Figure 2 and Figure 6 As shown, it can be understood that in this embodiment, in step S100, the rotational axis calibration and machining method controls the multi-axis motion mechanism to drive the calibration ball to revolve around the rotational axis, and controls the 3D camera to obtain the point cloud data generated by the rotation of the calibration ball, including the following steps:

[0087] Step S110, setting multiple sets of rotation angles, and controlling the multi-axis motion mechanism to drive the calibration ball to perform multiple calibrations on the pose of the rotational axis according to the multiple sets of rotation angles; in one calibration, the calibration ball rotates by the rotation angle around the rotational axis.

[0088] Referring to Figure 1 , Figure 2 and Figure 6As shown, in step S110, the rotation axis calibration and machining method can set multiple groups of rotation angles with respect to the calibration ball, and according to the multiple groups of rotation angles, control the multi-axis motion mechanism to drive the calibration ball to calibrate the pose of the rotation axis multiple times, so as to obtain multiple groups of point cloud data, which is beneficial to improving the accuracy of the first transformation matrix from the constructed 3D pixel coordinate system to the multi-axis space coordinate system.

[0089] Referring to Figure 1 、 Figure 2 and Figure 6 As shown, specifically, in one calibration, the multi-axis motion mechanism can drive the calibration ball to rotate by a rotation angle around the rotation axis, and the 3D camera is used to obtain the point cloud data generated by the movement of the calibration ball, so as to obtain multiple groups of transformation data for realizing the transformation between the multi-axis space coordinate system and the 3D pixel coordinate system, which is beneficial to improving the accuracy of the constructed first transformation matrix and reducing errors.

[0090] Referring to Figure 1 、 Figure 2 and Figure 7 As shown, it can be understood that the multi-axis motion mechanism includes three moving axes and two rotation axes. The three moving axes are the X-axis, Y-axis, and Z-axis respectively, and the two rotation axes are the first rotation axis (or A-axis) and the second rotation axis (or C-axis) respectively.

[0091] Referring to Figure 1 、 Figure 2 and Figure 7 As shown, the multi-axis motion mechanism has an initial state, and the initial state is that the two ends of the first rotation axis are arranged in the left-right direction, and the two ends of the second rotation axis are arranged in the up-down direction;

[0092] Referring to Figure 1 、 Figure 2 and Figure 7 As shown, in step S110 of the rotation axis calibration and machining method, the multi-axis motion mechanism is controlled to drive the calibration ball to calibrate the pose of the rotation axis multiple times according to multiple groups of rotation angles; in one calibration, the calibration ball rotates by a rotation angle around the rotation axis, including the following steps:

[0093] Step S111, controlling the multi-axis motion mechanism to drive the calibration ball to revolve around the first rotation axis, and controlling the 3D camera to obtain the rotation range of the first rotation axis, within which the calibration ball can be kept placed on the multi-axis motion mechanism;

[0094] Step S112, setting different multiple groups of first rotation angles within the rotation range, and controlling the multi-axis motion mechanism to drive the calibration ball to calibrate the pose of the first rotation axis multiple times according to the multiple groups of first rotation angles. The rotation angle includes the first rotation angle.

[0095] Referring to Figure 1 、 Figure 2 and Figure 7As shown, in step S111, in the initial state, the two ends of the first rotating shaft are arranged in the left-right direction. When the multi-axis motion mechanism rotates around the first rotating shaft, the multi-axis motion mechanism can swing back and forth. If the amplitude of the back-and-forth swing of the multi-axis motion mechanism is too large, it is easy to cause the calibration ball to directly fall off the multi-axis motion mechanism, resulting in the failure of calibrating the rotating shaft.

[0096] Referring to Figure 1 , Figure 2 and Figure 7 shown, with the initial angle of the first rotating shaft in the initial state being 0°, this rotating shaft calibration and machining method controls the multi-axis motion mechanism to drive the calibration ball to revolve around the first rotating shaft in the positive direction, and monitors the rotation of the calibration ball through a 3D camera until the first rotating shaft rotates to θ max , that is, the first rotating shaft rotates to the maximum rotation angle at which the calibration ball can be kept placed on the multi-axis motion mechanism. Then the rotation range of the first rotating shaft is -θ max to θ max , that is, first measure the maximum rotation range at which the calibration ball can be kept placed on the first rotating shaft, thus avoiding the problem of the calibration ball falling off during the calibration process, which is beneficial to improving the efficiency of calibrating the rotating shaft.

[0097] Referring to Figure 1 , Figure 2 and Figure 7 shown, in step S112, different multiple groups of first rotation angles are set within the rotation range, and the number of groups of the first rotating shaft is greater than or equal to 3. This rotating shaft calibration and machining method can control the multi-axis motion mechanism to drive the calibration ball to revolve around the first rotating shaft in the positive direction or the reverse direction, and record the point cloud data generated by the calibration ball rotating the first rotation angle each time through a 3D camera to obtain multiple groups of transformation data for realizing the transformation between the multi-axis space coordinate system and the 3D pixel coordinate system, which is beneficial to improving the accuracy of the constructed first transformation matrix and reducing errors.

[0098] Referring to Figure 1 , Figure 2 and Figure 7 shown, it can be understood that this rotating shaft calibration and machining method controls the multi-axis motion mechanism to drive the calibration ball to perform multiple calibrations on the pose of the rotating shaft according to multiple groups of rotation angles in step S110; in one calibration, the calibration ball rotates the rotation angle around the rotating shaft, including the following steps:

[0099] Step S113, divide 360° into the same multiple groups of second rotation angles, and control the multi-axis motion mechanism to drive the calibration ball to perform multiple calibrations on the pose of the second rotating shaft according to the multiple groups of second rotation angles. The rotation angle includes the second rotation angle.

[0100] Referring to Figure 1 , Figure 2 and Figure 7As shown, in step S113, the rotational axis calibration and machining method can control the multi-axis motion mechanism to drive the calibration ball to rotate by a second rotation angle around the second rotation axis. For example, the second rotation angle is 60°, and the point cloud data generated when the calibration ball rotates by the second rotation angle around the second rotation axis is obtained through a 3D camera. The rotational axis calibration and machining method can divide 360° into 6 equal groups of second rotation angles, and the rotational axis calibration and machining method can control the multi-axis motion mechanism to drive the calibration ball to rotate 6 times repeatedly to obtain multiple groups of transformation data for realizing the transformation between the multi-axis space coordinate system and the 3D pixel coordinate system, which is beneficial to improving the accuracy of the constructed first transformation matrix and reducing errors.

[0101] Referring to Figure 1 、 Figure 2 and Figure 6 As shown, it can be understood that in step S100, the rotational axis calibration and machining method constructs the first transformation matrix from the 3D pixel coordinate system of the 3D camera to the multi-axis space coordinate system of the multi-axis motion mechanism according to the rotation coordinates of the calibration ball driven by the multi-axis motion mechanism and the point cloud data, including the following steps:

[0102] Step S120: Fit according to the point cloud data to obtain the center coordinates of multiple groups of calibration balls;

[0103] Step S130: Construct a fitted space circle according to multiple groups of center coordinates, and obtain the center of the fitted space circle and the normal vector of the rotation axis to represent the installation deviation of the rotation axis;

[0104] Step S140: Optimize the first transformation matrix according to the normal vector of the rotation axis.

[0105] Referring to Figure 1 、 Figure 2 and Figure 6 As shown, the rotational axis calibration and machining method can obtain the point cloud of the spherical surface of the calibration ball through a 3D camera, and obtain the center coordinates of multiple groups of calibration balls by means of spatial fitting. When calibrating the rotation axis, the calibration ball will rotate around the first rotation axis or the second rotation axis. By recording the revolution trajectory of the calibration ball, a fitted space circle when the calibration ball makes a revolution is constructed. Based on the fitted space circle, its center and the normal vector passing through the center of the fitted space circle can be obtained, that is, the normal vector of the rotation axis is obtained by fitting to represent the installation deviation of the rotation axis. In Figure 2 , P1, P2 and P3 respectively represent the rotation positions of three groups of calibration balls, and the dashed circle represents the fitted space circle.

[0106] It can be understood that in step S130, the rotational axis calibration and machining method optimizes the first transformation matrix according to the normal vector of the rotation axis, including the following steps:

[0107] Step S131: Obtain the on-axis points of the rotation axis using an optimization search algorithm, and optimize the first transformation matrix based on the normal vector of the rotation axis and the on-axis points of the rotation axis. The optimization search algorithm is calculated using the following objective function:

[0108]

[0109] where Q ax is the coordinate of the on-axis point of the rotation axis, Q n is the center coordinate of the sphere, n ranges from 1 to k, and L is a set distance.

[0110] This method for calibrating and machining the rotation axis assumes the coordinate Q ax of a point in space, and forms a space line with the axis of the rotation axis. Then, through the optimization search algorithm, the distance from all points in Q n to this line is made the set distance L, which can ensure that the searched Q ax is located on the axis of the rotation axis.

[0111] Due to the arbitrariness of the selection of the on-axis points of the rotation axis, when the set distance L is larger than the radius of the fitted space circle, the searched Q ax is located outside the plane of the fitted space circle; when the set distance L is greater than zero and less than the radius of the fitted space circle, the searched Q ax is the center of the fitted space circle. This method for calibrating and machining the rotation axis can make the set distance L take a large enough value to ensure that the objective function can drop to 0.

[0112] It can be understood that in step S131 of this method for calibrating and machining the rotation axis, optimizing the first transformation matrix based on the normal vector of the rotation axis and the on-axis points of the rotation axis includes the following steps:

[0113] The obtained first transformation matrix is:

[0114]

[0115] where I3 is the identity matrix with a trace of 3, and J is the target rotation matrix of the normal vector of the rotation axis. After obtaining the normal vector of the rotation axis by fitting the space circle in this method for calibrating and machining the rotation axis, the target rotation matrix of the normal vector of the rotation axis can be calculated through the Rodriguez rotation formula.

[0116] This method for calibrating and machining the rotation axis obtains the normal vector of the rotation axis by fitting the space circle, searches for the coordinates of the on-axis points of the rotation axis through the optimization search algorithm, and can obtain the optimized first transformation matrix based on the normal vector of the rotation axis and the on-axis points of the rotation axis, which is beneficial to improving the accuracy of the conversion between the multi-axis space coordinate system and the 3D pixel coordinate system, reducing the error of the conversion between the trajectory feature points and the space trajectory data, and improving the welding accuracy of the machining object.

[0117] It is understandable that when the rotation axis calibration and machining method controls the multi-axis motion mechanism to drive the calibration ball to calibrate the first rotating shaft, the first transformation matrix is H A When the rotation axis calibration and machining method controls the multi-axis motion mechanism to drive the calibration ball to calibrate the second rotating shaft, the first transformation matrix is H C .

[0118] Assume that the point (x, y, z) in the multi-axis space coordinate system rotates by α A and α C respectively around the first rotating shaft and the second rotating shaft, then the first transformation matrix is H A ·H C .

[0119] Specifically, the rotation axis calibration and machining method can be implemented when the moving axes of the multi-axis motion mechanism are calibrated. Assume that the point (x, y, z) in the multi-axis space coordinate system moves by ΔT = (Δx, Δy, -Δz) along the X-axis, Y-axis and Z-axis T and rotates by α A and α C respectively around the first rotating shaft and the second rotating shaft. After that, the coordinates of the measured point in the 3D pixel coordinate system are (u, v). Then, the transformation of the measured point between the multi-axis space coordinate system and the 3D pixel coordinate system can be realized by the following formula:

[0120]

[0121] where H A ·H C is the first transformation matrix for rotation around the first rotating shaft and the second rotating shaft, ΔT is the movement amount of the point (x, y, z), and M Δ is the transformation matrix of the movement amount.

[0122] Referring to Figure 1 , Figure 2 and Figure 6 shown, and the rotation axis calibration and machining method can perform automatic calibration through vision software and programs, in cooperation with the machining platform, which is beneficial to reducing the cumbersome process of manual calibration and reducing the errors caused by manual calibration, thereby improving the welding efficiency of the machining object.

[0123] It should be noted that when the rotation axis calibration and machining method calibrates the first rotating shaft through the calibration ball, the transformation matrix for rotation around the first rotating shaft can be constructed according to the rotation coordinates of the multi-axis motion mechanism and the point cloud data of the calibration ball. When the rotation axis calibration and machining method calibrates the second rotating shaft through the calibration ball, the transformation matrix for rotation around the second rotating shaft can be constructed according to the rotation coordinates of the multi-axis motion mechanism and the point cloud data of the calibration ball.

[0124] Referring toFigure 1 and Figure 2 As shown in Figure 2 , a processing platform according to an embodiment of the present invention includes: a 3D camera and a multi-axis motion mechanism, which are used to implement the rotation axis calibration and processing method as shown in any one of the above embodiments. After the user places the calibration ball on the multi-axis motion mechanism, the rotation axis calibration and processing method can control the multi-axis motion mechanism to drive the calibration ball to revolve around the rotation axis, that is, the calibration ball is located at a non-axis center position of the multi-axis motion mechanism, and control the 3D camera to obtain the point cloud data generated by the rotation of the calibration ball. According to the rotation coordinates of the calibration ball driven by the multi-axis motion mechanism and the point cloud data, a first transformation matrix from the 3D pixel coordinate system of the 3D camera to the multi-axis space coordinate system of the multi-axis motion mechanism is constructed, that is, the pose of the rotation axis of the multi-axis motion mechanism is calibrated by the calibration ball and the 3D camera, so as to obtain the first transformation matrix, which is beneficial to improving the mapping accuracy between the 3D pixel coordinate system and the multi-axis space coordinate system. The rotation axis calibration and processing method can control the 3D camera to scan the processing object to obtain the height map of the scanned processing object, extract multiple trajectory feature points according to the height map, and output the space trajectory data corresponding to the multi-axis space coordinate system according to the trajectory feature points combined with the first transformation matrix. The rotation axis calibration and processing method can control the processing platform to perform welding guidance on the processing object according to the space trajectory data to realize the shape of the formed surface of the processing object. The rotation axis calibration and processing method calibrates the rotation axis of the multi-axis motion mechanism through the calibration ball and the 3D camera, which is beneficial to reducing the error of the conversion between the trajectory feature points and the space trajectory data and improving the welding accuracy of the processing object.

[0125] Referring to Figure 1 and Figure 2As shown, a computer-readable storage medium according to an embodiment of the present invention stores computer-executable instructions for causing a computer to execute the rotation axis calibration and machining method as shown in any of the above embodiments. After the user places the calibration ball on the multi-axis motion mechanism, the rotation axis calibration and machining method can control the multi-axis motion mechanism to drive the calibration ball to revolve around the rotation axis, that is, the calibration ball is located at a non-axis position of the multi-axis motion mechanism, and control the 3D camera to obtain the point cloud data generated by the rotation of the calibration ball. According to the rotation coordinates of the calibration ball driven by the multi-axis motion mechanism and the point cloud data, a first transformation matrix from the 3D pixel coordinate system of the 3D camera to the multi-axis space coordinate system of the multi-axis motion mechanism is constructed, that is, the pose of the rotation axis of the multi-axis motion mechanism is calibrated by the calibration ball and the 3D camera, so as to obtain the first transformation matrix, which is beneficial to improving the mapping accuracy between the 3D pixel coordinate system and the multi-axis space coordinate system. The rotation axis calibration and machining method can control the 3D camera to scan the machining object to obtain the height map of the machining object scan, extract multiple trajectory feature points according to the height map, and output the spatial trajectory data corresponding to the multi-axis space coordinate system according to the trajectory feature points combined with the first transformation matrix. The rotation axis calibration and machining method can control the machining platform to perform welding guidance on the machining object according to the spatial trajectory data to realize the shape of the formed surface of the machining object. The rotation axis calibration and machining method calibrates the rotation axis of the multi-axis motion mechanism through the calibration ball and the 3D camera, which is beneficial to reducing the error of the conversion between the trajectory feature points and the spatial trajectory data and improving the welding accuracy of the machining object.

[0126] Those skilled in the art should understand that the embodiments of the present invention can be provided as a method, a system, or a computer program product. Therefore, the present invention can take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present invention can take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0127] The present invention is described with reference to the flowcharts and / or block diagrams of methods, apparatuses (systems), and computer program products according to embodiments of the present invention. It should be understood that each flow and / or block in the flowchart and / or block diagram, and the combination of flows and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing devices to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing devices generate a device for realizing the functions specified in Figure 1 one or more of these processes or multiple processes and / or blocks Figure 1 one or more of these blocks or multiple blocks.

[0128] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to operate in a particular manner, such that the instructions stored in the computer-readable memory produce a manufacture including an instruction means that implements the functions specified in one or more processes and / or blocks Figure 1 in the process Figure 1 or blocks or multiple blocks.

[0129] These computer program instructions can also be loaded onto a computer or other programmable data processing apparatus, such that a series of operational steps are performed on the computer or other programmable apparatus to produce a computer-implemented process, whereby the instructions executed on the computer or other programmable apparatus provide steps for implementing the functions specified in one or more processes and / or blocks Figure 1 in the process Figure 1 or blocks or multiple blocks.

[0130] An embodiment of the present invention also provides a welding apparatus, including a memory, a processor, and a program stored on the memory and executable on the processor. When the program is executed by the processor, it implements the rotation axis calibration and processing methods of the above embodiments.

[0131] Taking the example that the processor and the memory in the controller can be connected through a bus. The memory, as a non-transitory computer-readable storage medium, can be used to store non-transitory software programs and non-transitory computer-executable programs. In addition, the memory can include high-speed random access memory, and can also include non-transitory memory, such as at least one disk memory, flash memory device, or other non-transitory solid-state storage devices. In some embodiments, the memory can optionally include a memory remotely set relative to the control processor, and these remote memories can be connected to the control device through a network.

[0132] The non-transitory software programs and instructions required to implement the rotation axis calibration and processing methods of the above embodiments are stored in the memory. When executed by the processor, they execute the rotation axis calibration and processing methods of the above embodiments. For example, execute Figure 3 method steps S100 to step S300 in Figure 4 method steps S400 to step S210 in Figure 5 method steps S211 to step S212 in Figure 6 method steps S110 to step S140 in Figure 7 method steps S111 to step S113 in

[0133] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separated, that is, they may be located in one place or distributed to multiple network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0134] In addition, an embodiment of the present invention also provides a computer-readable storage medium storing computer-executable instructions for executing the above-described rotation axis calibration and machining method. Exemplarily, execute the Figures 3 to 7 method steps described above.

[0135] It should be noted that since the computer-readable storage medium of the embodiment of the present invention can execute the rotation axis calibration and machining method of any of the above embodiments, therefore, the specific implementation manner and technical effect of the computer-readable storage medium of the embodiment of the present invention can refer to the specific implementation manner and technical effect of the rotation axis calibration and machining method of any of the above embodiments.

[0136] In addition, an embodiment of the present invention also provides a computer program product including a computer program or computer instructions. The computer program or computer instructions are stored in a computer-readable storage medium. The processor of the computer device reads the computer program or computer instructions from the computer-readable storage medium, and the processor executes the computer program or computer instructions to enable the computer device to execute the above-described rotation axis calibration and machining method. Exemplarily, execute the Figures 3 to 7 method steps described above.

[0137] It should be noted that since the computer program product of the embodiment of the present invention can execute the rotation axis calibration and machining method of any of the above embodiments, therefore, the specific implementation manner and technical effect of the computer program product of the embodiment of the present invention can refer to the specific implementation manner and technical effect of the rotation axis calibration and machining method of any of the above embodiments.

[0138] Those of ordinary skill in the art will understand that all or some of the steps and systems disclosed above can be implemented as software, firmware, hardware, and their appropriate combinations. Some or all of the physical components can be implemented as software executed by a processor, such as a central processing unit, a digital signal processor, or a microprocessor, or as hardware, or as an integrated circuit, such as an application specific integrated circuit. Such software can be distributed on a computer-readable medium, which can include a computer storage medium (or non-transitory medium) and a communication medium (or transitory medium). As is well known to those of ordinary skill in the art, the term computer storage medium includes volatile and non-volatile, removable and non-removable media implemented in any method or technology for storing information, such as computer-readable instructions, data structures, program modules, or other data. Computer storage media includes, but is not limited to, RAM, ROM, EEPROM, flash memory or other memory technologies, CD-ROM, digital versatile disks (DVD) or other optical disk storage, magnetic cassettes, tapes, magnetic disk storage or other magnetic storage devices, or any other medium that can be used to store the desired information and can be accessed by a computer. In addition, it is well known to those of ordinary skill in the art that communication media typically includes computer-readable instructions, data structures, program modules, or other data in a modulated data signal such as a carrier wave or other transmission mechanism, and can include any information delivery medium.

[0139] The embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the above embodiments, and various changes can be made without departing from the spirit of the present invention within the scope of knowledge possessed by those of ordinary skill in the relevant art.

Claims

1. A calibration and machining method for a rotating shaft, which is applied to a machining platform with a 3D camera and a multi-axis motion mechanism, and the multi-axis motion mechanism has a rotating shaft, characterized in that, Including: Controlling the multi-axis motion mechanism to drive the calibration ball to revolve around the rotation axis, and controlling the 3D camera to acquire the point cloud data generated by the rotation of the calibration ball, and constructing a first transformation matrix from the 3D pixel coordinate system of the 3D camera to the multi-axis space coordinate system of the multi-axis motion mechanism according to the rotation coordinates of the calibration ball driven by the multi-axis motion mechanism and the point cloud data; Controlling the 3D camera to acquire the height map of the scanned processing object, extracting a plurality of trajectory feature points according to the height map, and outputting the spatial trajectory data corresponding to the multi-axis space coordinate system according to the trajectory feature points in combination with the first transformation matrix; Controlling the processing platform to process the processing object according to the spatial trajectory data.

2. The calibration and machining method of a rotating shaft according to claim 1, characterized in that: The processing platform further includes a 2D camera, and the 2D camera applies a processing coordinate system; The rotation axis calibration and processing method further includes: constructing a second transformation matrix from the 3D pixel coordinate system to the processing coordinate system according to the first transformation matrix, the first coordinate of the marked point on the calibration block in the 3D pixel coordinate system, and the second coordinate in the processing coordinate system; The outputting the spatial trajectory data corresponding to the multi-axis space coordinate system according to the trajectory feature points in combination with the first transformation matrix includes: obtaining the trajectory coordinates of the trajectory feature points in the processing coordinate system according to the second transformation matrix, optimizing the trajectory coordinates, and outputting the spatial trajectory data corresponding to the optimized trajectory coordinates in combination with the first transformation matrix.

3. The rotation axis calibration and machining method according to claim 2, characterized in that: After optimizing the trajectory coordinates, outputting the spatial trajectory data corresponding to the optimized trajectory coordinates in combination with the first transformation matrix includes: Controlling the 2D camera to acquire the actual feature points of the processing object corresponding to the trajectory feature points; Performing error correction on the coordinates of the actual feature points and the trajectory coordinates to optimize the trajectory coordinates.

4. The calibration and machining method of a rotating shaft according to claim 1, characterized in that: The controlling the multi-axis motion mechanism to drive the calibration ball to revolve around the rotation axis, and controlling the 3D camera to acquire the point cloud data generated by the rotation of the calibration ball includes: Setting multiple groups of rotation angles, and controlling the multi-axis motion mechanism to drive the calibration ball to perform multiple calibrations on the pose of the rotation axis according to the multiple groups of rotation angles; in one calibration, the calibration ball rotates the rotation angle around the rotation axis.

5. The calibration and machining method of the rotating shaft according to claim 4, characterized in that: The multi-axis motion mechanism includes two rotation axes, the two rotation axes are respectively a first rotation axis and a second rotation axis, the multi-axis motion mechanism has an initial state, and the initial state is that the two ends of the first rotation axis are arranged in the left-right direction, and the two ends of the second rotation axis are arranged in the up-down direction; The controlling the multi-axis motion mechanism to drive the calibration ball to perform multiple calibrations on the pose of the rotation axis according to the multiple groups of rotation angles; in one calibration, the calibration ball rotates the rotation angle around the rotation axis includes: Controlling the multi-axis motion mechanism to drive the calibration ball to revolve around the first rotation axis, and controlling the 3D camera to acquire the rotation range of the first rotation axis, within which the calibration ball can be kept placed on the multi-axis motion mechanism; Set different multiple groups of first rotation angles within the rotation range, and control the multi-axis motion mechanism to drive the calibration ball to perform multiple calibrations on the pose of the first rotating shaft according to the multiple groups of the first rotation angles. The rotation angle includes the first rotation angle.

6. The calibration and machining method of the rotating shaft according to claim 5, characterized in that: Control the multi-axis motion mechanism to drive the calibration ball to perform multiple calibrations on the pose of the rotating shaft according to the multiple groups of the rotation angles; in one calibration, the calibration ball rotates the rotation angle around the rotating shaft, including: Divide 360° into the same multiple groups of second rotation angles, and control the multi-axis motion mechanism to drive the calibration ball to perform multiple calibrations on the pose of the second rotating shaft according to the multiple groups of the second rotation angles. The rotation angle includes the second rotation angle.

7. The calibration and machining method of the rotating shaft according to claim 1, characterized in that: Construct the first transformation matrix from the 3D pixel coordinate system of the 3D camera to the multi-axis space coordinate system of the multi-axis motion mechanism according to the rotation coordinates of the calibration ball driven by the multi-axis motion mechanism and the point cloud data, including: Perform fitting according to the point cloud data to obtain the center coordinates of multiple groups of the calibration balls; Construct a fitted spatial circle according to the multiple groups of the center coordinates of the balls, and obtain the center of the fitted spatial circle and the normal vector of the rotating shaft to represent the installation deviation of the rotating shaft; Optimize the first transformation matrix according to the normal vector of the rotating shaft.

8. The calibration and machining method of a rotating shaft according to claim 7, characterized in that: The optimizing the first transformation matrix according to the normal vector of the rotating shaft includes: Use an optimization search algorithm to obtain the on-axis point of the rotating shaft, and optimize the first transformation matrix according to the normal vector of the rotating shaft and the on-axis point of the rotating shaft; the optimization search algorithm is calculated using the following objective function: where Q ax is the coordinate of the point on the axis of the rotation axis, and Q n is the coordinate of the center of the sphere. The value of n ranges from 1 to k, and L is a set distance.

9. The calibration and machining method of a rotating shaft according to claim 8, characterized in that: The optimizing the first transformation matrix according to the normal vector of the rotating shaft and the on-axis point of the rotating shaft includes: Obtain the first transformation matrix as: Where, I3 is the identity matrix with a trace of 3, and J is the target rotation matrix of the normal vector of the rotating shaft.

10. The calibration and machining method of the rotating shaft according to claim 2, characterized in that: The processing object is an electric core, the processing platform is a welding platform, the welding platform is used for welding the electric core, and the welding platform further includes a galvanometer of a welding laser. Both the galvanometer and the 2D camera apply the processing coordinate system; Or, the processing object is an electric core, the processing platform is a dispensing platform, and the dispensing platform is used for dispensing the electric core; Or, the processing object is an electric core, the processing platform is a cutting platform, and the cutting platform is used for cutting the electric core.

11. Processing platform, characterized in that, Including: A 3D camera and a multi-axis motion mechanism for implementing the rotating shaft calibration and processing method according to any one of claims 1 to 10.

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