A product positioning guidance method, device, and program based on tool calibration

Abstract

This invention discloses a product positioning guidance method, device, and program based on tool calibration. The tool-calibrated product positioning guidance method includes: fixing a positioning camera to the mounting position of a robotic arm; calibrating the position of the robotic arm using the positioning camera, enabling the robotic arm to position itself according to the positioning camera; acquiring the coordinates of two oblique vertices of a rectangular test product using the positioning camera, and determining the center point and levelness of the rectangular test product based on the image coordinates of the positioning camera and the mechanical movement coordinates of the robotic arm. The technical solution provided by this invention reduces the cost of product positioning guidance.

Description

Technical Field

[0001] This invention relates to the field of visual guidance technology, and in particular to a product positioning guidance method, device and program based on tool calibration. Background Technology

[0002] Visual guidance, with its advantages of high precision and continuous 24-hour operation, has been widely used in electronics, automotive manufacturing, and other fields. Industrial production is also constantly demanding higher efficiency and multi-size compatibility. However, current technologies for positioning and guidance of large-size devices often require large-area cameras, resulting in very high hardware costs. Summary of the Invention

[0003] This invention provides a product positioning guidance method, device, and program based on tool calibration to solve the problem of high cost in product positioning guidance.

[0004] According to one aspect of the present invention, a product positioning guidance method based on tool calibration is provided, comprising:

[0005] A positioning camera is fixedly connected to the installation location of the robotic arm;

[0006] The position of the robotic arm is calibrated by the positioning camera, so that the robotic arm can be positioned according to the positioning camera.

[0007] The positioning camera acquires the coordinates of the two oblique vertices of the rectangular test product, and the center point and levelness of the rectangular test product are determined based on the image coordinates of the positioning camera and the mechanical movement coordinates of the robot.

[0008] Optionally, calibrating the position of the robotic arm using the positioning camera, and enabling the robotic arm to perform positioning based on the positioning camera, includes:

[0009] The tool calibration component is installed onto the robotic arm, and the tool calibration component is coaxially mounted with the robotic arm.

[0010] The tool calibration component is inserted into the test hole of the tool calibration plate by controlling the robot arm, and adjusted to the center of the test hole. The first coordinate of the robot arm's movement is recorded.

[0011] The positioning camera is moved to directly above the test hole by a robotic arm, the image center of the positioning camera is adjusted to the center of the test hole, and the second coordinate of the robotic arm's movement is recorded.

[0012] The robotic arm is calibrated based on the first coordinate and the second coordinate, so that the robotic arm can be positioned according to the positioning camera.

[0013] Optionally, adjusting the image center of the positioning camera to the center of the test hole includes:

[0014] Adjust the optical axis of the positioning camera so that the distance between the image center of the positioning camera and the center of the test hole is within a first distance threshold.

[0015] Optionally, calibrating the robotic arm based on the first coordinates and the second coordinates, such that the robotic arm performs positioning based on the positioning camera, includes:

[0016] Calculate the coordinate difference between the second coordinate and the first coordinate;

[0017] The robotic arm positions and moves based on the first coordinate and the coordinate difference.

[0018] Optionally, the tool calibration component includes: a bit.

[0019] Optionally, the step of acquiring the coordinates of the two oblique vertices of the rectangular test product through the positioning camera, and determining the center point and levelness of the rectangular test product based on the image coordinates of the positioning camera and the mechanical movement coordinates of the robot arm includes:

[0020] The image center of the positioning camera is controlled to move to the first oblique vertex, and the first image coordinates and the first mechanical movement coordinates of the first oblique vertex are obtained;

[0021] The image center of the positioning camera is controlled to move to the second oblique vertex, and the second image coordinates and the second mechanical movement coordinates of the second oblique vertex are obtained;

[0022] The center point and levelness of the rectangular surface of the rectangular test product are calculated based on the first image coordinates, the first mechanical movement coordinates, the second image coordinates, and the second mechanical movement coordinates.

[0023] Optionally, after calibrating the robotic arm according to the first coordinates and the second coordinates, such that the robotic arm is positioned according to the positioning camera, the method further includes:

[0024] Determine whether the calibration was successful. If not, reacquire the first and second coordinates and recalibrate the robot arm.

[0025] Optionally, after fixing the positioning camera at the mounting position of the robotic arm, the method further includes:

[0026] The positioning camera is calibrated to correct its imaging distortion.

[0027] According to another aspect of the present invention, a mechanical positioning device is provided, the mechanical positioning device comprising:

[0028] At least one processor; and a memory communicatively connected to said at least one processor;

[0029] The memory stores a computer program that can be executed by the at least one processor, which is then executed by the at least one processor to enable the at least one processor to perform the tool-calibrated product positioning guidance method according to any embodiment of the present invention.

[0030] According to another aspect of the present invention, a computer program product is provided, the computer program product including a computer program that, when executed by a processor, implements the tool-calibrated product positioning guidance method according to any embodiment of the present invention.

[0031] The technical solution provided by this invention uses a positioning camera to quickly and accurately calibrate the position of a robotic arm, enabling the robotic arm to be positioned according to the positioning camera. When positioning products, this invention eliminates the need for more expensive large-area array cameras; a standard positioning camera is sufficient. By moving the camera to different positions, it achieves the positioning of large rectangular test products, offering high applicability and low cost. This invention also enables the positioning of rectangular test products of various sizes, and can determine the center point and levelness of the rectangular test product through vertex coordinates.

[0032] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0033] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0034] Figure 1 This is a flowchart of a product positioning guidance method based on tool calibration provided by an embodiment of the present invention;

[0035] Figure 2 This is a flowchart of another product positioning guidance method based on tool calibration provided by an embodiment of the present invention;

[0036] Figure 3 This is a schematic diagram of the insertion of a tool calibration component according to an embodiment of the present invention;

[0037] Figure 4 This is a flowchart of another product positioning guidance method based on tool calibration provided by an embodiment of the present invention;

[0038] Figure 5 This is a schematic diagram of a product positioning guidance system provided according to an embodiment of the present invention;

[0039] Figure 6 This is a flowchart of another product positioning guidance method based on tool calibration provided by an embodiment of the present invention;

[0040] Figure 7 This is a flowchart based on tool calibration provided according to an embodiment of the present invention. Detailed Implementation

[0041] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0042] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0043] This invention provides a product positioning guidance method based on tool calibration. Figure 1 A flowchart illustrating a product positioning guidance method based on tool calibration, provided as an embodiment of the present invention. (Reference) Figure 1 Product positioning guidance methods based on tool calibration include:

[0044] S110. A positioning camera is fixedly connected to the installation position of the robotic arm.

[0045] After the positioning camera is installed, its relative position to the mounting axis of the robotic arm is fixed.

[0046] S120. The position of the robot arm is calibrated by the positioning camera, so that the robot arm can be positioned according to the positioning camera.

[0047] Because the positioning camera and the robotic arm are set on different axes, the center of the image captured by the positioning camera is deviated from the axis of the robotic arm. Therefore, it is necessary to calibrate the position between the positioning camera and the robotic arm.

[0048] For example, a tool calibration plate can be set up. By moving the image center of the positioning camera and the axis of the robot arm to a specific position on the tool calibration plate, and recording the two coordinates of the robot arm's movement, these two coordinates can be used to reflect the relative distance between the image center of the positioning camera and the axis of the robot arm. This allows the image center captured by the positioning camera to reflect the axis of the robot arm, thereby enabling the robot arm to be positioned according to the camera.

[0049] S130. The coordinates of the two oblique vertices of the rectangular test product are obtained by the positioning camera, and the center point and levelness of the rectangular test product are determined according to the image coordinates of the positioning camera and the mechanical movement coordinates of the robot.

[0050] When the rectangular test product is large, if it is necessary to determine the center point and level of the rectangular test product and there is a need for high-precision guidance, a large-area array camera needs to be selected and the four sides of the rectangle need to be sampled, which results in very high hardware costs.

[0051] The positioning camera selected in this invention does not need to sample the entire rectangular test product. Instead, a moving robotic arm moves the positioning camera to one vertex of the rectangle, aligning the image center of the positioning camera with the vertex, and sampling the coordinates of that vertex. For example, the positioning camera can be a camera used for planar photography. Subsequently, the moving robotic arm again moves the positioning camera to another vertex diagonally opposite to that vertex, aligning the image center of the positioning camera with that vertex, and sampling the coordinates of the other vertex.

[0052] The relative position between the positioning camera and the mounting axis of the robot arm is fixed, so the position between the image center of the positioning camera and the axis of the robot arm is fixed. Therefore, after the positioning camera completes one shot, the image coordinates captured by the positioning camera will be generated according to the movement of the robot arm. At the same time, the mechanical movement coordinates at the axis of the robot arm can also be obtained.

[0053] By capturing images of the two vertices of the rectangular test product, the image coordinates captured by the positioning camera at each vertex and the mechanical movement coordinates of the robot arm can be obtained. The positioning of the rectangular test product can be achieved using the two image coordinates and the two mechanical movement coordinates. The center point and levelness can be tested using the two image coordinates and the two mechanical movement coordinates.

[0054] The technical solution provided by this invention uses a positioning camera to quickly and accurately calibrate the position of a robotic arm, enabling the robotic arm to be positioned according to the positioning camera. When positioning products, this invention eliminates the need for more expensive large-area array cameras; a standard positioning camera is sufficient. By moving the camera to different positions, it achieves the positioning of large rectangular test products, offering high applicability and low cost. This invention also enables the positioning of rectangular test products of various sizes, and can determine the center point and levelness of the rectangular test product through vertex coordinates.

[0055] Figure 2 A flowchart illustrating another product positioning guidance method based on tool calibration provided in an embodiment of the present invention. (See reference...) Figure 2 Based on the above embodiments, optionally, S120, calibrating the position of the robot arm using a positioning camera, and enabling the robot arm to perform positioning based on the positioning camera, includes:

[0056] S121. Install the tool calibration component onto the robot arm, with the tool calibration component and the robot arm installed coaxially.

[0057] Figure 3 This is a schematic diagram illustrating the insertion of a tool calibration component according to an embodiment of the present invention. (See reference) Figure 3 Optionally, the tool calibration component 1 includes a bit. The tool calibration plate 2 is fixed to the mounting bracket 3.

[0058] Tool calibration component 1 can be installed on the robot arm. Since tool calibration component 1 has a cylindrical structure, after tool calibration component 1 is installed on the robot arm, tool calibration component 1 and robot arm are coaxial.

[0059] S122. The robot arm controls the tool calibration component to be inserted into the test hole of the tool calibration plate and adjusted to the center of the test hole, and the first coordinate of the robot arm movement is recorded.

[0060] The tool calibration plate 2 includes at least one test hole, into which the tool calibration component 1 can be inserted.

[0061] Figure 3 An exemplary tool calibration plate 2 with multiple test holes is shown, where only one test hole of suitable diameter needs to be selected according to the size of the tool calibration piece 1.

[0062] When it is necessary to calibrate the position of the robot arm using a positioning camera, the robot arm first controls the tool calibration component 1 to be inserted into a test hole in the tool calibration plate 2, and then moves the axis of the tool calibration component 1 to the same position as the center of the test hole. At this time, the first coordinate of the robot arm's movement is recorded, which is the coordinate of the center of the test hole. The first coordinate can include a horizontal axis coordinate and a vertical axis coordinate.

[0063] S123. The positioning camera is moved to the top of the test hole by the robot arm, the image center of the positioning camera is adjusted to the center of the test hole, and the second coordinate of the robot arm movement is recorded.

[0064] After acquiring the first coordinate, the robot arm controls the tool calibration component 1 to pull out the test hole of the tool calibration plate 2, and controls the positioning camera to move directly above the test hole into which the tool calibration component 1 is inserted. The image center of the positioning camera is then adjusted to the center of the test hole. Once the image center of the positioning camera is aligned with the center of the test hole, the second coordinate of the robot arm's movement is recorded. The second coordinate may also include a horizontal axis coordinate and a vertical axis coordinate.

[0065] S124. The robot arm is calibrated according to the first and second coordinates so that the robot arm can be positioned according to the positioning camera.

[0066] Because the test hole is fixed in position, positioning via the center of the test hole ensures high accuracy for both the first and second coordinates. Transferring the coordinate system of the positioning camera to the coordinate system of the robot allows the robot to position itself based on the camera. In other words, the robot positions itself using the image center of the positioning camera, and through the relationship between the first and second coordinates, the coordinates of the image center are transferred to the robot's axis coordinates, thus enabling precise positioning of the robot using the positioning camera.

[0067] The technical solution provided by this invention eliminates the need for complex operational procedures when calibrating a robotic arm. Calibration is achieved simply by controlling the movement of the robotic arm and the positioning camera, and obtaining the first and second coordinates. Furthermore, by ensuring precise positioning between the image center, the robotic arm's axis, and the center of the test hole, the calibration accuracy of the robotic arm is improved. Therefore, this invention enables rapid calibration of the robotic arm while simultaneously improving its calibration accuracy, thereby reducing the total testing time for rectangular test products and enhancing their testing accuracy.

[0068] Based on the above embodiments, optionally, adjusting the image center of the positioning camera to the center of the test hole includes: adjusting the optical axis of the positioning camera so that the distance between the image center of the positioning camera and the center of the test hole is adjusted to within a first distance threshold.

[0069] The optical axis of the positioning camera corresponds to the image center of the positioning camera. If the distance between the image center of the positioning camera and the center of the test hole is too large, the optical axis of the positioning camera can be adjusted until the distance between them is within a first distance threshold. For example, the first distance threshold can be 3 micrometers.

[0070] Based on the above embodiments, optionally, calibrating the robot arm according to the first coordinate and the second coordinate, so that the robot arm can be positioned according to the camera, includes: calculating the coordinate difference between the second coordinate and the first coordinate; and positioning and moving the robot arm according to the first coordinate and the coordinate difference.

[0071] The coordinate difference between the second and first coordinates represents the difference between the robot's axis and the image center of the positioning camera. Since the positioning camera is fixedly connected to the robot's mounting position, their relative positions remain unchanged, thus maintaining the same relative position between the robot's axis and the positioning camera. When moving the robot to a designated position, the positioning camera can be moved to that position first, and the robot's position can be corrected using the coordinate difference between the second and first coordinates, thereby moving the robot's axis to the designated location.

[0072] Figure 4 A flowchart of another product positioning guidance method based on tool calibration provided in an embodiment of the present invention. Figure 5 This is a schematic diagram illustrating a product positioning guidance method provided in an embodiment of the present invention. (In conjunction with...) Figure 4 and Figure 5 Based on the above embodiments, optionally, in step S130, the coordinates of the two oblique vertices of the rectangular test product are obtained by the positioning camera, and the center point and levelness of the rectangular test product are determined according to the image coordinates of the positioning camera and the mechanical movement coordinates of the robot arm, including:

[0073] S131. Control the image center of the positioning camera to move to the first oblique vertex, and obtain the first image coordinates and the first mechanical movement coordinates of the first oblique vertex.

[0074] The rectangular test product 4 can be a large rectangle. When the image center c1 of the positioning camera moves to the first oblique vertex, the first image coordinates (Xc1, Yc1) are generated according to the movement trajectory of the robot arm. Xc1 is the coordinate along the first direction X, and Yc1 is the coordinate along the second direction Y. The first direction X and the second direction Y are perpendicular. At the same time, the coordinates of the robot arm's axis a1 are the first mechanical movement coordinates (Xa1, Ya1), where Xa1 is the coordinate along the first direction X, and Ya1 is the coordinate along the second direction Y.

[0075] S132, control the image center of the positioning camera to move to the second oblique vertex, and obtain the second image coordinates and the second mechanical movement coordinates of the second oblique vertex.

[0076] Specifically, when the image center c2 of the positioning camera moves to the second oblique vertex, a second image coordinate (Xc2, Yc2) is generated based on the movement trajectory of the robotic arm. Xc2 is the coordinate along the first direction X, and Yc2 is the coordinate along the second direction Y. Simultaneously, the coordinates of the robotic arm's axis a2 are the second mechanical movement coordinates (Xa2, Ya2), where Xa2 is the coordinate along the first direction X, and Ya2 is the coordinate along the second direction Y.

[0077] S133. Calculate the center point and levelness of the rectangular surface of the rectangular test product based on the first image coordinates, the first mechanical movement coordinates, the second image coordinates, and the second mechanical movement coordinates.

[0078] The coordinates of the center point along the first direction X can be:

[0079] ;

[0080] in, The distance between the image center of the positioning camera and the axis of the robotic arm along the first direction.

[0081] The coordinates of the center point along the second direction Y can be:

[0082] ;

[0083] in, The distance between the image center of the positioning camera and the axis of the robotic arm along the second direction.

[0084] The levelness of the rectangular surface of the rectangular test product is as follows:

[0085] .

[0086] In this invention, when detecting the center point and levelness of a rectangular test product, it is not necessary to perform a full scan and positioning using a large-area array camera. Instead, the functionality of a large-area array camera can be achieved simply by moving the positioning camera twice. Therefore, this invention significantly reduces the cost of product positioning.

[0087] Based on the above embodiments, optionally, after calibrating the robot arm according to the first coordinate and the second coordinate, so that the robot arm is positioned according to the positioning camera, the method further includes: determining whether the calibration is successful; if not, re-acquiring the first coordinate and the second coordinate, and calibrating the robot arm again.

[0088] If calibration fails due to program errors or other factors, the first and second coordinates will be acquired again, and calibration will be performed again until calibration is successful.

[0089] Figure 6A flowchart illustrating yet another product positioning guidance method based on tool calibration provided in this embodiment of the invention. (See reference) Figure 6 Based on the above embodiments, optionally, after S110, where the positioning camera is fixedly connected at the mounting position of the robotic arm, the method further includes:

[0090] S140. Perform parameter calibration on the positioning camera to correct the imaging distortion of the positioning camera.

[0091] For example, the positioning camera can be calibrated using a nine-point calibration method. By using nine known reference points, a precise mapping relationship between the mechanical movement coordinate system and the image coordinate system can be established. At the same time, system errors, such as lens distortion and mechanical installation deviations, can be corrected, ultimately achieving a precise conversion between measurement and positioning data.

[0092] Figure 7 A flowchart based on tool calibration is provided for an embodiment of the present invention. (Reference) Figure 7 Optionally, the tool calibration process includes:

[0093] S210, Installation tool calibration board.

[0094] S220. Insert the tool calibration piece into the test hole of the tool calibration plate.

[0095] S230. Determine whether the hole has been adjusted to the center. If yes, proceed to S240; otherwise, return to S230.

[0096] S240, record the first coordinate of the robot arm's movement.

[0097] S250: Control the positioning camera to move directly above the test hole, and adjust the distance between the image center of the positioning camera and the center of the test hole.

[0098] S260. Determine if the distance is less than the first distance threshold. If yes, proceed to S270; otherwise, return to S260.

[0099] S270, the second coordinate for recording the movement of the robotic arm.

[0100] S280. Calibrate the robot arm according to the first and second coordinates.

[0101] S290. Determine if the calibration was successful. If yes, the calibration is complete; otherwise, return to execute S220.

[0102] This invention also provides a mechanical positioning device. The mechanical positioning device includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores a computer program executable by the at least one processor, the computer program being executed by the at least one processor to enable the at least one processor to execute the tool-calibrated product positioning guidance method provided in any embodiment of this invention, possessing similar beneficial effects to the guidance method, which will not be described further.

[0103] In some embodiments, the tool-calibrated product positioning boot method can be implemented as a computer program tangibly contained in a computer-readable storage medium, such as a storage unit. In some embodiments, part or all of the computer program can be loaded and / or installed on an electronic device via ROM and / or a communication unit. When the computer program is loaded into RAM and executed by a processor, one or more steps of the tool-calibrated product positioning boot method described above can be performed. Alternatively, in other embodiments, the processor can be configured to perform the tool-calibrated product positioning boot method by any other suitable means (e.g., by means of firmware).

[0104] Computer programs used to implement the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when executed by the processor, the computer programs cause the functions / operations specified in the flowcharts and / or block diagrams to be performed. The computer programs may be executed entirely on a machine, partially on a machine, or as a standalone software package, partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0105] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and this is not limited herein.

[0106] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A product positioning guide method based on tool calibration, characterized by, include: A positioning camera is fixedly connected to the installation location of the robotic arm; The position of the robotic arm is calibrated by the positioning camera, so that the robotic arm can be positioned according to the positioning camera. The positioning camera acquires the coordinates of the two oblique vertices of the rectangular test product, and the center point and levelness of the rectangular test product are determined based on the image coordinates of the positioning camera and the mechanical movement coordinates of the robot arm. The positioning camera is used to calibrate the position of the robotic arm, and the robotic arm is positioned according to the positioning camera, including: The tool calibration component is installed onto the robotic arm, and the tool calibration component is coaxially mounted with the robotic arm. The tool calibration component is inserted into the test hole of the tool calibration plate by controlling the robot arm, and adjusted to the center of the test hole. The first coordinate of the robot arm's movement is recorded. The positioning camera is moved to directly above the test hole by a robotic arm, the image center of the positioning camera is adjusted to the center of the test hole, and the second coordinate of the robotic arm's movement is recorded. The robotic arm is calibrated based on the first coordinate and the second coordinate, so that the robotic arm can be positioned according to the positioning camera; The step of acquiring the coordinates of the two oblique vertices of the rectangular test product through the positioning camera, and determining the center point and levelness of the rectangular test product based on the image coordinates of the positioning camera and the mechanical movement coordinates of the robot arm includes: The image center of the positioning camera is controlled to move to the first oblique vertex, and the first image coordinates and the first mechanical movement coordinates of the first oblique vertex are obtained; The image center of the positioning camera is controlled to move to the second oblique vertex, and the second image coordinates and the second mechanical movement coordinates of the second oblique vertex are obtained; The center point and levelness of the rectangular surface of the rectangular test product are calculated based on the first image coordinates, the first mechanical movement coordinates, the second image coordinates, and the second mechanical movement coordinates.

2. The tool calibration-based product positioning guidance method according to claim 1, characterized by, The step of adjusting the image center of the positioning camera to the center of the test hole includes: Adjust the optical axis of the positioning camera so that the distance between the image center of the positioning camera and the center of the test hole is within a first distance threshold.

3. The product positioning guidance method based on tool calibration according to claim 1, characterized in that, The robotic arm is calibrated based on the first coordinate and the second coordinate, enabling the robotic arm to perform positioning based on the positioning camera, including: Calculate the coordinate difference between the second coordinate and the first coordinate; The robotic arm positions and moves based on the first coordinate and the coordinate difference.

4. The product positioning guidance method based on tool calibration according to claim 1, characterized in that, The tool calibration components include: bit.

5. The product positioning guidance method based on tool calibration according to claim 1, characterized in that, After calibrating the robotic arm according to the first coordinate and the second coordinate, so that the robotic arm is positioned according to the positioning camera, the method further includes: Determine whether the calibration was successful. If not, reacquire the first and second coordinates and recalibrate the robot arm.

6. The product positioning guidance method based on tool calibration according to claim 1, characterized in that, After the positioning camera is fixedly connected to the mounting position of the robotic arm, the method further includes: The positioning camera is calibrated to correct its imaging distortion.

7. A mechanical positioning device, characterized in that, The mechanical positioning device includes: At least one processor; and a memory communicatively connected to said at least one processor; The memory stores a computer program that can be executed by the at least one processor, which is then executed by the at least one processor to enable the at least one processor to perform the tool-calibrated product positioning guidance method according to any one of claims 1-6.

8. A computer program product, characterized in that, The computer program product includes a computer program that, when executed by a processor, implements the tool-calibrated product positioning guidance method according to any one of claims 1-6.

Images