Robot assembly and disassembly work space alignment method based on operation feature self-calibration

Abstract

This invention relates to the technical field of automated robot operations, and discloses a robot assembly / disassembly spatial alignment method based on self-calibration of operational features. The method includes: moving the end effector along the axis of the terminal hole, from an angle detection start point to an angle detection end point, and recording the actual attitude angle of the end effector; moving the end effector along a preset detection direction, from a position detection start point to a position detection end point, and determining the actual coordinates of the center of the terminal hole opening based on a force signal; and determining the initial pose of the end effector for performing the insertion / removal operation based on the actual attitude angle and the actual coordinates. This robot assembly / disassembly spatial alignment method based on self-calibration of operational features, through two-step calibration of axial advance / retreat and radial penetration, can simultaneously eliminate attitude and position deviations using only force signals, achieving spatial alignment between the end effector probe and the terminal hole.

Description

Technical Field

[0001] This invention relates to the technical field of automated robot operations, and in particular to a spatial alignment method for robot assembly and disassembly operations based on self-calibration of operational characteristics. Background Technology

[0002] In automated operation and maintenance scenarios for power metering equipment, robots need to insert or remove end effector probes from terminal blocks. The success of these operations depends on the spatial alignment accuracy between the end effector probes and the terminal blocks; otherwise, the operation may fail or even damage the terminals.

[0003] Existing methods primarily rely on vision-guided systems, using cameras to identify target feature points and guide the robot to the target location. However, vision-guided methods have poor environmental adaptability: variable lighting inside the control box, severe cable obstruction, and strong reflections from metal surfaces make it difficult for cameras to reliably identify the boundaries of tiny terminal holes with diameters of only 1.5mm to 2.5mm, leading to positioning failures or insufficient positioning accuracy. Even with high-resolution cameras and supplemental lighting systems, a high positioning failure rate still exists. Summary of the Invention

[0004] Therefore, the purpose of this invention is to solve the problem of simultaneously calibrating the axial angle deviation and orifice center position deviation between the robot end effector probe and the terminal hole without relying on vision, so as to ensure that the end effector probe can be accurately inserted into the tiny terminal hole. To this end, a robot assembly and disassembly operation space alignment method based on operation characteristics is proposed. Through two-step calibration of axial advance and retreat and radial penetration, force signals alone can be used to simultaneously eliminate attitude deviation and position deviation, realize the spatial alignment of the end effector probe and the terminal hole, thereby improving the success rate of insertion and removal operations in complex environments and reducing the risk of terminal damage.

[0005] To address the aforementioned technical problems, this invention provides a robot assembly / disassembly space alignment method based on self-calibration of operational characteristics. A force sensor is provided between the robot's end flange and the end effector. The end effector is used for plugging and unplugging terminals, and the terminals have terminal holes. The method includes:

[0006] Step SS1: Move the end effector along the axis of the terminal hole, so that the end effector moves from the angle detection start point to the angle detection end point, and then returns to the angle detection start point along the original path, and record the actual attitude angle of the end effector at the current time;

[0007] Step SS2: Move the end effector along the preset detection direction, so that the end effector moves from the position detection start point to the position detection end point, and determine the actual coordinates of the center of the terminal hole based on the force signal detected by the force sensor during the displacement process;

[0008] Step SS3: Determine the initial pose of the end effector for performing the insertion / removal operation based on the actual attitude angle and the actual coordinates.

[0009] Preferably, the method further includes:

[0010] Step SS0: Move the end effector, which is in the initial position, along the hole axis direction by a first preset distance, so that the end effector moves to the angle detection starting point;

[0011] The initial position is located on the hole axis, and the distance from the theoretical coordinates of the hole center is greater than the first preset distance.

[0012] Preferably, the angle detection start point and the angle detection end point are both set on the hole axis, and the angle detection start point and the angle detection end point are respectively located on both sides of the terminal hole;

[0013] The detection directions include: intersecting first and second detection directions, both of which lie in a radial plane; the radial plane is a plane passing through the theoretical coordinates of the orifice center and with the orifice axis direction vector as its normal.

[0014] The position detection start point and the position detection end point are both located on the housing around the terminal hole; the position detection path length between the position detection start point and the position detection end point is greater than the sum of the probe diameter of the end effector and the hole diameter of the terminal hole.

[0015] Preferably, step SS2 includes:

[0016] Step SS21: After moving the end effector to the first position detection starting point, move it along the first detection direction to the first position detection ending point, and determine the first projected coordinates of the orifice center in the first detection direction based on the force signal detected by the force sensor during the displacement process;

[0017] Step SS22: After moving the end effector to the second position detection starting point, move it along the second detection direction to the second position detection ending point, and determine the second projection coordinates of the orifice center in the second detection direction based on the force signal detected by the force sensor during the displacement process;

[0018] Step SS23: Determine the actual coordinates of the orifice center based on the first projection coordinates and the second projection coordinates.

[0019] Preferably, step SS21 includes:

[0020] Step SS211: Move the end effector toward the first position detection starting point. When the end effector abuts against the housing around the terminal hole and the first component of the force signal collected by the force sensor in the first detection direction is greater than the first threshold, it is determined that the end effector is at the first position detection starting point.

[0021] Step SS212: Using the first detection endpoint as the target, move the end effector linearly along the first detection direction:

[0022] During the movement, when the first component decreases from above the first threshold to below the first threshold, the current position of the end effector is recorded as the first disengagement point; as the movement continues, when the first component increases from below the first threshold to above the first threshold, the current position of the end effector is recorded as the second disengagement point;

[0023] Step SS213: Calculate the first projected coordinates of the orifice center in the first detection direction based on the coordinates of the first separation point and the second separation point.

[0024] Preferably, step SS22 includes:

[0025] Step SS221: After moving the end effector to the initial position, move it towards the second position detection starting point. When the end effector abuts against the housing around the terminal hole, and the second component of the force signal collected by the force sensor in the second detection direction is greater than the first threshold, determine that the end effector is at the second position detection starting point.

[0026] Step SS222: Using the second position detection endpoint as the target, move the end effector linearly along the second detection direction:

[0027] During the movement, when the second component decreases from above the first threshold to below the first threshold, the current position of the end effector is recorded as the third disengagement point; as the movement continues, when the second component increases from below the first threshold to above the first threshold, the current position of the end effector is recorded as the fourth disengagement point;

[0028] Step SS223: Calculate the second projected coordinates of the orifice center in the second detection direction based on the coordinates of the third and fourth separation points.

[0029] Preferably, the first detection direction includes the following formula:

[0030] ;

[0031] ;

[0032] In the formula, The direction of the intersection of the radial plane and the horizontal plane; is the unit vector along the hole axis; It is the unit vector in the Z-axis direction. Pointing out of the watch case; for The modulus length; The first detection direction is the unit vector;

[0033] The second detection direction includes the following formula:

[0034] ;

[0035] In the formula, This is the unit vector for the second detection direction.

[0036] Preferably, the location detection starting point includes a first location detection starting point and a second location detection starting point:

[0037] ;

[0038] ;

[0039] In the formula, This serves as the starting point for the first location detection. The location is the midpoint of the detection path; The location detection path length; The first detection direction is the unit vector; This serves as the starting point for the second location detection. The unit vector in the second detection direction;

[0040] The location detection endpoint includes a first location detection endpoint and a second location detection endpoint:

[0041] ;

[0042] ;

[0043] In the formula, The first location is used to detect the endpoint; The endpoint for the second location detection.

[0044] Preferably, the midpoint of the location detection path includes:

[0045] ;

[0046] In the formula, The location is the midpoint of the detection path; The theoretical coordinates of the orifice center; Installation error parameters, This is the unit vector along the hole axis.

[0047] Preferably, the first projected coordinates include the following formula:

[0048] ;

[0049] In the formula, The first projection coordinates; The coordinates of the first break-off point; The coordinates of the second break-off point; The first detection direction is the unit vector;

[0050] The second projected coordinates include the following formula:

[0051] ;

[0052] In the formula, The second projection coordinates; The coordinates of the third breakaway point; The coordinates of the fourth breakaway point; The unit vector in the second detection direction;

[0053] The actual coordinates of the orifice center include the following formula:

[0054] ;

[0055] In the formula, These are the actual coordinates of the center of the orifice.

[0056] Compared with the prior art, the above-described technical solution of the present invention has the following advantages:

[0057] The robot assembly and disassembly spatial alignment method based on operation feature self-calibration described in this invention can eliminate both attitude deviation and position deviation simultaneously by using only force signals through two-step calibration of axial advance and retreat and radial penetration. This achieves spatial alignment between the end effector probe and the terminal hole, thereby improving the success rate of insertion and removal operations in complex environments and reducing the risk of terminal damage.

[0058] Furthermore, the alignment of position and attitude is achieved through attitude self-calibration in step SS1, position self-calibration in step SS2, and pose synthesis in step SS3. Specifically: axial movement along the hole axis is used to calibrate the parallelism between the end effector probe axis and the terminal hole axis, and the actual attitude angle is recorded; a single traversal motion in two orthogonal directions in the radial plane is used to calibrate the center position of the hole; the actual attitude angle and actual coordinates are synthesized into the initial pose, realizing the calibration of attitude and position, so that the end effector probe enters the terminal hole accurately.

[0059] During position calibration, the geometric boundaries of the terminal hole are determined by detecting changes in the force signal during the process. This method is unaffected by environmental factors such as light, dust, and obstructions, resulting in higher engineering reliability. Furthermore, the end effector only needs to move from the position detection starting point to the position detection endpoint in a single movement. Force signals are continuously collected during this movement, and the positions of the two symmetrical disengagement points are obtained by analyzing the two contact events at the hole wall and the hole wall. The entire detection process involves no mid-process stops, retractions, or repositioning actions, effectively avoiding the accumulation of measurement errors caused by joint clearances and transmission backlash, thus improving position calibration accuracy. Attached Figure Description

[0060] To make the content of this invention easier to understand, the invention will be further described in detail below with reference to specific embodiments and accompanying drawings.

[0061] Figure 1 This is a flowchart illustrating a robot assembly / disassembly space alignment method based on self-calibration of operational features in an embodiment of the present invention.

[0062] Figure 2 This is a schematic diagram of a location detection path in an embodiment of the present invention.

[0063] In the diagram: 1. Terminal hole; 2. Midpoint of the position detection path. Detailed Implementation

[0064] The present invention will be further described below with reference to the accompanying drawings and specific embodiments, so that those skilled in the art can better understand and implement the present invention. However, the embodiments described are not intended to limit the present invention.

[0065] Example 1: This example discloses a robot assembly and disassembly operation space alignment method based on self-calibration of operational features.

[0066] This embodiment introduces a robot assembly and disassembly operation space alignment method based on self-calibration of operational features.

[0067] In application, the robot's robotic arm includes an end flange and an end effector, with a force sensor located between the end flange and the end effector.

[0068] The end effector is used for plugging and unplugging terminals, which have terminal holes 1. The force sensor can be a six-dimensional force sensor, used to detect the force and torque signals generated when the end effector contacts the terminal or its surrounding housing during movement.

[0069] In practical applications, the end effector includes a probe. When plugging or unplugging the terminal block, the probe is inserted into terminal hole 1.

[0070] In actual implementation, terminal hole 1 has a symmetrical structure, such as a circle. Furthermore, the edge of terminal hole 1 has a chamfered structure. The probe includes a cylindrical structure and a conical structure, with the conical structure disposed on the cylindrical structure. Further, the diameter of the cylindrical structure is 0.99 mm to 1.01 mm, and the height is 4.5 mm to 5.5 mm. The angle between the generatrix of the conical structure and its axis is 13° to 17°; the tip of the conical structure is a spherical arc with a tip radius less than or equal to 0.3 mm.

[0071] In some embodiments, reference Figure 1 The robot assembly / disassembly operation space alignment method based on operational feature self-calibration includes steps SS1 to SS3. Furthermore, the robot assembly / disassembly operation space alignment method may also include SS0.

[0072] Step SS0: Move the end effector, which is in the initial position, along the axis of the terminal hole 1 by a first preset distance, so that the end effector moves to the angle detection starting point.

[0073] In application, a three-dimensional Cartesian coordinate system is established with the center of the screw hole in the lower left corner of the meter box as the origin. The X-axis of the three-dimensional Cartesian coordinate system is horizontal to the right, the Y-axis is vertically upward, and the Z-axis is perpendicular to the meter box panel and points outward, i.e., in the direction of the robot. Furthermore, the three-dimensional CAD model of the meter is mapped onto the three-dimensional Cartesian coordinate system to obtain the coordinate parameters of the meter.

[0074] In practical applications, the direction of the hole axis of terminal hole 1 is the direction of the central axis of terminal hole 1, and the unit vector of the hole axis direction includes... ,in, This is a unit vector representing the direction of the hole axis, indicating the direction of the hole axis from the hole opening to the bottom of the hole. for X-axis coordinate; for Y-axis coordinate; for The Z-axis coordinate, and .

[0075] In actual implementation, the initial position is located on the hole axis, and the distance from the theoretical coordinates of the hole center is greater than the first preset distance.

[0076] The initial position includes: ;in, These are the initial position coordinates; Here are the theoretical coordinates of the center of the hole in terminal hole 1, in mm; This is the second safety parameter. Furthermore, to avoid collisions, the second safety parameter is determined based on the height of the cable protrusion inside the meter housing. Preferably, the second safety parameter is 5mm.

[0077] Move a first preset distance along the axis of terminal hole 1, that is, along the axis of the hole. The feed distance reaches the angle detection starting point after a first preset distance. Furthermore, the first preset distance is less than the second safety parameter. Preferably, the first preset distance is 3mm.

[0078] In some embodiments, the angle detection starting point includes ;in, As the starting point for angle detection, This is the first preset distance.

[0079] Step SS1: Move the end effector along the axis of terminal hole 1, so that the end effector moves from the angle detection start point to the angle detection end point, and then returns to the angle detection start point along the original path, and record the actual attitude angle of the end effector.

[0080] In application, the angle detection start point and the angle detection end point are both set on the hole axis, and the angle detection start point and the angle detection end point are respectively located on both sides of the terminal hole 1.

[0081] The distance between the starting point and the ending point of the angle detection is a second preset distance, which is greater than the depth of the terminal hole 1. Further, the second preset distance includes: ;in, This is the second preset distance; Hole depth; This is the third safety parameter. Preferably, .

[0082] Furthermore, the angle detection endpoint includes ;in, The endpoint for angle detection.

[0083] In practical applications, the moving speed of the end effector is less than or equal to 3 mm / s. Preferably, to ensure that the wiring terminals are not damaged in the event of a collision, and without affecting work efficiency, the moving speed of the end effector is 2 mm / s.

[0084] In practice, the robot controller detects the current attitude angle via joint encoders. The actual attitude angle of the end effector currently includes... ,in, The rotation angle of the end effector about the X-axis; The rotation angle of the end effector about the Y-axis; The rotation angle of the end effector around the Z-axis.

[0085] Step SS2: Move the end effector along the preset detection direction, so that the end effector moves from the position detection start point to the position detection end point, and determine the actual coordinates of the center of the terminal hole 1 based on the force signal detected by the force sensor during the displacement process.

[0086] In application, the detection directions include: an intersecting first detection direction and a second detection direction, both of which lie in a radial plane. The radial plane is a plane passing through the theoretical coordinates of the orifice center and with the orifice axis direction vector as its normal.

[0087] In practical applications, both the position detection start point and the position detection end point are located on the housing around the terminal hole 1. For example, the housing surfaces on both sides of the terminal hole 1 where the position detection start point and the position detection end point are located.

[0088] In actual implementation, the position detection path length between the position detection start point and the position detection end point is greater than the sum of the probe diameter of the end effector and the diameter of the terminal hole 1. Specifically, the position detection path length includes: ;in, The location detection path length; The diameter of the probe; The diameter of the hole; This is the fourth safety parameter, which can be 2mm.

[0089] Furthermore, the location detection starting point includes a first location detection starting point and a second location detection starting point; the location detection ending point includes a first location detection ending point and a second location detection ending point.

[0090] In some embodiments, step SS2 includes steps SS21 to SS23.

[0091] Step SS21: After moving the end effector to the first position detection starting point, move it along the first detection direction to the first position detection ending point, and determine the first projected coordinates of the orifice center in the first detection direction based on the force signal detected by the force sensor during the displacement process.

[0092] In application, the end effector, after attitude angle correction, will perform step SS21 to perform position correction.

[0093] In practical applications, the starting point for the first position detection includes the following formula:

[0094] ;

[0095] In the formula, This serves as the starting point for the first location detection. The location is the midpoint of the detection path; The location detection path length; This is the unit vector for the first detection direction.

[0096] Furthermore, the midpoint 2 of the position detection path is located on the borehole axis and is determined based on the theoretical coordinates of the borehole center. Specifically, the midpoint 2 of the position detection path includes the following formula:

[0097] ;

[0098] In the formula, The theoretical coordinates of the orifice center; is the unit vector along the hole axis; This refers to the installation error parameter. Further, the installation error parameter can be from 1mm to 3mm. Preferably, the installation error parameter is 2mm.

[0099] Furthermore, the first detection direction includes the following formula:

[0100] ;

[0101] ;

[0102] In the formula, The direction of the intersection of the radial plane and the horizontal plane is the XOY plane, which is perpendicular to the Z-axis. is the unit vector along the hole axis; It is the unit vector in the Z-axis direction. Pointing out of the watch case; for The modulus length; This is the unit vector for the first detection direction.

[0103] Furthermore, the endpoint of the first location detection includes the following formula:

[0104] ;

[0105] In the formula, The first location is used to detect the endpoint.

[0106] In some embodiments, step SS21 includes steps SS211 to SS213.

[0107] Step SS211: Move the end effector toward the first position detection starting point. When the end effector abuts against the housing around the terminal hole 1, and the first component of the force signal collected by the force sensor in the first detection direction is greater than the first threshold, determine that the end effector is at the first position detection starting point.

[0108] In application, after moving the end effector to its initial position, it is moved towards the starting point of the first position detection, with the first position detection as the target. The starting point of the first position detection, the midpoint 2 of the position detection path, and the ending point of the first position detection are on the same straight line, forming a position detection path in the first detection direction, as shown in the reference. Figure 2 .

[0109] In practical applications, when the end effector abuts against the housing around the terminal hole 1, if the first component of the force signal collected by the force sensor in the first detection direction is greater than the first threshold, the current position of the end effector probe is determined as the first position detection starting point.

[0110] Furthermore, using the probe of the new end effector, contact the housing surface of the terminal block at a speed of 2 mm / s, repeat the measurement 10 times, and record the moment when the force signal first significantly deviates from zero. Take the average of the 10 measurements as the first threshold. The first threshold can be between 0.3 N and 0.5 N. Preferably, the first threshold is 0.5 N.

[0111] In actual implementation, the first component is the first force unit vector in the first detection direction, obtained by processing the force signal measured by the force sensor in step SS211 after first-order low-pass filtering. The projection onto the surface. Specifically, it includes the following formula:

[0112] ;

[0113] In the formula, This is the first component; For the first force; This is the unit vector for the first detection direction.

[0114] Step SS212: With the first position detection endpoint as the target, move the end effector in a straight line along the first detection direction.

[0115] When the first component decreases from greater than the first threshold to less than the first threshold during the movement process, the current position of the end effector is recorded as the first disengagement point, which is a point on the edge of terminal hole 1.

[0116] In practical applications, after determining the first disengagement point, the end effector continues to move. When the first component rises from less than the first threshold to greater than the first threshold, the current position of the end effector is recorded as the second disengagement point. The second disengagement point is another point on the edge of the terminal hole 1, and the first disengagement point and the second disengagement point are symmetrical along the diameter of the terminal hole 1.

[0117] Step SS213: Calculate the first projected coordinates of the orifice center in the first detection direction based on the coordinates of the first separation point and the second separation point.

[0118] When applied, the first projected coordinates include the following formula:

[0119] ;

[0120] In the formula, The first projection coordinates; The coordinates of the first break-off point; The coordinates of the second break-off point; This is the unit vector for the first detection direction.

[0121] Step SS22: After moving the end effector to the second position detection starting point, move it along the second detection direction to the second position detection ending point, and determine the second projected coordinates of the orifice center in the second detection direction based on the force signal detected by the force sensor during the displacement process.

[0122] In application, after moving the end effector to the initial position, step SS22 is performed using the end effector.

[0123] In practical applications, the second position detection starting point includes the following formula:

[0124] ;

[0125] In the formula, This serves as the starting point for the first location detection. The location is the midpoint of the detection path; The location detection path length; The first detection direction is the unit vector; This serves as the starting point for the second location detection. This is the unit vector for the second detection direction.

[0126] Furthermore, the second detection direction includes the following formula:

[0127] ;

[0128] In the formula, This is the unit vector for the second detection direction.

[0129] Furthermore, the second location detection endpoint includes the following formula:

[0130] ;

[0131] In the formula, The endpoint for the second location detection.

[0132] In some embodiments, step SS22 includes steps SS221 to SS223.

[0133] Step SS221: After moving the end effector to the initial position, move it towards the second position detection starting point. When the end effector abuts against the housing around the terminal hole 1, and the second component of the force signal collected by the force sensor in the second detection direction is greater than the first threshold, it is determined that the end effector is at the second position detection starting point.

[0134] In application, after moving the end effector to its initial position, it is moved towards the second position detection starting point, with the second position detection as the target. The second position detection starting point, the midpoint 2 of the position detection path, and the second position detection ending point are on the same straight line, forming the position detection path in the second detection direction, as shown in the reference. Figure 2 .

[0135] In practical applications, when the end effector abuts against the housing around the terminal hole 1, if the second component of the force signal collected by the force sensor in the second detection direction is greater than the second threshold, the current position of the end effector probe is determined as the second position detection starting point.

[0136] In actual implementation, the second component is the projection of the second force onto the unit vector in the second detection direction, obtained after the force signal measured by the force sensor in step SS221 has been processed by a first-order low-pass filter. Specifically, it includes the following formula:

[0137] ;

[0138] In the formula, This is the second component; For the second force; This is the unit vector for the second detection direction.

[0139] Step SS222: With the second position detection endpoint as the target, move the end effector in a straight line along the second detection direction.

[0140] During application, when the second component decreases from greater than the first threshold to less than the first threshold during the movement process, the current position of the end effector is recorded as the third disengagement point, which is a point on the edge of terminal hole 1.

[0141] In practical applications, after determining the third disengagement point, the end effector continues to move. When the second component rises from less than the first threshold to greater than the first threshold, the current position of the end effector is recorded as the fourth disengagement point. The fourth disengagement point is another point on the edge of the terminal hole 1, and the third disengagement point and the fourth disengagement point are symmetrical along the diameter of the terminal hole 1.

[0142] Step SS223: Calculate the second projected coordinates of the orifice center in the second detection direction based on the coordinates of the third and fourth separation points.

[0143] When applied, the second projected coordinates include the following formula:

[0144] ;

[0145] In the formula, The second projection coordinates; The coordinates of the third breakaway point; The coordinates of the fourth breakaway point; This is the second detection direction.

[0146] Step SS23: Determine the actual coordinates of the orifice center based on the first projection coordinates and the second projection coordinates.

[0147] In application, the actual coordinates of the orifice center include the following formula:

[0148] ;

[0149] In the formula, These are the actual coordinates of the orifice center. Further, the actual coordinates of the orifice center are... ;in, The X-axis value represents the actual coordinates of the orifice center. The Y-axis value is the actual coordinate of the orifice center; The Z-axis value represents the actual coordinates of the orifice center.

[0150] The actual attitude angles of the current end effector include ,in, The rotation angle of the end effector about the X-axis; The rotation angle of the end effector about the Y-axis; The rotation angle of the end effector around the Z-axis.

[0151] Step SS3: Determine the initial pose of the end effector for performing the insertion / removal operation based on the actual attitude angle and the actual coordinates.

[0152] In some embodiments, the initial coordinates of the end effector for performing the insertion / removal operation are determined based on the actual coordinates of the orifice center. The actual attitude angle is used as the initial attitude angle of the end effector for performing the insertion / removal operation. Further, the initial pose of the end effector for performing the insertion / removal operation is determined based on the initial coordinates and the initial attitude angle. At this point, the actual coordinates of the orifice center are the initial coordinates, and the initial pose is... .

[0153] In some other embodiments, the initial coordinates for the end effector to perform the insertion / removal operation are determined based on the actual coordinates of the orifice center and a safety threshold. The actual attitude angle is used as the initial attitude angle for the end effector to perform the insertion / removal operation. The initial pose of the end effector to perform the insertion / removal operation is determined based on the initial coordinates and the initial attitude angle. Further, the safety threshold is determined based on a second safety parameter and the unit vector of the orifice axis direction; for example, the safety threshold = At this point, the initial coordinates = .

[0154] 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.

[0155] 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.

[0156] 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.

[0157] These computer program instructions may 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.

[0158] Obviously, the above embodiments are merely illustrative examples for clear explanation and are not intended to limit the implementation. Those skilled in the art will recognize that other variations or modifications can be made based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations here. However, obvious variations or modifications derived therefrom are still within the scope of protection of this invention.

Claims

1. A robot mounting and dismounting work space alignment method based on operation characteristics self-calibration, characterized by, A force sensor is provided between the robot's end flange and the end effector; the end effector is used to plug and unplug terminals, and the terminals have terminal holes; the method includes: Step SS1: Move the end effector along the axis of the terminal hole, so that the end effector moves from the angle detection start point to the angle detection end point, and then returns to the angle detection start point along the original path, and record the actual attitude angle of the end effector at the current time; Step SS2: Move the end effector along the preset detection direction, so that the end effector moves from the position detection start point to the position detection end point, and determine the actual coordinates of the center of the terminal hole based on the force signal detected by the force sensor during the displacement process; Step SS3: Determine the initial pose of the end effector for performing the insertion / removal operation based on the actual attitude angle and the actual coordinates.

2. The robot setup and teardown workspace alignment method based on operational features self-calibration according to claim 1, wherein, The method further includes: Step SS0: Move the end effector, which is in the initial position, along the hole axis direction by a first preset distance, so that the end effector moves to the angle detection starting point; The initial position is located on the hole axis, and the distance from the theoretical coordinates of the hole center is greater than the first preset distance. 3.The robot assembly / disassembly workspace alignment method based on operational feature self-calibration according to claim 1, wherein, The angle detection start point and the angle detection end point are both set on the hole axis, and the angle detection start point and the angle detection end point are respectively located on both sides of the terminal hole; The detection directions include: intersecting first detection directions and second detection directions, and both the first detection direction and the second detection direction are located in a radial plane; The radial plane is the plane that passes through the theoretical coordinates of the orifice center and has the orifice axis direction vector as its normal. The position detection start point and the position detection end point are both located on the housing around the terminal hole; the position detection path length between the position detection start point and the position detection end point is greater than the sum of the probe diameter of the end effector and the hole diameter of the terminal hole.

4. The robot setup and teardown workspace alignment method based on self-calibration of operational characteristics according to claim 3, characterized in that, Step SS2 includes: Step SS21: After moving the end effector to the first position detection starting point, move it along the first detection direction to the first position detection ending point, and determine the first projected coordinates of the orifice center in the first detection direction based on the force signal detected by the force sensor during the displacement process; Step SS22: After moving the end effector to the second position detection starting point, move it along the second detection direction to the second position detection ending point, and determine the second projection coordinates of the orifice center in the second detection direction based on the force signal detected by the force sensor during the displacement process; Step SS23: Determine the actual coordinates of the orifice center based on the first projection coordinates and the second projection coordinates.

5. The robot setup and teardown workspace alignment method based on self-calibration of operational characteristics according to claim 4, characterized in that, Step SS21 includes: Step SS211: Move the end effector toward the first position detection starting point. When the end effector abuts against the housing around the terminal hole and the first component of the force signal collected by the force sensor in the first detection direction is greater than the first threshold, it is determined that the end effector is at the first position detection starting point. Step SS212: Using the first detection endpoint as the target, move the end effector linearly along the first detection direction: During the movement, when the first component decreases from above the first threshold to below the first threshold, the current position of the end effector is recorded as the first disengagement point; as the movement continues, when the first component increases from below the first threshold to above the first threshold, the current position of the end effector is recorded as the second disengagement point; Step SS213: Calculate the first projected coordinates of the orifice center in the first detection direction based on the coordinates of the first separation point and the second separation point.

6. The robot setup and teardown workspace alignment method based on self-calibration of operational characteristics according to claim 4, characterized in that, Step SS22 includes: Step SS221: After moving the end effector to the initial position, move it towards the second position detection starting point. When the end effector abuts against the housing around the terminal hole, and the second component of the force signal collected by the force sensor in the second detection direction is greater than the first threshold, determine that the end effector is at the second position detection starting point. Step SS222: Using the second position detection endpoint as the target, move the end effector linearly along the second detection direction: During the movement, when the second component decreases from above the first threshold to below the first threshold, the current position of the end effector is recorded as the third disengagement point; as the movement continues, when the second component increases from below the first threshold to above the first threshold, the current position of the end effector is recorded as the fourth disengagement point; Step SS223: Calculate the second projected coordinates of the orifice center in the second detection direction based on the coordinates of the third and fourth separation points.

7. The robot setup and teardown workspace alignment method based on self-calibration of operational characteristics according to claim 4, characterized in that, The first detection direction includes the following formula: ； ； In the formula, is the intersection direction of the radial plane and the horizontal plane; is the hole axis direction unit vector; is the Z-axis direction unit vector, points outward from the table box; is the modulus of the vector; is the first detection direction unit vector; The second detection direction includes the following formula: ； In the formula, is a unit vector of the second detection direction. 8.The robot assembly / disassembly workspace alignment method based on operational feature self-calibration according to claim 4, wherein, The location detection starting point includes a first location detection starting point and a second location detection starting point: ； ； wherein is a first position detection start point; is a position detection path midpoint; is a position detection path length; is a first detection direction unit vector; is a second position detection start point; is a second detection direction unit vector; The location detection endpoint includes a first location detection endpoint and a second location detection endpoint: ； ； wherein is a first position detection end point; is a second position detection end point.

9. The robot assembly / disassembly space alignment method based on self-calibration of operational features according to claim 8, characterized in that, The midpoint of the location detection path includes: ； In the formula, The location is the midpoint of the detection path; The theoretical coordinates of the orifice center; Installation error parameters, This is the unit vector along the hole axis.

10. The robot assembly / disassembly space alignment method based on self-calibration of operational features according to claim 4, characterized in that, The first projected coordinates include the following formula: ； In the formula, The first projection coordinates; The coordinates of the first break-off point; The coordinates of the second break-off point; The first detection direction is the unit vector; The second projected coordinates include the following formula: ； In the formula, The second projected coordinates; The coordinates of the third breakaway point; The coordinates of the fourth breakaway point; The unit vector in the second detection direction; The actual coordinates of the orifice center include the following formula: ； In the formula, These are the actual coordinates of the center of the orifice.

Images