Multi-track robot installation precision measurement and compensation method and device

Abstract

The application discloses a kind of multi-track robot installation precision measurement and compensation method and device in the technical field of industrial robot, to solve the problem of prior art usually adopts artificial measurement, or with the aid of expensive components such as Leica total station to complete measurement work, the precision of former is lower, the cost of latter is higher and operation is complex.It includes the precision measurement and compensation of positioner chuck jaw and the precision measurement and compensation of ground rail;The precision measurement and compensation of positioner chuck jaw includes: multiple point positions are arranged on the cylindrical side of the two sides of positioner chuck jaw;Local coordinate system of laser range finder and base coordinate system of robot are established;The application is fitted to the cylinder of positioner chuck jaw, realizes the precision measurement of positioner chuck jaw;And the spatial deviation of two ground rails is calculated, the precision measurement of ground rail is realized, so as to complete the precision measurement of multi-track robot system, greatly reduce cost, and measurement operation is simple, and precision is higher.

Description

Technical Field

[0001] This invention relates to a method and apparatus for measuring and compensating the installation accuracy of a multi-track robot, belonging to the field of industrial robot technology. Background Technology

[0002] Industrial robot manufacturing units play a crucial role in modern industrial production. They not only improve production efficiency but also optimize industrial structure, ensure worker safety, promote industrial upgrading, and enhance product quality. The installation accuracy of an industrial robot manufacturing system is the core foundation for its efficient and stable operation, directly determining production quality, equipment lifespan, and overall level of intelligence. Positioning reference points and control points need to be established on the installation foundation according to the spatial requirements of the production line, and the correct installation orientation of the equipment is determined based on these reference points.

[0003] Generally, positioning points are set manually using measuring tools such as tape measures, levels, and rangefinders to determine vertical and parallel baselines. These baselines are then used as references for stringing and marking. This method is inaccurate and time-consuming. Furthermore, even after accurate measurements, there is a lack of compensation during the manufacturing process, leading to significant accumulated deviations that are difficult to eliminate. Extensive research has been conducted on large, high-precision equipment, such as using Leica total stations and specialized measuring tools. However, this approach suffers from high costs, complex operation, and a high degree of specialization. Regular calibration and adjustment after a period of use are also cumbersome.

[0004] In summary, existing technologies for precision measurement of track robots typically employ manual measurement or rely on expensive components such as Leica total stations. The former has lower accuracy, while the latter is more costly and complex to operate, thus affecting the actual measurement results. Summary of the Invention

[0005] The purpose of this invention is to overcome the shortcomings of the prior art and provide a method and apparatus for measuring and compensating the installation accuracy of a multi-track robot. By utilizing the robot itself, the ground rails, and a laser rangefinder within the multi-track robot system, the cylinder of the positioner's gripper is fitted to achieve accuracy measurement of the gripper. Furthermore, the spatial deviation between the two ground rails is calculated to achieve accuracy measurement of the ground rails, thereby completing the accuracy measurement of the multi-track robot system. This significantly reduces costs, and the measurement operation is simple, highly accurate, and accuracy compensation can be performed based on the measurement results, ensuring the measurement effectiveness of this application.

[0006] To solve the above-mentioned technical problems, the present invention is implemented using the following technical solution:

[0007] In a first aspect, the present invention provides a method for measuring and compensating the installation accuracy of a multi-track robot, including the accuracy measurement and compensation of the positioner's gripper and the accuracy measurement and compensation of the ground track;

[0008] The accuracy measurement and compensation of the positioner gripper jaws include:

[0009] Multiple points are arranged on the cylindrical sides of both sides of the positioner's gripper;

[0010] Establish the local coordinate system of the laser rangefinder and the base coordinate system of the robot;

[0011] Obtain the measured values ​​of each point in the local coordinate system, and based on the measured values ​​of each point in the local coordinate system, obtain the transformation values ​​of each point in the base coordinate system;

[0012] Based on the transformation values ​​of each point in the base coordinate system, the pose of the positioner gripper center point relative to the robot base coordinate system is obtained, and the accuracy measurement of the positioner gripper is completed.

[0013] Based on the pose of the positioner gripper center point relative to the robot base coordinate system, the accuracy compensation of the positioner gripper is completed.

[0014] The accuracy measurement and compensation of the ground track includes:

[0015] Multiple measurement points are evenly distributed on two ground rails. Based on the multiple measurement points on the two ground rails, the theoretical trajectory lines of the two ground rails are fitted.

[0016] Using the theoretical trajectory line of one of the ground rails as the baseline, calculate the spatial deviation of each measuring point on the other ground rail relative to the baseline, and complete the accuracy measurement of the ground rails.

[0017] Based on spatial deviation, complete the accuracy compensation of the ground track;

[0018] Based on the accuracy measurement and compensation of the positioner's grippers and the ground rail, the installation accuracy measurement and compensation of the multi-track robot are completed.

[0019] Furthermore, based on the measured values ​​of each point in the local coordinate system, the transformation values ​​of each point in the base coordinate system are obtained, and the specific expression is as follows:

[0020]

[0021] In the formula: These are the transformed values ​​of the points in the base coordinate system. Let be the transformation matrix between the base coordinate system and the robot's end effector coordinate system. Let be the transformation matrix between the robot's end-effector coordinate system and the local coordinate system. This represents the measured value of the point in the local coordinate system.

[0022] Furthermore, obtaining the pose of the positioner gripper center point relative to the robot's base coordinate system based on the transformation values ​​of each point in the base coordinate system includes:

[0023] The cylindrical side surface of the positioner's gripper is fitted using an ellipse equation, the specific expression of which is as follows:

[0024]

[0025] In the formula: a is the length of the major axis of the ellipse, b is the length of the minor axis of the ellipse, and (h, k) is the center point of the lateral surface of the cylinder, that is, the coordinates of the center of the ellipse in the y and z directions. Let be the coordinates of the i-th point in the y and z directions;

[0026] With minimizing the sum of squared residuals as the optimization objective, the center point (h, k) of the cylinder's lateral surface is obtained, as shown in the following expression:

[0027]

[0028] In the formula: I represents the number of points on the cylindrical side surface of one side of the positioner's gripper;

[0029] Obtain the center points of the cylindrical sides on both sides of the positioner's gripper;

[0030] Based on the center points of the cylindrical sides of the positioner gripper, the center point of the positioner gripper is obtained, so as to obtain the pose of the center point of the positioner gripper relative to the robot base coordinate system.

[0031] Furthermore, the spatial deviations of each measuring point on the other ground track relative to the baseline include parallelism deviation and horizontality deviation;

[0032] The specific expression for the parallelism deviation is as follows:

[0033]

[0034] In the formula: d is the parallelism deviation. For a certain measuring point on another ground rail, On the baseline and The nearest point The direction vector of the baseline; Represents the magnitude of a vector.

[0035] Furthermore, the expression for the levelness deviation is as follows:

[0036]

[0037] In the formula: This refers to the tilt angle of the other track, i.e., the levelness deviation. For the fitting plane normal vector of another ground rail, The normal vector of the fitted plane for the baseline.

[0038] Furthermore, the process of compensating for the orbital accuracy based on spatial deviation includes:

[0039] Calculate the error parameters based on the parallelism deviation;

[0040] The error parameter is compared with a preset threshold. If the error parameter is less than the preset threshold, the operation ends.

[0041] If the error parameter is not less than the preset threshold, then the ground rail will be compensated for accuracy.

[0042] Furthermore, the error parameters include standard deviation, peak-to-peak value, and absolute mean:

[0043] The expression for the standard deviation is as follows:

[0044]

[0045]

[0046] In the formula: Let N be the standard deviation, and N be the total number of measurement points on the other track. The parallelism deviation at the nth measurement point. This is the average of the parallelism deviations at multiple measurement points.

[0047] The expression for the peak-to-peak value is as follows:

[0048]

[0049] In the formula: Peak-to-peak value, This represents the largest parallelism deviation among multiple measurement points on another ground rail. The smallest parallelism deviation among multiple measurement points on another ground rail;

[0050] The expression for the absolute mean is as follows:

[0051]

[0052] In the formula: It is the absolute mean.

[0053] Furthermore, the accuracy compensation of the ground track includes:

[0054] Calculate the translation compensation amount based on the parallelism deviation and the horizontality deviation;

[0055] Apply translation compensation in the local coordinate system and transform to the base coordinate system. The specific expression is as follows:

[0056]

[0057] In the formula: This represents the translation compensation amount in the base coordinate system. Let be the rotation matrix from the local coordinate system to the base coordinate system. This is the translation vector from the local coordinate system to the base coordinate system.

[0058] Furthermore, the accuracy compensation of the ground track also includes converting the accuracy compensation of the ground track into joint angle changes, as specifically expressed below:

[0059]

[0060] In the formula: This represents the change in joint angle. For Jacobian matrices, It is the pseudo-inverse of the Jacobian matrix.

[0061] Secondly, the present invention provides a multi-track robot installation accuracy measurement and compensation device, including a positioner gripper accuracy measurement and compensation module, a ground track accuracy measurement and compensation module, and a multi-track robot installation accuracy measurement and compensation module.

[0062] The precision measurement and compensation module for the positioner gripper includes: arranging multiple points on the cylindrical sides of both sides of the positioner gripper; establishing a local coordinate system for the laser rangefinder and a base coordinate system for the robot; acquiring the measurement values ​​of each point in the local coordinate system; acquiring the transformation values ​​of each point in the base coordinate system based on the measurement values ​​of each point in the local coordinate system; acquiring the pose of the center point of the positioner gripper relative to the robot's base coordinate system based on the transformation values ​​of each point in the base coordinate system, thus completing the precision measurement of the positioner gripper; and completing the precision compensation of the positioner gripper based on the pose of the center point of the positioner gripper relative to the robot's base coordinate system.

[0063] The accuracy measurement and compensation module for the ground track includes: uniformly arranging multiple measurement points on two ground tracks; fitting the theoretical trajectory lines of the two ground tracks based on the multiple measurement points; using the theoretical trajectory line of one ground track as a baseline, calculating the spatial deviation of each measurement point on the other ground track relative to the baseline, thus completing the accuracy measurement of the ground track; and completing the accuracy compensation of the ground track based on the spatial deviation.

[0064] The multi-track robot installation accuracy measurement and compensation module includes: measuring and compensating the installation accuracy of the multi-track robot based on the accuracy measurement and compensation of the positioner's grippers and the accuracy measurement and compensation of the ground track.

[0065] Compared with the prior art, the beneficial effects achieved by the present invention are as follows:

[0066] This method for measuring and compensating the installation accuracy of a multi-track robot utilizes the robot itself, ground rails, and a laser rangefinder to fit the cylinder of the positioner's gripper, thereby achieving accurate measurement of the gripper's gripper. Furthermore, it calculates the spatial deviation between the two ground rails to achieve accurate measurement of the ground rails, thus completing the accuracy measurement of the multi-track robot system. This significantly reduces costs, is simple to operate, has high accuracy, and allows for accuracy compensation based on the measurement results, ensuring the measurement effectiveness of this application. Attached Figure Description

[0067] Figure 1 This is a flowchart illustrating a method for measuring and compensating the installation accuracy of a multi-track robot according to an embodiment of the present invention.

[0068] Figure 2 This is a schematic diagram of the accuracy measurement process for the positioner gripper according to an embodiment of the present invention;

[0069] Figure 3 This is a schematic diagram of the process for accuracy measurement and compensation of the ground track according to an embodiment of the present invention;

[0070] Figure 4 This is a three-dimensional structural schematic diagram of a multi-track robot installation accuracy measurement and compensation device provided according to an embodiment of the present invention;

[0071] Figure 5 This is a three-dimensional structural schematic diagram from another perspective of a multi-track robot installation accuracy measurement and compensation device provided according to an embodiment of the present invention;

[0072] Figure 6 This is a top view schematic diagram of a multi-track robot installation accuracy measurement and compensation device provided according to an embodiment of the present invention. Detailed Implementation

[0073] The technical solution of the present invention will be described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the embodiments of the present invention and the specific features in the embodiments are detailed descriptions of the technical solution of the present invention, rather than limitations thereof. In the absence of conflict, the embodiments of the present invention and the technical features in the embodiments can be combined with each other.

[0074] The term "and / or" simply describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, or B alone. Additionally, the character " / " generally indicates that the preceding and following related objects have an "or" relationship.

[0075] Example 1:

[0076] like Figures 1-3 As shown, the present invention provides a method for measuring and compensating the installation accuracy of a multi-track robot, including the accuracy measurement and compensation of the positioner's gripper and the accuracy measurement and compensation of the ground track;

[0077] The accuracy measurement and compensation of the positioner gripper jaws include:

[0078] Multiple points are arranged on the cylindrical sides of both sides of the positioner's gripper;

[0079] Establish the local coordinate system of the laser rangefinder and the base coordinate system of the robot;

[0080] Obtain the measured values ​​of each point in the local coordinate system, and based on the measured values ​​of each point in the local coordinate system, obtain the transformation values ​​of each point in the base coordinate system;

[0081] Based on the transformation values ​​of each point in the base coordinate system, the pose of the positioner gripper center point relative to the robot base coordinate system is obtained, and the accuracy measurement of the positioner gripper is completed.

[0082] Based on the pose of the positioner gripper center point relative to the robot base coordinate system, the accuracy compensation of the positioner gripper is completed.

[0083] The accuracy measurement and compensation of the ground track includes:

[0084] Multiple measurement points are evenly distributed on two ground rails. Based on the multiple measurement points on the two ground rails, the theoretical trajectory lines of the two ground rails are fitted.

[0085] Using the theoretical trajectory line of one of the ground rails as the baseline, calculate the spatial deviation of each measuring point on the other ground rail relative to the baseline, and complete the accuracy measurement of the ground rails.

[0086] Based on spatial deviation, complete the accuracy compensation of the ground track;

[0087] Based on the accuracy measurement and compensation of the positioner's grippers and the ground rail, the installation accuracy measurement and compensation of the multi-track robot are completed.

[0088] like Figure 2 As shown in this embodiment, the transformation value of each point in the base coordinate system is obtained based on the measured value of each point in the local coordinate system. The specific expression is as follows:

[0089]

[0090] In the formula: These are the transformed values ​​of the points in the base coordinate system. Let be the transformation matrix between the base coordinate system and the robot's end effector coordinate system. Let be the transformation matrix between the robot's end-effector coordinate system and the local coordinate system. These are the measured values ​​of the points in the local coordinate system. Optionally, the robot end-effector coordinate system can be pre-established. , All are 4x4 homogeneous transformation matrices; this transformation chain transforms the measured values ​​of the local coordinate system to the base coordinate system step by step through matrix multiplication.

[0091] Alternatively, the general form of the homogeneous transformation matrix is:

[0092]

[0093] In the formula: H is the homogeneous transformation matrix, R is a 3*3 rotation matrix representing the rotation of the coordinate system, and t is a 3*1 translation vector representing the translation of the coordinate system; homogeneous coordinates allow for unified handling of rotation and translation, ensuring the linearity and composability of the transformation.

[0094] Specifically, a robot is mounted on a ground rail, and a laser rangefinder is installed on the end of the robot, forming a three-level linkage mechanism of the ground rail, the robot, and the laser rangefinder. Based on this, the robot and the laser rangefinder move along the ground rail to the edge directly above the positioner's gripper, ensuring that the laser rangefinder can scan all points on the side of the cylinder when moving along the y-axis and x-axis. This allows the robot to capture images of the cylindrical side of the positioner's gripper while carrying the laser rangefinder, and to perform point mapping on the overall arc contour to achieve a fitting effect.

[0095] In this embodiment, obtaining the pose of the positioner gripper center point relative to the robot's base coordinate system based on the transformation values ​​of each point in the base coordinate system includes:

[0096] The cylindrical side surface of the positioner's gripper is fitted using an ellipse equation, the specific expression of which is as follows:

[0097]

[0098] In the formula: a is the length of the major axis of the ellipse, b is the length of the minor axis of the ellipse, and (h, k) is the center point of the lateral surface of the cylinder, that is, the coordinates of the center of the ellipse in the y and z directions. Let be the coordinates of the i-th point in the y and z directions;

[0099] With minimizing the sum of squared residuals as the optimization objective, the center point (h, k) of the cylinder's lateral surface is obtained, as shown in the following expression:

[0100]

[0101] In the formula: I represents the number of points on the cylindrical side surface of one side of the positioner's gripper;

[0102] Obtain the center points of the cylindrical sides on both sides of the positioner's gripper;

[0103] Based on the center points of the cylindrical sides of the positioner gripper, the center point of the positioner gripper is obtained, so as to obtain the pose of the center point of the positioner gripper relative to the robot base coordinate system.

[0104] Specifically, the residual is the difference between the value of each measurement point after being substituted into the ellipse equation and 1. Minimizing the sum of squared residuals yields the best-fit ellipse parameters. After fitting the cylinders on both sides of the positioner gripper, the center points of the cylinders on both sides can be obtained. Connecting the center points of the cylinders on both sides yields the axis. The midpoint of the axis is taken as the center point of the positioner gripper, thus obtaining the pose of the center point of the positioner gripper relative to the robot's base coordinate system. Based on this, compensation work for the positioner gripper can be performed according to the pose.

[0105] like Figure 3 As shown, in this embodiment, zero-point calibration and tool center point (TCP) calibration are first performed to ensure that the coordinate system of the robotic arm end is consistent with the local coordinate system of the laser rangefinder. Oil stains and iron filings on the surface of the ground rail are removed to avoid measurement errors. Measurement points are evenly arranged on the two ground rails (e.g., one point every 10mm) to ensure coverage of the entire length of the rails.

[0106] Obtain the coordinates of each measurement point in the local coordinate system, establish a three-dimensional coordinate set of the measurement points on the ground track surface, and use the least squares method to fit the theoretical trajectory lines of the two ground tracks respectively. Taking the fitted straight line of ground track A (i.e., one of the ground tracks) as the reference, calculate the spatial deviation of each measurement point of ground track B (i.e., the other ground track) relative to the reference line. This deviation includes parallelism error (i.e., the distance deviation between the two ground tracks in the horizontal or vertical direction) and horizontality error (i.e., the tilt angle of the ground track itself relative to the theoretical plane). Through vector decomposition, it can be decomposed into components along the X, Y, and Z axes. The smaller the above three parameters are, the higher the parallelism and horizontality are.

[0107] The spatial deviations of each measuring point on the other ground track relative to the baseline include parallelism deviation and horizontality deviation;

[0108] The specific expression for the parallelism deviation is as follows:

[0109]

[0110] In the formula: d is the parallelism deviation. For a certain measuring point on another ground rail, On the baseline and The nearest point The direction vector of the baseline; Represents the magnitude of a vector.

[0111] Specifically, the formula calculates the point. To the baseline (through point) And the direction is The shortest distance; cross product The modulus is equal to and The area of ​​the parallelogram with side length is divided by . The modulus is obtained as the height, i.e., the distance.

[0112] The expression for the levelness deviation is as follows:

[0113]

[0114] In the formula: This refers to the tilt angle of the other track, i.e., the levelness deviation. For the fitting plane normal vector of another ground rail, Let be the normal vector of the fitting plane of the baseline, usually (0, 0, 1); this formula calculates the angle between the fitting plane of the ground track B and the fitting plane of the baseline, and the magnitude of the cross product represents the area of ​​the parallelogram formed by the two normal vectors, divided by . The modulus is used to obtain the sinusoidal component.

[0115] During compensation, a rotation matrix is ​​used. (Rotation around the Z-axis) or (Rotation around the X-axis) Perform coordinate transformation on the measurement points of ground track B to correct the tilt.

[0116] In this embodiment, the step of completing the accuracy compensation of the ground track based on spatial deviation includes:

[0117] Calculate the error parameters based on the parallelism deviation;

[0118] The error parameter is compared with a preset threshold. If the error parameter is less than the preset threshold, the operation ends.

[0119] If the error parameter is not less than the preset threshold, then the ground rail will be compensated for accuracy.

[0120] Optionally, after accuracy compensation, the error parameters can be recalculated based on the parallelism deviation, and the error parameters can be compared with a preset threshold. The above steps are repeated until the error parameters are less than the preset threshold, at which point the work ends.

[0121] The error parameters include standard deviation, peak-to-peak value, and absolute mean. Each error parameter has an independent preset threshold. A single error parameter can be compared to its own preset threshold, or multiple error parameters can be combined and compared to their own preset thresholds to complete the judgment.

[0122] The expression for the standard deviation is as follows:

[0123]

[0124]

[0125] In the formula: Let N be the standard deviation, and N be the total number of measurement points on the other track. The parallelism deviation at the nth measurement point. The standard deviation is the mean of the parallelism deviations of multiple measurement points. It measures the degree of error fluctuation; the larger the value, the more dispersed the points are.

[0126] The expression for the peak-to-peak value is as follows:

[0127]

[0128] In the formula: Peak-to-peak value, This represents the largest parallelism deviation among multiple measurement points on another ground rail. It represents the smallest parallelism deviation among multiple measurement points on another ground rail; it is used to reflect the maximum local unevenness, i.e., the maximum range of error.

[0129] The expression for the absolute mean is as follows:

[0130]

[0131] In the formula: The absolute mean is used to evaluate the average deviation of the overall deviation from the reference plane, taking into account the average of absolute values.

[0132] In this embodiment, the accuracy compensation of the ground track includes:

[0133] Calculate the translation compensation amount based on the parallelism deviation and the horizontality deviation;

[0134] To unify to the robot's base coordinate system, the compensation values ​​in the local coordinate system need to be transformed to the global coordinate system. Translation compensation values ​​are applied in the local coordinate system and then transformed back to the base coordinate system. The specific expression is as follows:

[0135]

[0136] In the formula: This represents the translation compensation amount in the base coordinate system. Let be the rotation matrix from the local coordinate system to the base coordinate system. This is the translation vector from the local coordinate system to the base coordinate system.

[0137] The accuracy compensation of the ground track also includes converting the accuracy compensation of the ground track into joint angle changes, as shown in the following expression:

[0138]

[0139] In the formula: This represents the change in joint angle. For Jacobian matrices, It is the pseudo-inverse of the Jacobian matrix.

[0140] The Jacobian matrix defines the relationship between the velocity of the robot's end effector and the joint velocity. For small displacements, pseudo-inverse is used to calculate joint angle changes to achieve accurate position compensation. In the robot control system, the compensation amount needs to be converted into joint space parameters. In practical applications, the compensation strategy needs to be selected according to the error distribution characteristics of the ground track. For linear errors (such as straightness deviation caused by levelness), continuous compensation can be applied over the entire length of the ground track using linear interpolation.

[0141] This invention utilizes the robot, ground rails, and laser rangefinder within a multi-track robot system to fit the cylinder of a positioner gripper, achieving precise measurement of the gripper's dimensions. It also calculates the spatial deviation between the two ground rails, achieving precise measurement of the ground rails themselves. This completes the precision measurement of the multi-track robot system, significantly reducing costs. The measurement operation is simple, highly accurate, and precision compensation can be performed based on the measurement results, ensuring the measurement effectiveness of this application. Furthermore, a compensation strategy can be selected based on the type of deviation to achieve system precision compensation and improve the overall system accuracy.

[0142] This invention first performs efficient and high-precision measurement of the installation process of the multi-track robot manufacturing unit to ensure that the installation of the multi-track robot manufacturing unit meets the design requirements; then, based on the measurement data, it calculates the parallelism and flatness deviations of the track platform and the positioner positioning axis deviation; finally, it selects a compensation strategy according to the type of deviation to achieve accuracy compensation for the entire system and improve the manufacturing accuracy of the multi-track robot manufacturing unit.

[0143] This invention can be applied to the installation and commissioning of newly built multi-track robot manufacturing systems. This method accurately and quickly measures the installation deviation of the multi-track robot manufacturing system, reducing the cost of dedicated measuring equipment and improving installation accuracy. Simultaneously, through an error compensation algorithm, it can efficiently compensate for system errors introduced by installation, improving the overall accuracy of the multi-track robot manufacturing system and enhancing the processing quality of the final product. Furthermore, this invention is used to dynamically compensate for the deviation between the positioner's gripper and the ground rail. Through measurement and algorithmic compensation, it eliminates cumulative errors introduced by equipment installation, improving the true accuracy of the multi-track robot manufacturing system. Compensation can be performed periodically or as needed.

[0144] Example 2:

[0145] like Figures 4-6As shown, the present invention provides a multi-track robot installation accuracy measurement and compensation device, including a positioner gripper accuracy measurement and compensation module, a ground track accuracy measurement and compensation module, and a multi-track robot installation accuracy measurement and compensation module;

[0146] The precision measurement and compensation module for the positioner gripper includes: arranging multiple points on the cylindrical sides of both sides of the positioner gripper; establishing a local coordinate system for the laser rangefinder and a base coordinate system for the robot; acquiring the measurement values ​​of each point in the local coordinate system; acquiring the transformation values ​​of each point in the base coordinate system based on the measurement values ​​of each point in the local coordinate system; acquiring the pose of the center point of the positioner gripper relative to the robot's base coordinate system based on the transformation values ​​of each point in the base coordinate system, thus completing the precision measurement of the positioner gripper; and completing the precision compensation of the positioner gripper based on the pose of the center point of the positioner gripper relative to the robot's base coordinate system.

[0147] The accuracy measurement and compensation module for the ground track includes: uniformly arranging multiple measurement points on two ground tracks; fitting the theoretical trajectory lines of the two ground tracks based on the multiple measurement points; using the theoretical trajectory line of one ground track as a baseline, calculating the spatial deviation of each measurement point on the other ground track relative to the baseline, thus completing the accuracy measurement of the ground track; and completing the accuracy compensation of the ground track based on the spatial deviation.

[0148] The multi-track robot installation accuracy measurement and compensation module includes: measuring and compensating the installation accuracy of the multi-track robot based on the accuracy measurement and compensation of the positioner's grippers and the accuracy measurement and compensation of the ground track.

[0149] Specifically, the robot is mounted on a ground rail, and the laser rangefinder is installed on the end-effector flange of the robot, forming a three-level linkage structure of "ground rail-robot-laser rangefinder". The ground rail carries the laser rangefinder on the welding robot to the edge directly above the positioner's gripper, ensuring that the laser rangefinder can scan all points on the side of the cylinder when moving along the y-axis and x-axis. This allows the robot to photograph the side of the positioner's gripper while carrying the laser rangefinder, facilitating the work of the positioner's gripper accuracy measurement and compensation module.

[0150] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied 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.

[0151] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0152] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0153] These computer program instructions can also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0154] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A method for measuring and compensating the installation accuracy of a multi-track robot, characterized in that, This includes the accuracy measurement and compensation of the positioner's grippers and the accuracy measurement and compensation of the ground rail; The accuracy measurement and compensation of the positioner gripper jaws include: Multiple points are arranged on the cylindrical sides of both sides of the positioner's gripper; Establish the local coordinate system of the laser rangefinder and the base coordinate system of the robot; Obtain the measured values ​​of each point in the local coordinate system, and based on the measured values ​​of each point in the local coordinate system, obtain the transformation values ​​of each point in the base coordinate system; Based on the transformation values ​​of each point in the base coordinate system, the pose of the positioner gripper center point relative to the robot base coordinate system is obtained, and the accuracy measurement of the positioner gripper is completed. Based on the pose of the positioner gripper center point relative to the robot base coordinate system, the accuracy compensation of the positioner gripper is completed. The accuracy measurement and compensation of the ground track includes: Multiple measurement points are evenly distributed on two ground rails. Based on the multiple measurement points on the two ground rails, the theoretical trajectory lines of the two ground rails are fitted. Using the theoretical trajectory line of one of the ground rails as the baseline, calculate the spatial deviation of each measuring point on the other ground rail relative to the baseline, and complete the accuracy measurement of the ground rails. Based on spatial deviation, complete the accuracy compensation of the ground track; Based on the accuracy measurement and compensation of the positioner's gripper and the ground rail, the installation accuracy measurement and compensation of the multi-track robot are completed. The step of obtaining the pose of the positioner gripper center point relative to the robot's base coordinate system based on the transformation values ​​of each point in the base coordinate system includes: The cylindrical side surface of the positioner's gripper is fitted using an ellipse equation, the specific expression of which is as follows: ， In the formula: a is the length of the major axis of the ellipse, and b is the length of the minor axis of the ellipse. Let be the center point of the cylinder's lateral surface, i.e., the coordinates of the ellipse's center in the y and z directions. Let be the coordinates of the i-th point in the y and z directions; The optimization objective is to minimize the sum of squared residuals, and then obtain the center point of the cylinder's lateral surface. The specific expression is as follows: ， In the formula: I represents the number of points on the cylindrical side surface of one side of the positioner's gripper; Obtain the center points of the cylindrical sides on both sides of the positioner's gripper; Based on the center points of the cylindrical sides of the positioner gripper, the center point of the positioner gripper is obtained, so as to obtain the pose of the center point of the positioner gripper relative to the robot base coordinate system. The spatial deviations of each measuring point on the other ground track relative to the baseline include parallelism deviation and horizontality deviation; The specific expression for the parallelism deviation is as follows: ， In the formula: d is the parallelism deviation. For a certain measuring point on another ground rail, On the baseline and The nearest point The direction vector of the baseline; Represents the magnitude of a vector.

2. The method for measuring and compensating the installation accuracy of a multi-track robot according to claim 1, characterized in that, The transformation value of each point in the base coordinate system is obtained based on the measurement value of each point in the local coordinate system. The specific expression is as follows: ， In the formula: These are the transformed values ​​of the points in the base coordinate system. Let be the transformation matrix between the base coordinate system and the robot's end effector coordinate system. Let be the transformation matrix between the robot's end-effector coordinate system and the local coordinate system. This represents the measured value of the point in the local coordinate system.

3. The method for measuring and compensating the installation accuracy of a multi-track robot according to claim 1, characterized in that, The expression for the levelness deviation is as follows: ， In the formula: This refers to the tilt angle of the other track, i.e., the levelness deviation. For the fitting plane normal vector of another ground rail, The normal vector of the fitted plane for the baseline.

4. The method for measuring and compensating the installation accuracy of a multi-track robot according to claim 3, characterized in that, The process of compensating for orbital accuracy based on spatial deviation includes: Calculate the error parameters based on the parallelism deviation; The error parameter is compared with a preset threshold. If the error parameter is less than the preset threshold, the operation ends. If the error parameter is not less than the preset threshold, then the ground rail will be compensated for accuracy.

5. The method for measuring and compensating the installation accuracy of a multi-track robot according to claim 4, characterized in that, The error parameters include standard deviation, peak-to-peak value, and absolute mean: The expression for the standard deviation is as follows: ， ， In the formula: Let N be the standard deviation, and N be the total number of measurement points on the other track. The parallelism deviation at the nth measurement point. This is the average of the parallelism deviations at multiple measurement points; The expression for the peak-to-peak value is as follows: ， In the formula: Peak-to-peak value, This represents the largest parallelism deviation among multiple measurement points on another ground rail. The smallest parallelism deviation among multiple measurement points on another ground rail; The expression for the absolute mean is as follows: ， In the formula: It is the absolute mean.

6. The method for measuring and compensating the installation accuracy of a multi-track robot according to claim 3, characterized in that, The accuracy compensation of the ground track includes: Calculate the translation compensation amount based on the parallelism deviation and the horizontality deviation; Apply translation compensation in the local coordinate system and transform to the base coordinate system. The specific expression is as follows: ， In the formula: This represents the translation compensation amount in the base coordinate system. Let be the rotation matrix from the local coordinate system to the base coordinate system. This is the translation vector from the local coordinate system to the base coordinate system.

7. The method for measuring and compensating the installation accuracy of a multi-track robot according to claim 6, characterized in that, The accuracy compensation of the ground track also includes converting the accuracy compensation of the ground track into joint angle changes, as shown in the following expression: ， In the formula: This represents the change in joint angle. For Jacobian matrices, It is the pseudo-inverse of the Jacobian matrix.

8. A device for measuring and compensating the installation accuracy of a multi-track robot, characterized in that, This includes a precision measurement and compensation module for the positioner gripper, a precision measurement and compensation module for the ground rail, and a precision measurement and compensation module for the installation of a multi-track robot. The precision measurement and compensation module for the positioner gripper includes: arranging multiple points on the cylindrical sides of both sides of the positioner gripper; establishing a local coordinate system for the laser rangefinder and a base coordinate system for the robot; acquiring the measurement values ​​of each point in the local coordinate system; acquiring the transformation values ​​of each point in the base coordinate system based on the measurement values ​​of each point in the local coordinate system; acquiring the pose of the positioner gripper center point relative to the robot's base coordinate system based on the transformation values ​​of each point in the base coordinate system, thus completing the precision measurement of the positioner gripper; and completing the precision compensation of the positioner gripper based on the pose of the positioner gripper center point relative to the robot's base coordinate system. The accuracy measurement and compensation module for the ground track includes: uniformly arranging multiple measurement points on two ground tracks; fitting the theoretical trajectory lines of the two ground tracks based on the multiple measurement points; using the theoretical trajectory line of one ground track as a baseline, calculating the spatial deviation of each measurement point on the other ground track relative to the baseline, thus completing the accuracy measurement of the ground track; and completing the accuracy compensation of the ground track based on the spatial deviation. The multi-track robot installation accuracy measurement and compensation module includes: completing the multi-track robot installation accuracy measurement and compensation based on the accuracy measurement and compensation of the positioner's gripper and the ground track; The step of obtaining the pose of the positioner gripper center point relative to the robot's base coordinate system based on the transformation values ​​of each point in the base coordinate system includes: The cylindrical side surface of the positioner's gripper is fitted using an ellipse equation, the specific expression of which is as follows: ， In the formula: a is the length of the major axis of the ellipse, and b is the length of the minor axis of the ellipse. Let be the center point of the cylinder's lateral surface, i.e., the coordinates of the ellipse's center in the y and z directions. Let be the coordinates of the i-th point in the y and z directions; The optimization objective is to minimize the sum of squared residuals, and then obtain the center point of the cylinder's lateral surface. The specific expression is as follows: ， In the formula: I represents the number of points on the cylindrical side surface of one side of the positioner's gripper; Obtain the center points of the cylindrical sides on both sides of the positioner's gripper; Based on the center points of the cylindrical sides of the positioner gripper, the center point of the positioner gripper is obtained, so as to obtain the pose of the center point of the positioner gripper relative to the robot base coordinate system. The spatial deviations of each measuring point on the other ground track relative to the baseline include parallelism deviation and horizontality deviation; The specific expression for the parallelism deviation is as follows: ， In the formula: d is the parallelism deviation. For a certain measuring point on another ground rail, On the baseline and The nearest point The direction vector of the baseline; Represents the magnitude of a vector.

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