Robot positioning error determination method, electronic equipment and storage medium

Abstract

The invention provides a robot positioning error determination method, electronic equipment and a storage medium, and the method comprises the steps: obtaining a first flange posture of a mechanical arm tail end flange under a robot base coordinate system and a first object posture of a target object under a camera coordinate system when a reference position is obtained before a grabbing teaching process is executed; determining an object reference attitude according to the first flange attitude, the first object attitude and a pose conversion relation; after the position of the flange at the tail end of the mechanical arm is changed, a second flange posture of the flange at the tail end of the mechanical arm under a robot base coordinate system is obtained, and a second object posture of the target object under a camera coordinate system is determined; according to the second flange posture, the second object posture and the posture conversion relation, the object change posture is determined; and according to the object reference attitude, the object change attitude, the second flange attitude and the first flange attitude, determining whether the robot has a visual identification error. The positioning error of the visual system can be quickly verified.

Description

Technical Field

[0001] This application relates to the field of robotics technology, and more specifically, to a method for determining the positioning error of a robot, an electronic device, and a storage medium. Background Technology

[0002] In modern manufacturing, the use of machine vision to guide robotic arms in locating and grasping target objects is a widespread application. During the application debugging process, how the robotic arm can accurately locate and grasp target objects under the guidance of machine vision is a key concern for operators.

[0003] In existing technologies, in order to verify whether a robotic arm can accurately grasp an object, operators often need to complete the hand-eye calibration of the camera, the creation and configuration of the machine vision project, and the teaching of the relative grasping motion. Then, the target object to be grasped is moved under the camera's field of view, and a series of operations such as taking pictures and robotic arm movement grasping are performed to observe whether the robotic arm fixture can successfully grasp the object.

[0004] However, due to the often complex and variable nature of on-site production environments, actual grasping failures can be caused by various factors, such as inaccurate camera hand-eye calibration, visual recognition errors, incorrect teaching path settings, and insufficient robot body positioning accuracy. Using existing methods to verify accurate object grasping, operators simply redeploy the entire project to re-verify the correctness of the positioning and grasping. This leads to the inability to detect errors in a timely manner and complicates the entire teaching process. Summary of the Invention

[0005] The purpose of this application is to address the shortcomings of the prior art by providing a method for determining robot positioning error, an electronic device, and a storage medium, thereby simplifying the analysis of robot positioning error.

[0006] To achieve the above objectives, the technical solutions adopted in the embodiments of this application are as follows: In a first aspect, embodiments of this application provide a method for determining the positioning error of a robot, the method comprising: Before executing the robot's teaching process for grasping the target object, the first flange posture of the robotic arm end flange in the robot base coordinate system is obtained when the end flange of the robotic arm is in the reference position, and the first object posture of the target object in the camera coordinate system is determined. Based on the first flange posture, the first object posture, and the pose transformation relationship between the camera coordinate system and the end flange coordinate system of the robotic arm, the object reference posture of the target object in the robot base coordinate system is determined. After the position of the end flange of the robotic arm changes, the second flange posture of the end flange of the robotic arm in the robot base coordinate system is obtained, and the second object posture of the target object in the camera coordinate system is determined. Based on the second flange posture, the second object posture, and the pose transformation relationship between the camera coordinate system and the end flange coordinate system of the robotic arm, the object change posture of the target object in the robot base coordinate system is determined. The presence of visual recognition error in the robot is determined based on the object's reference posture, the object's changed posture, the second flange posture, and the first flange posture.

[0007] Optionally, determining the object reference pose of the target object in the robot base coordinate system based on the first flange pose, the first object pose, and the pose transformation relationship between the camera coordinate system and the end flange coordinate system of the robotic arm includes: The product of the first flange attitude and the pose transformation relationship is used as the first parameter; The product of the first parameter and the first object pose is used as the object reference pose.

[0008] Optionally, determining the object's changed posture in the robot base coordinate system based on the second flange posture, the second object posture, and the pose transformation relationship between the camera coordinate system and the robot arm end flange coordinate system includes: The product of the second flange attitude and the pose transformation relationship is used as the second parameter; The product of the second parameter and the second object pose is taken as the object's changed pose.

[0009] Optionally, determining whether the robot has a visual recognition error based on the object reference posture, the object's changed posture, the second flange posture, and the first flange posture includes: The error result of the robot vision is determined based on the object reference posture, the object changed posture, the second flange posture, and the first flange posture. The presence or absence of visual recognition error is determined based on the error results of the robot vision.

[0010] Optionally, determining the error result of the robot vision based on the object reference pose, the object changed pose, the second flange pose, and the first flange pose includes: Determine the attitude deviation matrix based on the object's reference attitude and the object's changed attitude; Based on the attitude deviation matrix and the second flange attitude, the theoretical reference attitude of the end flange of the robotic arm is determined; The attitude error of the end flange of the robotic arm is determined based on the theoretical reference attitude and the attitude of the first flange, and the attitude error of the end flange of the robotic arm is used as the error result of the robot vision.

[0011] Optionally, determining the attitude deviation matrix based on the object's reference attitude and the object's changed attitude includes: The attitude deviation matrix is ​​obtained by multiplying the changed attitude of the object by the reciprocal of the reference attitude of the object.

[0012] Optionally, determining the theoretical reference attitude of the robotic arm end flange based on the attitude deviation matrix and the second flange attitude includes: The product of the attitude deviation matrix and the second flange attitude is used as the theoretical reference attitude.

[0013] Optionally, determining the attitude error of the robotic arm end flange based on the theoretical reference attitude and the first flange attitude includes: Subtracting the translation component in the first flange attitude from the translation component in the theoretical reference attitude yields the translation error. The rotation error is obtained based on the rotation components in the theoretical reference attitude and the rotation components in the first flange attitude. The translation error and the rotation error are taken as the attitude error.

[0014] Secondly, embodiments of this application also provide a robot positioning error determination device, the device comprising: The acquisition module is used to acquire the first flange posture of the robotic arm end flange in the robot base coordinate system when the robotic arm end flange is in the reference position, and to determine the first object posture of the target object in the camera coordinate system before executing the robot's grasping teaching process for the target object. The determination module is used to determine the object reference posture of the target object in the robot base coordinate system based on the first flange posture, the first object posture, and the pose transformation relationship between the camera coordinate system and the end flange coordinate system of the robotic arm. The acquisition module is used to acquire the second flange posture of the end flange of the robotic arm in the robot base coordinate system after the position of the end flange of the robotic arm changes, and to determine the second object posture of the target object in the camera coordinate system. The determination module is used to determine the object change posture of the target object in the robot base coordinate system based on the second flange posture, the second object posture, and the pose transformation relationship between the camera coordinate system and the end flange coordinate system of the robotic arm. The determination module is used to determine whether the robot has a visual recognition error based on the object reference posture, the object change posture, the second flange posture, and the first flange posture.

[0015] Optionally, the determining module is specifically used for: The product of the first flange attitude and the pose transformation relationship is used as the first parameter; The product of the first parameter and the first object pose is used as the object reference pose.

[0016] Optionally, the determining module is specifically used for: The product of the second flange attitude and the pose transformation relationship is used as the second parameter; The product of the second parameter and the second object pose is taken as the object's changed pose.

[0017] Optionally, the determining module is specifically used for: The error result of the robot vision is determined based on the object reference posture, the object changed posture, the second flange posture, and the first flange posture. The presence or absence of visual recognition error is determined based on the error results of the robot vision.

[0018] Optionally, the determining module is specifically used for: Determine the attitude deviation matrix based on the object's reference attitude and the object's changed attitude; Based on the attitude deviation matrix and the second flange attitude, the theoretical reference attitude of the end flange of the robotic arm is determined; The attitude error of the end flange of the robotic arm is determined based on the theoretical reference attitude and the attitude of the first flange, and the attitude error of the end flange of the robotic arm is used as the error result of the robot vision.

[0019] Optionally, the determining module is specifically used for: The attitude deviation matrix is ​​obtained by multiplying the changed attitude of the object by the reciprocal of the reference attitude of the object.

[0020] Optionally, the determining module is specifically used for: The product of the attitude deviation matrix and the second flange attitude is used as the theoretical reference attitude.

[0021] Optionally, the determining module is specifically used for: Subtracting the translation component in the first flange attitude from the translation component in the theoretical reference attitude yields the translation error. The rotation error is obtained based on the rotation components in the theoretical reference attitude and the rotation components in the first flange attitude. The translation error and the rotation error are taken as the attitude error.

[0022] Thirdly, embodiments of this application also provide an electronic device, including: a processor, a storage medium, and a bus. The storage medium stores program instructions executable by the processor. When the application runs, the processor communicates with the storage medium via the bus, and the processor executes the program instructions to perform the steps of the robot positioning error determination method described in the first aspect.

[0023] Fourthly, embodiments of this application also provide a computer-readable storage medium storing a computer program, which is read and executes the steps of the robot positioning error determination method described in the first aspect.

[0024] The beneficial effects of this application are: This application provides a method, electronic device, and storage medium for determining robot positioning errors. Before performing grasping teaching, the method acquires the first flange posture of the robotic arm's end effector flange in the robot's base coordinate system and determines the first object posture of the target object in the camera coordinate system. Then, based on the first flange posture, the first object posture, and the pose transformation relationship between the camera coordinate system and the robotic arm's end effector flange coordinate system, a reference posture of the target object in the robot's base coordinate system is determined. After moving the robotic arm's end effector, a second flange posture and the corresponding second object posture are acquired. Based on the second flange posture, the second object posture, and the pose transformation relationship between the camera coordinate system and the robotic arm's end effector flange coordinate system, the changed posture of the target object in the robot's base coordinate system is determined. Finally, based on the object reference posture, the changed posture, the second flange posture, and the first flange posture, the method determines whether the robot has a visual recognition error. Without relying on actual grasping actions, the positioning accuracy of the vision system is evaluated by observing and comparing the poses of two different positions. Compared with traditional methods that require the completion of the entire grasping action to determine whether the grasping can be successful, this embodiment does not require any grasping action or teaching. Operators only need to complete hand-eye calibration, visual project creation and configuration, etc., to quickly verify the overall positioning accuracy of the entire vision positioning system. Attached Figure Description

[0025] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0026] Figure 1 This is an exemplary scenario diagram provided for an embodiment of this application; Figure 2 A flowchart illustrating a method for determining the positioning error of a robot, provided in an embodiment of this application; Figure 3 A flowchart illustrating another method for determining the positioning error of a robot provided in an embodiment of this application; Figure 4 A flowchart illustrating another method for determining the positioning error of a robot provided in an embodiment of this application; Figure 5 A flowchart illustrating another method for determining the positioning error of a robot provided in an embodiment of this application; Figure 6 A schematic diagram of an apparatus for determining the positioning error of a robot, provided in an embodiment of this application; Figure 7 This is a structural block diagram of an electronic device provided in an embodiment of this application. Detailed Implementation

[0027] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. It should be understood that the accompanying drawings in this application are for illustrative and descriptive purposes only and are not intended to limit the scope of protection of this application. Furthermore, it should be understood that the schematic drawings are not drawn to scale. The flowcharts used in this application illustrate operations implemented according to some embodiments of this application. It should be understood that the operations in the flowcharts may not be implemented in sequence, and steps without logical contextual relationships may be reversed or implemented simultaneously. In addition, those skilled in the art, guided by the content of this application, may add one or more other operations to the flowcharts, or remove one or more operations from the flowcharts.

[0028] Furthermore, the described embodiments are merely some, not all, of the embodiments of this application. The components of the embodiments of this application described and illustrated herein can typically be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely to illustrate selected embodiments of the application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0029] It should be noted that the term "comprising" will be used in the embodiments of this application to indicate the presence of the features declared thereafter, but does not exclude the addition of other features.

[0030] In modern manufacturing, machine vision-guided robotic arms for locating and grasping target objects is a widespread application. During application debugging, how well the robotic arm can accurately locate and grasp the target object under machine vision guidance is a key concern for operators. To verify whether the robotic arm can accurately grasp the object, operators often need to complete a series of operations, including camera hand-eye calibration, creating and configuring the machine vision project (calculating the target object's pose in the camera coordinate system), and teaching the relative grasping motion. Subsequently, the target object to be grasped is moved within the camera's field of view, and a complete series of operations, including taking a picture and the robotic arm moving to grasp the object, are performed to observe whether the robotic arm fixture can successfully grasp the object.

[0031] Because on-site production environments are often complex and changeable, the deployment of an entire project is rarely completed smoothly on the first attempt. Furthermore, if, after a deployment, it is discovered that the robotic arm cannot accurately grasp the target object under the guidance of machine vision calculations, detailed error analysis becomes quite complex. This is because the entire operation process is coupled with various factors, including camera hand-eye calibration errors, vision configuration errors, teaching errors in relative grasping motion, and the robot's own precision. In actual projects, when the robot experiences positioning errors or grasping failures, operators must complete the entire "photograph → recognition → movement → grasping" process, relying solely on successful grasping to determine if the overall system is functioning correctly. Especially with teaching the robotic arm's relative grasping motion, operators need to break down the relative grasping motion into steps and record all the robotic arm's movement points step by step, which is inefficient. Moreover, grasping failures can be caused by various factors (such as inaccurate hand-eye calibration, visual algorithm deviations, insufficient robot precision, path planning errors, etc.), but traditional methods cannot quickly pinpoint the specific cause. If a failure occurs, the strategy of "doing it again" is often adopted, especially since complex teaching processes require repeated operations, which is time-consuming and laborious.

[0032] Optionally, the remote sensing image display method provided in this application embodiment can be applied to an electronic device, such as a mobile phone, tablet computer, laptop computer, PDA, desktop computer, or other terminal device with computing and display capabilities, or it can be a robot. Specifically, it can be applied to applications in terminal devices, such as mobile phone applications (APP) and computer application systems.

[0033] The following section will explain in detail the specific implementation process of determining the robot's positioning error provided in the embodiments of this application.

[0034] Figure 1 An exemplary scenario diagram provided for an embodiment of this application, such as... Figure 1 As shown, Figure 1 The right-hand open frame represents the robot's robotic arm end effector 3. Camera 1 is fixedly connected to the end effector 3 via a connecting plate 2. The target object 4 to be grasped is placed within the field of view below camera 1. When the end effector 3 moves, camera 1 also moves accordingly. Figure 1 As the target object moves from position A to position B, the image captured by camera 1 will also change. Therefore, based on Figure 1 In the scenario described in this application, the robot positioning error determination method provided in the embodiments of this application is used to determine whether there is a visual recognition error.

[0035] Figure 2 This is a flowchart illustrating a method for determining the positioning error of a robot, as provided in an embodiment of this application. The execution subject of this method is the aforementioned electronic device. Figure 2 As shown, the method includes: S101. Before executing the robot's teaching process for grasping the target object, obtain the first flange posture of the end flange of the robot arm in the robot base coordinate system when the end flange of the robot arm is in the reference position, and determine the first object posture of the target object in the camera coordinate system.

[0036] Optionally, such as Figure 1 The end effector of the robotic arm may also include a flange. When the end effector is in a reference position, for example... Figure 1 When the end effector 3 of the robotic arm and the camera 1 are at the position of the black dotted line.

[0037] Optionally, in this embodiment, before the teaching process of grasping the target object is executed, in order to determine whether the robot has visual errors, the mechanical end effector is first moved to a reference position, i.e., as shown below. Figure 1 At the green position A in the reference position, when the end effector of the robotic arm is at this reference position A, the first flange orientation of the end effector flange in the robot base coordinate system is obtained. Where b indicates the robot base coordinate system, and e1 indicates the end flange of the robotic arm in the reference position. Furthermore, in the reference position, camera 1 is controlled to capture an image of the target object, and a preset method can be used to determine the first object posture of the target object in the camera coordinate system. Where c1 indicates the camera coordinate system, and o1 indicates the target object captured by the camera at the reference position. The preset method could be, for example, a template matching method.

[0038] S102. Based on the first flange posture, the first object posture, and the pose transformation relationship between the camera coordinate system and the end flange coordinate system of the robotic arm, determine the object reference posture of the target object in the robot base coordinate system.

[0039] The object reference pose in the robot base coordinate system can be used as follows: Let o1 indicate the target object captured by the camera at the reference position, and b indicate the robot's base coordinate system.

[0040] Among them, the pose transformation relationship between the camera coordinate system and the end flange coordinate system of the robotic arm. The pose transformation relationship between the camera coordinate system and the robot end-effector coordinate system can be determined during the camera hand-eye calibration process, i.e., before step S101. Here, 'e' can be used to indicate the coordinate system of the robot arm end-effector flange, and 'e' can be used to indicate the coordinate system of the robot base. Specifically, the robot arm end-effector 3 can move the camera 1 to multiple different postures and control the camera 1 to take pictures of the calibration board. Using the images of the calibration board in different postures and a preset method, the pose transformation relationship between the camera coordinate system and the robot arm end-effector flange coordinate system can be calculated. Furthermore, the relationship between the camera and the robot arm end-effector flange is rigid and will not change due to changes in the position of the end-effector flange. Therefore, the pose transformation relationship between the camera coordinate system and the robot arm end-effector flange coordinate system is fixed and will not change due to changes in the position of the robot arm end-effector.

[0041] In practical applications, the camera hand-eye calibration process is generally standardized. Operators only need to provide the relevant parameters for the calibration process to automatically complete the entire calibration process and obtain the camera calibration results, namely, the pose transformation relationship between the camera coordinate system and the end effector flange coordinate system of the robotic arm. This automation also means that hand-eye calibration is typically time-efficient during deployment. Furthermore, after calibration, the reprojection error is used to measure the quality of the camera calibration. Therefore, in positioning and grasping applications, this error is relatively easy to locate and troubleshoot.

[0042] Specifically, it can be based on the attitude of the first flange. First object posture And the pose transformation relationship between the camera coordinate system and the end effector flange coordinate system of the robotic arm. The object reference pose in the robot base coordinate system is determined using a preset method. .

[0043] S103. After the position of the end flange of the robotic arm changes, obtain the second flange posture of the end flange of the robotic arm in the robot base coordinate system, and determine the second object posture of the target object in the camera coordinate system.

[0044] Optionally, when the end effector flange of the robotic arm is in the reference position, after determining the object reference posture of the target object in the robot base coordinate system, the position of the end effector flange can be moved, but the target object does not move; that is, the position of the target object remains fixed. For example... Figure 1 As shown, it can be moved to... Figure 1 At position B (the solid black line in the image), the attitude of the robotic arm's end effector flange changes in the robot base coordinate system. Therefore, it is necessary to obtain the second flange attitude of the robotic arm's end effector flange in the robot base coordinate system. Where b indicates the robot base coordinate system, and e2 indicates the end-effector of the robotic arm after the position change. Since the camera is fixedly connected to the end-effector of the robotic arm, the relative positional relationship between the target object and the camera changes when the position of the end-effector changes. Therefore, after the position change, such as in... Figure 1 When the target object is located at the position indicated by the solid black line, camera 1 is controlled to capture an image of the target object, and the second object pose of the target object in the camera coordinate system at this time is calculated. Where c2 indicates the camera coordinate system and o2 indicates the target object captured by the camera after the position change.

[0045] S104. Based on the second flange posture, the second object posture, and the pose transformation relationship between the camera coordinate system and the end flange coordinate system of the robotic arm, determine the object's changing posture in the robot base coordinate system.

[0046] Among them, the object's posture can be changed using... Let o2 indicate the target object captured by the camera after the position change, and b indicate the robot's base coordinate system.

[0047] Specifically, when the position of the end flange of the robotic arm changes, the second flange posture can be used as a reference. Second object posture And the pose transformation relationship between the camera coordinate system and the end effector flange coordinate system of the robotic arm. Determine the changing posture of the target object in the robot's base coordinate system. .

[0048] S105. Based on the object reference posture, the object change posture, the second flange posture, and the first flange posture, determine whether the robot has visual recognition errors.

[0049] Specifically, based on the object's reference posture at the reference position, the first flange posture, and the object's changed posture after the position change and the second flange posture, a preset method can be used to determine whether the robot has visual recognition errors. This allows for rapid verification of the overall positioning accuracy of the entire visual positioning system.

[0050] In this embodiment, before performing the grasping teaching, the first flange pose of the robotic arm's end effector flange in the robot base coordinate system is acquired, and the first object pose of the target object in the camera coordinate system is determined. Then, based on the first flange pose, the first object pose, and the pose transformation relationship between the camera coordinate system and the robotic arm's end effector flange coordinate system, the object reference pose of the target object in the robot base coordinate system is determined. After moving the robotic arm's end effector, the second flange pose and the corresponding second object pose are acquired. Based on the second flange pose, the second object pose, and the pose transformation relationship between the camera coordinate system and the robotic arm's end effector flange coordinate system, the object change pose of the target object in the robot base coordinate system is determined. Finally, based on the object reference pose, the object change pose, the second flange pose, and the first flange pose, it is determined whether the robot has visual recognition errors. Without relying on actual grasping actions, the positioning accuracy of the vision system is evaluated by observing and comparing the poses of two different positions. Compared with traditional methods that require the completion of the entire grasping action to determine whether the grasping can be successful, this embodiment does not require any grasping action or teaching. Operators only need to complete hand-eye calibration, visual project creation and configuration, etc., to quickly verify the overall positioning accuracy of the entire vision positioning system.

[0051] Optionally, determining the object reference posture of the target object in the robot base coordinate system based on the first flange posture, the first object posture, and the pose transformation relationship between the camera coordinate system and the end flange coordinate system of the robotic arm in step S102 may include: Specifically, the product of the first flange attitude and the pose transformation relationship can be used as the first parameter. That is, the first parameter = Then, the product of the first parameter and the first object pose is used as the object reference pose. That is, the object reference pose. =First parameter = .

[0052] In this embodiment, by using the first flange posture, the first object posture, and the pose transformation relationship between the camera coordinate system and the flange coordinate system at the reference position of the robotic arm end, the object reference posture of the target object in the robot base coordinate system at the reference position can be obtained. Then, the first object posture of the target object in the camera coordinate system is converted into the posture in the robot base coordinate system.

[0053] Optionally, determining the object's changing posture in the robot base coordinate system based on the second flange posture, the second object posture, and the pose transformation relationship between the camera coordinate system and the robot arm end flange coordinate system in S104 above may include: Specifically, the product of the second flange attitude and the pose transformation relationship can be used as the second parameter. That is, the second parameter = Then, the product of the second parameter and the second object pose is taken as the object's changed pose. That is, the object's changed pose. =Second parameter = .

[0054] In this embodiment, by using the second flange posture after the position change of the robotic arm end effector, the second object posture, and the pose transformation relationship between the camera coordinate system and the robotic arm end flange coordinate system, the object posture change of the target object in the robot base coordinate system after the position change can be obtained. Then, the second object posture of the target object in the camera coordinate system is converted into the posture in the robot base coordinate system.

[0055] Figure 3 A flowchart illustrating another method for determining robot positioning error provided in this application embodiment is shown below. Figure 3 As shown, in step S105 above, determining whether the robot has a visual recognition error based on the object's reference posture, the object's changed posture, the second flange posture, and the first flange posture may include: S201. Determine the error results of robot vision based on the object reference posture, the object change posture, the second flange posture, and the first flange posture.

[0056] The error results from robot vision can indicate the errors in the robot's visual positioning system. These error results can be rotational errors and translational errors.

[0057] Specifically, the rotation error and translation error results of the robot vision can be determined using a preset method based on the object reference posture, the object change posture, the second flange posture, and the first flange posture.

[0058] S202. Determine whether there is a visual recognition error based on the error results of robot vision.

[0059] Specifically, if the error result of the robot vision meets the preset conditions, then the robot vision positioning system is not a factor in the robot's positioning and grasping error; if the error result of the robot vision does not meet the preset conditions, then the robot vision positioning system is a factor in the robot's positioning error, and the user can use this to eliminate the specific source of the error.

[0060] In this embodiment, the error result of the robot on the vision positioning system can be determined by only the object reference posture and the first flange posture calculated in the first calculation, and the object change posture and the second flange posture calculated in the second calculation. This realizes the independent detection and decoupled analysis of vision system errors.

[0061] Figure 4 A flowchart illustrating another method for determining the positioning error of a robot provided in this application embodiment is shown below. Figure 4 As shown, S201, based on the object reference posture, the object changed posture, the second flange posture, and the first flange posture, determines the error result of the robot vision, which may include: S301. Determine the attitude deviation matrix based on the object's reference attitude and the object's changed attitude.

[0062] Specifically, it can be based on the object reference posture of the target object in the robot base coordinate system at the reference position. And the change in the orientation of the target object in the robot's base coordinate system after the position change. Using a preset method, the attitude deviation matrix of the target object is determined, which is also the attitude deviation matrix of the end flange of the robotic arm.

[0063] Since the target object remains stationary when the position of the robotic arm's end effector changes, theoretically, even after the end effector moves, the changed pose of the target object in the robot's base coordinate system should be consistent with the reference pose of the target object in the robot's base coordinate system at the reference position. However, during actual movement, if the vision system has recognition errors at two different positions, there will be an error between the changed pose and the reference pose. Therefore, a preset method can be used to determine the pose deviation matrix based on the object's reference pose and the changed pose.

[0064] S302. Based on the attitude deviation matrix and the attitude of the second flange, determine the theoretical reference attitude of the end flange of the robotic arm.

[0065] Optionally, after determining the target object's attitude deviation matrix, which is also the attitude deviation matrix of the robotic arm's end effector flange, a preset method can be used to determine the theoretical reference attitude of the robotic arm's end effector flange based on the second flange attitude in the robot's base coordinate system after the position change and the attitude deviation matrix. In other words, the attitude deviation matrix is ​​used to correct the second flange attitude of the robotic arm's end effector flange after the position change, and the theoretical reference attitude when the robotic arm's end effector flange returns to the reference position is calculated. The obtained theoretical reference attitude is near the second flange attitude. Furthermore, the obtained theoretical reference attitude is the attitude of the robotic arm's end effector flange as it moves under visual guidance.

[0066] S303. Determine the attitude error of the end flange of the robotic arm based on the theoretical reference attitude and the attitude of the first flange, and use the attitude error of the end flange of the robotic arm as the error result of the robot vision.

[0067] Specifically, the attitude error of the end flange of the robot arm can be determined by using a preset method based on the theoretical reference attitude of the end flange of the robot arm when it returns to the reference position after being corrected by the attitude deviation matrix, and the first flange attitude of the end flange of the robot arm in the robot base coordinate system actually obtained at the reference position. That is, the translation error result and the rotation error result can be determined.

[0068] In this embodiment, the attitude deviation matrix is ​​first determined using the object reference attitude at different positions and the object's changing attitude. Then, this attitude deviation is used to correct the second attitude of the robotic arm's end flange, obtaining the theoretical reference attitude. Finally, the attitude error is determined based on the theoretical reference attitude and the first flange attitude, thus obtaining the robot vision error result. By comparing the pose observations at two different positions with consistency, the positioning error of the vision system is evaluated, enabling rapid quantitative verification of the positioning error of the entire vision positioning system. Utilizing the reversibility of rigid body space transformations and the pose conservation under the premise of an object being stationary, the consistency of the vision system's output is verified through two non-collinear observations, thereby inferring its reliability. This approach breaks away from the traditional paradigm of "accuracy only occurs when the grasp is successful," exhibiting strong universality.

[0069] Optionally, determining the attitude deviation matrix in step S301 based on the object's reference attitude and the object's changed attitude may include: Specifically, the attitude deviation matrix is ​​obtained by multiplying the object's changed attitude by the reciprocal of its reference attitude. = ,in, To change the posture of an object. As a reference pose for the object, This is the attitude deviation matrix.

[0070] Optionally, determining the theoretical reference attitude of the robotic arm's end flange based on the attitude deviation matrix and the second flange attitude in S302 above may include: Specifically, the product of the attitude deviation matrix and the second flange attitude is used as the theoretical reference attitude. Wherein, is the theoretical reference posture of the end flange of the robotic arm when it returns from the changed position to the reference position. This represents the second flange orientation when the end effector flange of the robotic arm is in the reference position. This is the attitude deviation matrix.

[0071] Figure 5 A flowchart illustrating another method for determining robot positioning error provided in this application embodiment is shown below. Figure 5 As shown, the determination of the attitude error of the robotic arm end flange based on the theoretical reference attitude and the attitude of the first flange in S303 above may include: S401. Subtract the translation component in the first flange attitude from the translation component in the theoretical reference attitude to obtain the translation error.

[0072] Specifically, = ,in, For translation error, For theoretical reference posture Translational flow splitting in the middle, For the first flange posture The translation component in the text.

[0073] S402. Based on the rotation components in the theoretical reference attitude and the rotation components in the first flange attitude, the rotation error is obtained.

[0074] Specifically, through the formula The rotational error can be obtained. Among them, For rotational error, For theoretical reference posture Rotational splitting in the middle, For the first flange posture The rotational component in.

[0075] S403. Translation error and rotation error are taken as attitude error.

[0076] Alternatively, the attitude error may include rotation error. and translation error If both the posture error and translation error meet the preset conditions, then the error result of the robot vision meets the preset conditions. If the posture error does not meet the preset conditions, or the translation error does not meet the preset conditions, or neither the posture error nor the translation error meets the preset conditions, then the error result of the robot vision does not meet the preset conditions, and the robot's vision system has an error. If the vision system has an error, the error of the vision system can be corrected first, for example, by recalibrating the camera or optimizing the image processing parameters. After the error is corrected, the subsequent teaching work can be performed.

[0077] In this embodiment, independent judgment of vision system errors can be achieved, translation error and rotation prediction can be quantitatively obtained, and error analysis can be performed. The reliability of the vision system can be confirmed before teaching, avoiding large-scale rework caused by the displacement of all subsequent teaching points due to visual errors, thus realizing a priori detection.

[0078] Figure 6 This is a schematic diagram of an apparatus for determining the positioning error of a robot, as provided in an embodiment of this application. Figure 6 As shown, the device includes: The acquisition module 501 is used to acquire the first flange posture of the robotic arm end flange in the robot base coordinate system when the robotic arm end flange is in the reference position, and to determine the first object posture of the target object in the camera coordinate system before executing the robot's grasping teaching process for the target object. The determination module 502 is used to determine the object reference posture of the target object in the robot base coordinate system based on the first flange posture, the first object posture, and the pose transformation relationship between the camera coordinate system and the end flange coordinate system of the robotic arm. The acquisition module 501 is used to acquire the second flange posture of the end flange of the robotic arm in the robot base coordinate system after the position of the end flange of the robotic arm changes, and to determine the second object posture of the target object in the camera coordinate system. The determination module 502 is used to determine the object change posture of the target object in the robot base coordinate system based on the second flange posture, the second object posture, and the pose transformation relationship between the camera coordinate system and the end flange coordinate system of the robotic arm. The determination module 502 is used to determine whether the robot has a visual recognition error based on the object reference posture, the object change posture, the second flange posture, and the first flange posture.

[0079] Optionally, the determining module 502 is specifically used for: The product of the first flange attitude and the pose transformation relationship is used as the first parameter; The product of the first parameter and the first object pose is used as the object reference pose.

[0080] Optionally, the determining module 502 is specifically used for: The product of the second flange attitude and the pose transformation relationship is used as the second parameter; The product of the second parameter and the second object pose is taken as the object's changed pose.

[0081] Optionally, the determining module 502 is specifically used for: The error result of the robot vision is determined based on the object reference posture, the object changed posture, the second flange posture, and the first flange posture. The presence or absence of visual recognition error is determined based on the error results of the robot vision.

[0082] Optionally, the determining module 502 is specifically used for: Determine the attitude deviation matrix based on the object's reference attitude and the object's changed attitude; Based on the attitude deviation matrix and the second flange attitude, the theoretical reference attitude of the end flange of the robotic arm is determined; The attitude error of the end flange of the robotic arm is determined based on the theoretical reference attitude and the attitude of the first flange, and the attitude error of the end flange of the robotic arm is used as the error result of the robot vision.

[0083] Optionally, the determining module 502 is specifically used for: The attitude deviation matrix is ​​obtained by multiplying the changed attitude of the object by the reciprocal of the reference attitude of the object.

[0084] Optionally, the determining module 502 is specifically used for: The product of the attitude deviation matrix and the second flange attitude is used as the theoretical reference attitude.

[0085] Optionally, the determining module 502 is specifically used for: Subtracting the translation component in the first flange attitude from the translation component in the theoretical reference attitude yields the translation error. The rotation error is obtained based on the rotation components in the theoretical reference attitude and the rotation components in the first flange attitude. The translation error and the rotation error are taken as the attitude error.

[0086] Figure 7 This is a structural block diagram of an electronic device 600 provided in an embodiment of this application. (See diagram below.) Figure 7As shown, the electronic device may include: a processor 601 and a memory 602.

[0087] Optionally, a bus 603 may also be included, wherein the memory 602 is used to store machine-readable instructions executable by the processor 601. When the electronic device 600 is running, the processor 601 and the memory 602 communicate via the bus 603. When the machine-readable instructions are executed by the processor 601, the method steps in the above method embodiments are performed.

[0088] This application also provides a computer-readable storage medium storing a computer program, which, when run by a processor, executes the method steps in the above-described robot positioning error determination method embodiment.

[0089] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems and devices described above can be referred to the corresponding processes in the method embodiments, and will not be repeated here. In the several embodiments provided in this application, it should be understood that the disclosed systems, devices, and methods can be implemented in other ways. The device embodiments described above are merely illustrative. For example, the division of modules is only a logical functional division, and in actual implementation, there may be other division methods. Furthermore, multiple modules or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the displayed or discussed mutual coupling or direct coupling or communication connection can be through some communication interfaces; the indirect coupling or communication connection of devices or modules can be electrical, mechanical, or other forms.

[0090] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. If the functions are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes: USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, optical disks, and other media capable of storing program code.

[0091] The above are merely specific embodiments of this application, but the scope of protection of this application is not limited thereto. Any changes or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application.

Claims

1. A method for determining the positioning error of a robot, characterized in that, The method includes: Before executing the robot's teaching process for grasping the target object, the first flange posture of the robot arm end flange in the robot base coordinate system is obtained when the end flange of the robot arm is in the reference position, and the first object posture of the target object in the camera coordinate system is determined. Based on the first flange posture, the first object posture, and the pose transformation relationship between the camera coordinate system and the end flange coordinate system of the robotic arm, the object reference posture of the target object in the robot base coordinate system is determined. After the position of the end flange of the robotic arm changes, the second flange posture of the end flange of the robotic arm in the robot base coordinate system is obtained, and the second object posture of the target object in the camera coordinate system is determined. Based on the second flange posture, the second object posture, and the pose transformation relationship between the camera coordinate system and the end flange coordinate system of the robotic arm, the object change posture of the target object in the robot base coordinate system is determined. The presence of visual recognition error in the robot is determined based on the object's reference posture, the object's changed posture, the second flange posture, and the first flange posture.

2. The method for determining the positioning error of a robot according to claim 1, characterized in that, Determining the object reference pose in the robot base coordinate system based on the first flange pose, the first object pose, and the pose transformation relationship between the camera coordinate system and the end flange coordinate system of the robotic arm includes: The product of the first flange attitude and the pose transformation relationship is used as the first parameter; The product of the first parameter and the first object pose is used as the object reference pose.

3. The method for determining the positioning error of a robot according to claim 1, characterized in that, The step of determining the object's changed posture in the robot base coordinate system based on the second flange posture, the second object posture, and the pose transformation relationship between the camera coordinate system and the robot arm end flange coordinate system includes: The product of the second flange attitude and the pose transformation relationship is used as the second parameter; The product of the second parameter and the second object pose is taken as the object's changed pose.

4. The method for determining the positioning error of a robot according to claim 1, characterized in that, The step of determining whether the robot has a visual recognition error based on the object's reference posture, the object's changed posture, the second flange posture, and the first flange posture includes: The error result of the robot vision is determined based on the object reference posture, the object changed posture, the second flange posture, and the first flange posture. The presence or absence of visual recognition error is determined based on the error results of the robot vision.

5. The method for determining the positioning error of a robot according to claim 4, characterized in that, The step of determining the error result of the robot vision based on the object reference pose, the object changed pose, the second flange pose, and the first flange pose includes: Determine the attitude deviation matrix based on the object's reference attitude and the object's changed attitude; Based on the attitude deviation matrix and the second flange attitude, the theoretical reference attitude of the end flange of the robotic arm is determined; The attitude error of the end flange of the robotic arm is determined based on the theoretical reference attitude and the attitude of the first flange, and the attitude error of the end flange of the robotic arm is used as the error result of the robot vision.

6. The method for determining the positioning error of a robot according to claim 5, characterized in that, The step of determining the attitude deviation matrix based on the object's reference attitude and the object's changed attitude includes: The attitude deviation matrix is ​​obtained by multiplying the changed attitude of the object by the reciprocal of the reference attitude of the object.

7. The method for determining the positioning error of a robot according to claim 5, characterized in that, Determining the theoretical reference attitude of the robotic arm end flange based on the attitude deviation matrix and the second flange attitude includes: The product of the attitude deviation matrix and the second flange attitude is used as the theoretical reference attitude.

8. The method for determining the positioning error of a robot according to claim 5, characterized in that, The step of determining the attitude error of the robotic arm end flange based on the theoretical reference attitude and the first flange attitude includes: Subtracting the translation component in the first flange attitude from the translation component in the theoretical reference attitude yields the translation error. The rotation error is obtained based on the rotation components in the theoretical reference attitude and the rotation components in the first flange attitude. The translation error and the rotation error are taken as the attitude error.

9. An electronic device, characterized in that, The device includes a memory and a processor, wherein the memory stores a computer program executable by the processor, and the processor executes the computer program to implement the steps of the robot positioning error determination method according to any one of claims 1-8.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, performs the steps of the robot positioning error determination method as described in any one of claims 1-8.

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