Positioning method and apparatus, storage medium, and computer program

Abstract

The present disclosure provides a positioning method and apparatus, and a computer program.SOLUTION: Obtaining a relative position deviation between a first tool coordinate system and a robot-arm-end coordinate system and a relative position deviation between a second tool coordinate system and the robot-arm-end coordinate system, obtaining a first relative position deviation between a to-be-positioned object coordinate system and a base coordinate system of a fixed end of the robot arm by using a measurement result of the first tool, obtaining a second relative position deviation between the to-be-positioned object coordinate system and the base coordinate system by using a measurement result of the second tool, and obtaining three dimensional position information of a measurement area of the to-be-positioned object by using the second tool, where a part of the measurement area is a measurement plane; Obtaining a fitting plane according to the three dimensional position information of the measurement plane, obtaining a second relative position deviation according to the first relative position deviation and a three dimensional position relationship between the measurement plane and the fitting plane, and performing positioning according to the second tool and the second relative position deviation.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to the technical field of localization measurement, and in particular to a localization method and apparatus, a storage medium and a computer program. [Background technology]

[0002] Product surface quality inspection is an important quality control process in product manufacturing, especially in automobile manufacturing. An automobile production line mainly includes the following processes: a stamping shop stamps original sheet metal components into body parts; a welding shop assembles body parts to form the body frame and body-in-white; a paint shop completes the body-in-white spray coating process; and an assembly shop assembles all automobile components. For example, in the inspection of sheet metal parts or body-in-white automobile manufacturing processes, commonly used surface quality inspection methods include visual inspection under strong light irradiation, tactile inspection with gloves, and polishing with oil stone. However, these methods are time-consuming and subjective, and heavily depend on the inspector's concentration and attention, making them difficult to actually meet the needs of automated production lines.

[0003] In order to improve the degree of automation of product production lines and improve detection efficiency, surface detection based on 3D sensors has currently become a new trend. However, after the 3D sensor-based surface detection is completed, it is still necessary to quickly and accurately locate the detection results and identified defects on the detected vehicle surface for subsequent fault and defect analysis.

[0004] Therefore, there is a need for a faster and more accurate method and device for locating defects to quickly detect the surface quality of a product and accurately locate defects. Summary of the Invention [Problem to be solved by the invention]

[0005] An object of the present invention is to provide a location determination method and device, a storage medium and a computer program. [Means for solving the problem]

[0006] In order to solve the above technical problem, according to one aspect of the present invention, there is provided a position determination method in which a position determination device is used to perform a position determination operation on a position determination object, the position determination device including a robot arm, the robot arm including a fixed end and a movable end, the end being used to mount a first tool or a second tool, the method comprising the steps of respectively obtaining a relative position deviation between a first tool coordinate system and a robot arm end coordinate system of the end of the robot arm of the position determination device, and a relative position deviation between a second tool coordinate system and the robot arm end coordinate system, and using the measurement result of the first tool to obtain a first relative position deviation between the position determination object coordinate system of the position determination object and a base coordinate system of the fixed end of the robot arm of the position determination device. using the measurement result of the second tool to acquire a second relative position deviation between the position identification object coordinate system of the position identification object and a base coordinate system of a fixed end of the robot arm of the position identification device, wherein the second tool is used to acquire three-dimensional position information of a measurement area of ​​the position identification object, a part of the measurement area is a measurement plane, and fitting is performed based on the three-dimensional position information of the measurement plane to acquire a corresponding fitting plane, and acquiring the second relative position deviation based on at least the first relative position deviation and the three-dimensional positional relationship between the measurement plane and the corresponding fitting plane; and performing a position identification operation on the position identification object based on at least the second relative position deviation.

[0007] According to another aspect of the present invention, there is provided a localization device for performing a localization operation on a localization target, the localization device including a robot arm, the robot arm including a fixed end and a movable end, the end being used to mount a first tool or a second tool, the localization device further including a first acquisition unit for acquiring a relative position deviation between a first tool coordinate system and a robot arm end coordinate system of the end of the robot arm of the localization device, and a relative position deviation between a second tool coordinate system and the robot arm end coordinate system, respectively; a second acquisition unit for acquiring a first relative position deviation between a localization target coordinate system of the localization target and a base coordinate system of the fixed end of the robot arm of the localization device using a measurement result of the first tool; a third acquisition unit that uses the measurement result of the second tool to acquire a second relative position deviation between a position identification target coordinate system of the position identification target and a base coordinate system of a fixed end of the robot arm of the position identification device, wherein the measurement result of the second tool is used to acquire three-dimensional position information of a measurement area in the position identification target, a part of the measurement area is a measurement plane, and performs fitting based on the three-dimensional position information of the measurement plane to acquire a corresponding fitting plane, and acquires the second relative position deviation based on at least the first relative position deviation and the three-dimensional positional relationship between the measurement plane and the corresponding fitting plane; and a position identification unit that performs a position identification operation on the position identification target based on at least the second relative position deviation.

[0008] According to another aspect of the present invention, there is provided a localization device for performing a localization operation on a localization target, the localization device including a robot arm, the robot arm including a fixed end and a movable end, the end being used to mount a first tool or a second tool, the localization device further including a processor and a memory for storing computer program commands, the computer program commands, when executed by the processor, causing the processor to respectively acquire a relative position deviation between a first tool coordinate system and a robot arm end coordinate system of the end of the robot arm of the localization device, and a relative position deviation between a second tool coordinate system and the robot arm end coordinate system, and the step of acquiring a first relative position deviation with respect to a base coordinate system of a fixed end of the robot arm; acquiring a second relative position deviation between the position identification target coordinate system of the position identification target and the base coordinate system of the fixed end of the robot arm of the position identification device using the measurement result of the second tool, wherein the second tool is used to acquire three-dimensional position information of a measurement area of ​​the position identification target, a part of the measurement area is a measurement plane, performing fitting based on the three-dimensional position information of the measurement plane to acquire a corresponding fitting plane, acquiring the second relative position deviation based on at least the first relative position deviation and the three-dimensional positional relationship between the measurement plane and the corresponding fitting plane; and performing a position identification operation on the position identification target based on at least the second relative position deviation.

[0009] According to another aspect of the present invention, there is provided a computer-readable storage medium having stored thereon computer program instructions executable by a processor of a localization device for performing a localization operation on a localization object, the localization device including a robot arm, the robot arm including a fixed end and a movable end, the end being used to mount a first tool or a second tool, the computer program instructions, when executed by the processor of the localization device, respectively obtaining a relative position deviation between a first tool coordinate system and a robot arm end coordinate system of the end of the robot arm of the localization device, and a relative position deviation between a second tool coordinate system and the robot arm end coordinate system; and calculating a relative position deviation between the first tool coordinate system and a robot arm end coordinate system of the localization object using the measurement result of the first tool. The method includes the steps of: acquiring a first relative position deviation with respect to a base coordinate system of a fixed end of the robot arm; acquiring a second relative position deviation between the position identification target coordinate system of the position identification target and the base coordinate system of the fixed end of the robot arm of the position identification device using the measurement result of the second tool, wherein the second tool is used to acquire three-dimensional position information of a measurement area of ​​the position identification target, a part of the measurement area is a measurement plane, performing fitting based on the three-dimensional position information of the measurement plane to acquire a corresponding fitting plane, acquiring the second relative position deviation based on at least the first relative position deviation and the three-dimensional positional relationship between the measurement plane and the corresponding fitting plane; and performing a position identification operation on the position identification target based on at least the second relative position deviation. [Effects of the Invention]

[0010] The above-described position determining method, position determining device, and computer-readable storage medium according to the embodiments of the present invention can perform relative position conversion between the coordinate systems of each component based on the first and second tools mounted on the position determining device, perform accurate position determination calculation and calibration of the object to be located based on the measurement result of the mounted second tool, and perform accurate position determination operation based on the calibrated position determination calculation result. The above-described position determining method, position determining device, and computer-readable storage medium according to the embodiments of the present invention can realize rapid detection of product surface quality and accurate location of defects. [Brief explanation of the drawings]

[0011] The above contents, objects, features, and advantages of the present application will become more apparent from the detailed description of the embodiments of the present application in conjunction with the drawings. [Figure 1] 2 shows a flowchart of a location method according to an embodiment of the present invention. [Figure 2] 1 is an illustration of a location determination device according to an embodiment of the present invention. [Figure 3] 1 shows a schematic diagram for determining the relative position deviation between a first tool coordinate system and a robot arm end coordinate system according to an example embodiment of the present invention; [Figure 4] 10 shows a schematic diagram for determining the relative position deviation between a second tool coordinate system and a robot arm end coordinate system according to an example embodiment of the present invention. [Figure 5] 10 illustrates an operation for determining a first relative position deviation according to an example embodiment of the present invention. [Figure 6] 1 is an illustration of points on a measurement plane and a fitting plane according to an example embodiment of the present invention. [Figure 7] 1 is a block diagram of a location identification device according to an embodiment of the present invention. [Figure 8] 1 is a block diagram of a location identification device according to an embodiment of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0012] Hereinafter, a location determination method, a location determination device, and a computer-readable storage medium according to embodiments of the present invention will be described with reference to the accompanying drawings. In the drawings, like numbers refer to like elements throughout. It is clear that the embodiments described herein are for illustrative purposes only and do not limit the scope of the present invention.

[0013] FIG. 1 is a flowchart of a localization method 100 according to an embodiment of the present invention. The localization method shown in FIG. 1 is applied to a localization device including a robot arm that performs a localization operation on a localization object. FIG. 2 is an example of a localization device according to an embodiment of the present invention. As shown in FIG. 2, the localization device according to the embodiment of the present invention may include a robot arm, which may include a fixed end 1 and a movable end 2, with the movable end 2 being used to mount a first tool / second tool 3 for performing localization measurements on the localization object. In the localization device, the fixed end 1 of the robot arm is fixed, and the corresponding coordinate system is a fixed base coordinate system, while the movable end 2 corresponds to the end coordinate system of the robot arm. When the first tool or second tool 3 is mounted on the robot arm, a first tool coordinate system or a second tool coordinate system may be provided, respectively. These coordinate systems have a relative positional deviation relationship in the origin and coordinate axis directions, and this relative positional deviation relationship is later used in the localization calculation of the localization object.

[0014] In step S101, the relative position deviation between the first tool coordinate system and the robot arm end coordinate system at the end of the robot arm of the position specifying device, and the relative position deviation between the second tool coordinate system and the robot arm end coordinate system are respectively obtained.

[0015] Optionally, in an embodiment of the present invention, the first tool may be a contact probe or a non-contact probe. Optionally, a three-point calibration method can be used to obtain the relative position deviation between the first tool coordinate system and the robot arm end coordinate system of the end of the robot arm of the position determination device, which includes: determining a preset point associated with the first tool, and determining the first tool coordinate system based on the preset point; superimposing the preset point and the first point using at least three different postures of the robot arm on which the first tool is mounted; and calculating the relative position deviation between the preset point and the end of the robot arm on which the first tool is mounted, to obtain the relative position deviation between the first tool coordinate system and the robot arm end coordinate system of the position determination device.

[0016] In one example, if the first tool is a contact probe, the preset point associated with the first tool may be, for example, the center point of the first tool, which may be the origin of the first tool coordinate system. In this case, the first tool can be mounted on the robot arm in at least three different poses so that the center point of the first tool overlaps with the first point, which may be, for example, a point on the surface of the object to be localized. After knowing the at least three robot arm poses when the first tool center point overlaps with the first point, the relative position error between the first tool coordinate system and the robot arm end coordinate system of the localization device can be calculated based on the three poses. FIG. 3 shows a schematic diagram for determining the relative position error between the first tool coordinate system and the robot arm tip coordinate system according to an embodiment of the present invention. As shown in FIG. 3, the first tool 3 is mounted using the robot arm end 2, and a point on the first tool 3 is mounted on the robot arm in different poses and brought into contact with the first point on the object to be localized 5, thereby determining the relative position error between the first tool coordinate system and the robot arm end coordinate system. In FIG. 3, the pose of the robot arm can be changed by rotating different parts of the robot arm in different directions. The method for determining the relative position deviation between the first tool coordinate system and the machine arm end coordinate system shown in Figure 3 is only an example. In actual applications, different methods for determining the relative position deviation can be used according to different application scenarios, and are not limited here.

[0017] In another example, the first tool may optionally be a non-contact probe. For example, the first tool for detecting the object to be localized may be the intersection of two laser lines. In this case, the first tool may be mounted on a robot arm having at least three different postures, so that the intersection of the two laser lines overlaps with a first point on the surface of the object to be localized. Similarly, after knowing the at least three different postures of the robot arm when the intersection of the two laser lines overlaps with the first point, the relative position deviation between the first tool coordinate system and the robot arm end coordinate system of the localization device may be calculated based on the at least three different postures of the robot arm.

[0018] In an embodiment of the present invention, the second tool is optionally a 3D scanner and is used to acquire 3D data of the object to be located. In one example, the second tool may be a 3D laser scanner or a structured light 3D scanner. Optionally, the step of acquiring the relative position deviation between the second tool coordinate system and the robot arm end coordinate system includes: detecting a plurality of feature points on a calibration member using a plurality of different poses with respect to the robot arm carrying the second tool; and acquiring the relative position deviation between the second tool coordinate system and the robot arm end coordinate system based on the detection results of the plurality of feature points on the calibration member of the second tool. Specifically, a specific calibration plate may be used, and a 3D laser scanner may be mounted on the robot arm at different poses to detect feature points. Based on the feature point detection and matching results at different poses, the relative position deviation between the second tool coordinate system and the robot arm end coordinate system may be acquired. Figure 4 shows a schematic diagram for determining the relative position deviation between a second tool coordinate system and a robot arm end coordinate system according to an embodiment of the present invention. As shown in Figure 4, the robot arm end 2 carrying the second tool 3 is measured in different postures relative to the calibration plate 4, and feature points are detected and matched. After obtaining the measurement results of the robot arm end 2 carrying the second tool 3 in different postures, the relative position deviation between the second tool coordinate system and the robot arm end coordinate system can be calculated according to the matching relationship between the feature points. The method for determining the relative position deviation between the second tool coordinate system and the machine arm end coordinate system shown in Figure 4 is only an example; in actual applications, different methods for determining the relative position deviation can be used according to different application scenarios and are not limited here.

[0019] In step S102, a first relative position deviation between the coordinate system of the localization target of the localization target and the base coordinate system of the fixed end of the robot arm of the localization device is obtained using the measurement result of the first tool.

[0020] Optionally, in this embodiment, the localization object may be coarsely calibrated by determining a first relative position deviation between the localization object coordinate system and the base coordinate system. Specifically, in one example, the step of using the measurement results of the first tool to obtain a first relative position deviation between the localization object and a base coordinate system of a fixed end of the robot arm of the localization device includes: determining three-dimensional position information of at least three points on the localization object in the localization object coordinate system; adjusting the attitude of the mechanical arm carrying the first tool so that the first tool measures and obtains the three-dimensional position information of the at least three points in the first tool coordinate system, respectively, and recording the relative position deviation between the mechanical arm end coordinate system and the base coordinate system during each measurement; and obtaining a first relative position deviation between the localization object and the base coordinate system of the fixed end of the mechanical arm of the localization device based on the three-dimensional position information of the at least three points in the localization object coordinate system, the three-dimensional position information of the at least three points in the first tool coordinate system, the relative position deviation between the mechanical arm end coordinate system and the base coordinate system when measuring the at least three points, and the relative position deviation between the first tool coordinate system and the mechanical arm end coordinate system.

[0021] Here, for example, the coordinates of three or more points on the surface of the target to be located can be determined to obtain three-dimensional position information of the at least three points in the target coordinate system. Subsequently, the posture of the mechanical arm carrying the first tool can be adjusted to measure specific points on the first tool (e.g., the center point of the first tool, or a point at the end of the first tool, etc.) to obtain three-dimensional position information of the at least three points in the first tool coordinate system. Next, the relative position deviation between the end coordinate system of the mechanical arm and the base coordinate system when measuring each point is recorded, and a solution is obtained using the least squares method or singular value decomposition to obtain a first relative position deviation between the target coordinate system to be located and the base coordinate system of the fixed end of the mechanical arm of the position determining device.

[0022] In step S103, the measurement result of the second tool is used to obtain a second relative position deviation between the position identification object coordinate system of the position identification object and the base coordinate system of the fixed end of the robot arm of the position identification device, where the second tool is used to obtain three-dimensional position information of a measurement area in the position identification object, a part of the measurement area is a measurement plane, fitting is performed based on the three-dimensional position information of the measurement plane to obtain a corresponding fitting plane, and the second relative position deviation is obtained based on at least the first relative position deviation and the three-dimensional positional relationship between the measurement plane and the corresponding fitting plane.

[0023] In this step, the measurement result of the second tool is used to perform fine localization of the localization object based on the roughly measured first relative position deviation, and the second relative position deviation is adjusted to obtain the fine localization of the localization object. Specifically, the step includes: acquiring three-dimensional position information of the measurement area in the localization object coordinate system; adjusting the attitude of the mechanical arm carrying the second tool, and using the measurement result of the second tool to acquire three-dimensional position information of the measurement area in the second tool coordinate system and the relative position deviation between the mechanical arm end coordinate system and the base coordinate system during measurement; and minimizing the distance between one or more points on the measurement plane and the fitting plane to obtain the second relative position deviation based on at least the three-dimensional position information of the measurement area in the localization object coordinate system, the three-dimensional position information of the measurement area in the second tool coordinate system, the relative position deviation between the mechanical arm end coordinate system and the base coordinate system during measurement, the relative position deviation between the second tool coordinate system and the mechanical arm end coordinate system, and the first relative position deviation.

[0024] Specifically, a substantially planar measurement area can be selected in the localization target, which can include at least three non-coplanar measurement planes. During measurement, a mechanical arm equipped with a second tool can first be used to obtain three-dimensional position information for each of the at least three non-coplanar measurement planes, and the at least three non-coplanar measurement planes can be fitted to obtain corresponding fitting planes. Then, for each measurement plane, the distance (which may be a weighted distance) of all points on the measurement plane to the corresponding fitting plane can be calculated, and the sum of the calculated distances for all measurement planes can be minimized to determine a second relative position deviation between the localization target and the base coordinate system of the fixed end of the robot arm of the localization device, for example, based on a nonlinear optimization method.

[0025] In an embodiment of the present invention, by minimizing the distance between one or more points on the measurement plane and the fitting plane, localization calibration methods such as feature point search and matching can be avoided, reducing computational complexity and improving localization accuracy and computational efficiency.

[0026] In step S104, a position specifying operation is performed on the position specifying object based on at least the second relative position deviation.

[0027] In this step, after the second relative position deviation between the localization object coordinate system and the base coordinate system is obtained, the position of the localization object can be calculated based on the base coordinate system according to the second relative position deviation, so as to perform a localization operation on the localization object.

[0028] Specifically, when measuring and obtaining a defect on a location-identifying target using a second tool, in order to locate the specific position of the defect on the location-identifying target on the location-identifying target, first adjust the posture of the robot arm carrying the second tool, and use the second tool to obtain three-dimensional position information of at least one defect on the location-identifying target in the second tool coordinate system, and obtain the relative position deviation between the robot arm end coordinate system and the base coordinate system during measurement; and then obtain three-dimensional position information of the at least one defect on the location-identifying target based on at least the three-dimensional position information of the at least one defect in the second tool coordinate system, the relative position deviation between the second tool coordinate system and the robot arm end coordinate system, the relative position deviation between the robot arm end coordinate system and the base coordinate system during measurement, and the second relative position deviation.

[0029] According to the above-mentioned position determination method of the embodiment of the present invention, relative position conversion between the coordinate systems of each component is performed based on the first tool and the second tool mounted on the position determination device, accurate position determination calculation and calibration of the object to be located is performed based on the measurement result of the mounted second tool, and accurate position determination operation is performed based on the position determination calculation result after calibration. The above-mentioned position determination method of the embodiment of the present invention can realize rapid detection of product surface quality and accurate position determination of defects.

[0030] A specific operation procedure of the position specifying method according to an embodiment of the present invention will be described below.

[0031] A localization method according to an embodiment of the present invention is applied to a localization device including a robot arm that performs a localization operation on an object to be localized. In the localization device, the fixed end of the robot arm is fixed, and the corresponding coordinate system is a fixed base coordinate system. The movable end of the robot arm corresponds to the robot arm end coordinate system. When a first tool or a second tool is mounted on the end of the robot arm, a first tool coordinate system or a second tool coordinate system may be provided, respectively. These coordinate systems have a relative position deviation relationship in the origin and coordinate axis directions, and this relative position deviation relationship is subsequently used in the localization calculation of the object to be localized. In the embodiment of the present invention, the object to be localized may be a white body.

[0032] In the position determination method according to an embodiment of the present invention, the relative position deviation between the first tool coordinate system and the robot arm end coordinate system of the position determination device, and the relative position deviation between the second tool coordinate system and the robot arm end coordinate system are respectively obtained.

[0033] Optionally, in this example, the first tool may be a contact probe, and the relative position deviation between the first tool coordinate system and the robot arm end coordinate system of the localization device may be

[0034]

number

[0035]

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[0036] In an example embodiment of the present invention, optionally, the second tool may be a stripe structured light 3D scanner. Optionally, a relative position deviation between the second tool coordinate system and the robot arm end coordinate system.

[0037]

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[0038]

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[0039] Next, in step S102, a first relative position deviation between the coordinate system of the target to be located and the base coordinate system of the fixed end of the robot arm of the position identifying device is calculated using the measurement result of the first tool.

[0040]

number

[0041] Optionally, in this embodiment, the localization target can be coarsely calibrated by determining a first relative position deviation between the localization target coordinate system and the base coordinate system. Figure 5 illustrates the operation of determining the first relative position deviation according to an example embodiment of the present invention. Specifically, as shown in Figure 5, the three-dimensional position information of at least three points on the localization target in the localization target coordinate system can be first determined, and the coordinates of the determined four points (shown by circles in Figure 5) in the localization target coordinate system can be respectively

[0042]

number

[0043] Next, the posture of the mechanical arm carrying the first tool can be adjusted so that specific points on the first tool (for example, the center point of the first tool, which is the origin of the first tool coordinate system) are measured and three-dimensional position information of these points in the first tool coordinate system is obtained. For example, when the center point of the first tool is used to touch these four points on the position identification target, the coordinates of these four points in the first tool coordinate system are respectively

[0044]

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[0045]

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[0046] Based on the various coordinate notations of the above four points, the following simultaneous equations can be constructed:

[0047]

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[0048]

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[0049]

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[0050]

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[0051]

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[0052] Based on the above simultaneous equations, a solution can be obtained using the least squares method or singular value decomposition, so as to obtain the first relative position deviation between the target to be located and the fixed end of the robot arm of the positioning device in the base coordinate system.

[0053]

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[0054] In this example, the measurement result of the second tool is used to calculate a second relative position deviation between the coordinate system of the target to be located and the base coordinate system of the fixed end of the robot arm of the positioning device.

[0055]

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[0056]

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[0057]

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[0058]

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[0059]

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[0060] Then, the three-dimensional position information of each point in the measurement plane in the target coordinate system is

[0061]

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[0062]

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[0063]

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[0064]

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[0065]

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[0066]

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[0067] Then, for each measurement plane, all points on the measurement plane

[0068]

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[0069]

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[0070]

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[0071]

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[0072]

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[0073]

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[0074]

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[0075] Optionally,

[0076]

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[0077] Also, optionally,

[0078]

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[0079] where:

[0080]

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[0081]

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[0082]

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[0083]

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[0084] In one embodiment of the present invention, a nonlinear optimization method is used.

[0085]

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[0086]

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[0087] In this example, the second relative position deviation between the localization target and the base coordinate system

[0088]

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[0089]

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[0090]

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[0091] Thereafter, at least three-dimensional position information of the at least one defect in the second tool coordinate system is obtained.

[0092]

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[0093]

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[0094]

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[0095]

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[0096]

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[0097]

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[0098] Next, a localization device 700 according to an embodiment of the present invention will be described with reference to FIG. 7 . The localization device includes a robot arm, and the localization device is used to perform a localization operation on a localization target. In the localization device, the fixed end of the robot arm is fixed, and the corresponding coordinate system is a fixed base coordinate system. The movable end of the robot arm corresponds to the robot arm end coordinate system. When a first tool or a second tool is mounted on the end of the robot arm, a first tool coordinate system or a second tool coordinate system may be provided, respectively. These coordinate systems have a relative positional deviation relationship in the origin and coordinate axis directions, and this relative positional deviation relationship is later used in the localization calculation of the localization target.

[0099] As shown in Figure 7, the position determination device 700 includes a first acquisition unit 710, a second acquisition unit 720, a third acquisition unit 730, and a position determination unit 740. In addition to these units, the position determination device 700 may further include other components; however, these components are not relevant to the content of the embodiment of the present invention, and therefore will not be illustrated or described here. Furthermore, the specific details of the following operations performed by the position determination device 700 according to the embodiment of the present invention are the same as those described in Figure 1 above, and therefore, to avoid redundancy, repeated descriptions of the same details will be omitted.

[0100] The first acquisition unit 710 of the position determination device 700 in Figure 7 respectively acquires the relative position deviation between the first tool coordinate system and the robot arm end coordinate system at the end of the robot arm of the position determination device, and the relative position deviation between the second tool coordinate system and the robot arm end coordinate system.

[0101] Optionally, in an embodiment of the present invention, the first tool may be a contact probe or a non-contact probe. Optionally, a three-point calibration method can be used to obtain the relative position deviation between the first tool coordinate system and the robot arm end coordinate system of the end of the robot arm of the position determination device, which includes: determining a preset point associated with the first tool, and determining the first tool coordinate system based on the preset point; superimposing the preset point and the first point using at least three different postures of the robot arm on which the first tool is mounted; and calculating the relative position deviation between the preset point and the end of the robot arm on which the first tool is mounted, to obtain the relative position deviation between the first tool coordinate system and the robot arm end coordinate system of the position determination device.

[0102] In one example, if the first tool is a contact probe, the preset point associated with the first tool may be, for example, the center point of the first tool, which may be the origin of the first tool coordinate system. In this case, the first tool can be mounted on the robot arm in at least three different poses so that the center point of the first tool overlaps with the first point, which may be, for example, a point on the surface of the object to be localized. After knowing the at least three robot arm poses when the first tool center point overlaps with the first point, the relative position error between the first tool coordinate system and the robot arm end coordinate system of the localization device can be calculated based on the three poses. FIG. 3 shows a schematic diagram for determining the relative position error between the first tool coordinate system and the robot arm tip coordinate system according to an embodiment of the present invention. As shown in FIG. 3, the first tool 3 is mounted using the robot arm end 2, and a point on the first tool 3 is mounted on the robot arm in different poses and brought into contact with the first point on the object to be localized 5, thereby determining the relative position error between the first tool coordinate system and the robot arm end coordinate system. In FIG. 3, the pose of the robot arm can be changed by rotating different parts of the robot arm in different directions. The method for determining the relative position deviation between the first tool coordinate system and the machine arm end coordinate system shown in Figure 3 is only an example. In actual applications, different methods for determining the relative position deviation can be used according to different application scenarios, and are not limited here.

[0103] In another example, the first tool may optionally be a non-contact probe. For example, the first tool for detecting the object to be localized may be the intersection of two laser lines. In this case, the first tool may be mounted on a robot arm having at least three different postures, so that the intersection of the two laser lines overlaps with a first point on the surface of the object to be localized. Similarly, after knowing the at least three different postures of the robot arm when the intersection of the two laser lines overlaps with the first point, the relative position deviation between the first tool coordinate system and the robot arm end coordinate system of the localization device may be calculated based on the at least three different postures of the robot arm.

[0104] In an embodiment of the present invention, the second tool is optionally a 3D scanner and is used to acquire 3D data of the object to be located. In one example, the second tool may be a 3D laser scanner or a structured light 3D scanner. Optionally, the step of acquiring the relative position deviation between the second tool coordinate system and the robot arm end coordinate system includes: detecting a plurality of feature points on a calibration member using a plurality of different poses with respect to the robot arm carrying the second tool; and acquiring the relative position deviation between the second tool coordinate system and the robot arm end coordinate system based on the detection results of the plurality of feature points on the calibration member of the second tool. Specifically, a specific calibration plate may be used, and a 3D laser scanner may be mounted on the robot arm at different poses to detect feature points. Based on the feature point detection and matching results at different poses, the relative position deviation between the second tool coordinate system and the robot arm end coordinate system may be acquired. Figure 4 shows a schematic diagram for determining the relative position deviation between a second tool coordinate system and a robot arm end coordinate system according to an embodiment of the present invention. As shown in Figure 4, the robot arm end 2 carrying the second tool 3 is measured in different postures relative to the calibration plate 4, and feature points are detected and matched. After obtaining the measurement results of the robot arm end 2 carrying the second tool 3 in different postures, the relative position deviation between the second tool coordinate system and the robot arm end coordinate system can be calculated according to the matching relationship between the feature points. The method for determining the relative position deviation between the second tool coordinate system and the machine arm end coordinate system shown in Figure 4 is only an example; in actual applications, different methods for determining the relative position deviation can be used according to different application scenarios and are not limited here.

[0105] The second acquisition unit 720 can use the measurement result of the first tool to acquire a first relative position deviation between the localization object coordinate system of the localization object and the base coordinate system of the fixed end of the robot arm of the localization device.

[0106] Optionally, in this embodiment, the second acquisition unit 720 can coarsely calibrate the localization object by determining a first relative position deviation between the localization object coordinate system and the base coordinate system. Specifically, in one example, the step of using a first tool to obtain a first relative position deviation between the localization object and a base coordinate system of a fixed end of a robot arm of a localization device includes: determining three-dimensional position information of at least three points on the localization object in the localization object coordinate system; adjusting the attitude of the mechanical arm carrying the first tool so that the first tool measures and obtains the three-dimensional position information of the at least three points in the first tool coordinate system, respectively, and recording the relative position deviation between the mechanical arm end coordinate system and the base coordinate system during each measurement; and obtaining a first relative position deviation between the localization object and the base coordinate system of the fixed end of the mechanical arm of the localization device based on the three-dimensional position information of the at least three points in the localization object coordinate system, the three-dimensional position information of the at least three points in the first tool coordinate system, the relative position deviation between the mechanical arm end coordinate system and the base coordinate system when measuring the at least three points, and the relative position deviation between the first tool coordinate system and the mechanical arm end coordinate system.

[0107] Here, for example, the coordinates of three or more points on the surface of the target to be located can be determined to obtain three-dimensional position information of the at least three points in the target coordinate system. Subsequently, the posture of the mechanical arm carrying the first tool can be adjusted to measure specific points on the first tool (e.g., the center point of the first tool, or a point at the end of the first tool, etc.) to obtain three-dimensional position information of the at least three points in the first tool coordinate system. Next, the relative position deviation between the end coordinate system of the mechanical arm and the base coordinate system when measuring each point is recorded, and a solution is obtained using the least squares method or singular value decomposition to obtain a first relative position deviation between the target coordinate system to be located and the base coordinate system of the fixed end of the mechanical arm of the position determining device.

[0108] The third acquisition unit 730 uses the measurement result of the second tool to acquire a second relative position deviation between the localization object coordinate system of the localization object and the base coordinate system of the fixed end of the robot arm of the localization device, where the measurement result of the second tool is used to acquire three-dimensional position information of the measurement area in the localization object, a part of the measurement area is a measurement plane, and fitting is performed based on the three-dimensional position information of the measurement plane to acquire a corresponding fitting plane, and the second relative position deviation is acquired based on at least the first relative position deviation and the three-dimensional position relationship between the measurement plane and the corresponding fitting plane.

[0109] The third acquisition unit 730 can use the second tool to perform fine localization of the localization object based on the roughly measured first relative position deviation, and adjust and acquire a second relative position deviation, specifically including: acquiring three-dimensional position information of the measurement area in the localization object coordinate system; adjusting the attitude of the mechanical arm carrying the second tool, and using the second tool to acquire three-dimensional position information of the measurement area in the second tool coordinate system, and acquiring the relative position deviation between the mechanical arm end coordinate system and the base coordinate system during measurement; and minimizing the distance between one or more points on the measurement plane and the fitting plane to acquire the second relative position deviation based on at least the three-dimensional position information of the measurement area in the localization object coordinate system, the three-dimensional position information of the measurement area in the second tool coordinate system, the relative position deviation between the mechanical arm end coordinate system and the base coordinate system during measurement, the relative position deviation between the second tool coordinate system and the mechanical arm end coordinate system, and the first relative position deviation.

[0110] Specifically, a substantially planar measurement area can be selected in the localization target, which can include at least three non-coplanar measurement planes. During measurement, a mechanical arm equipped with a second tool can first be used to obtain three-dimensional position information for each of the at least three non-coplanar measurement planes, and the at least three non-coplanar measurement planes can be fitted to obtain corresponding fitting planes. Then, for each measurement plane, the distance (which may be a weighted distance) of all points on the measurement plane to the corresponding fitting plane can be calculated, and the sum of the calculated distances for all measurement planes can be minimized to determine a second relative position deviation between the localization target and the base coordinate system of the fixed end of the robot arm of the localization device, for example, based on a nonlinear optimization method.

[0111] In an embodiment of the present invention, by minimizing the distance between one or more points on the measurement plane and the fitting plane, localization calibration methods such as feature point search and matching can be avoided, reducing computational complexity and improving localization accuracy and computational efficiency.

[0112] The localization unit 740 performs a localization operation on the localization object based on at least the second relative position deviation.

[0113] After the second relative position deviation between the position determination object coordinate system and the base coordinate system is obtained, the localization unit 740 can calculate the position of the position determination object based on the base coordinate system according to the second relative position deviation, so as to perform a localization operation on the position determination object.

[0114] Specifically, when measuring and obtaining a defect on the location identification object using a second tool, in order to locate the specific position of the defect on the location identification object on the location identification object, first adjust the posture of the robot arm carrying the second tool, and use the second tool to obtain three-dimensional position information of at least one defect on the location identification object in the second tool coordinate system, and obtain the relative position deviation between the robot arm end coordinate system and the base coordinate system during measurement; and then obtain three-dimensional position information of the at least one defect on the location identification object based on at least the three-dimensional position information of the at least one defect in the second tool coordinate system, the relative position deviation between the second tool coordinate system and the robot arm end coordinate system, the relative position deviation between the robot arm end coordinate system and the base coordinate system during measurement, and the second relative position deviation.

[0115] According to the above-mentioned position determining device of the embodiment of the present invention, the relative position conversion between the coordinate systems of each component is performed based on the first tool and the second tool mounted on the position determining device, accurate position determination calculation and calibration of the object to be located based on the measurement result of the mounted second tool, and accurate position determination operation is performed based on the calibrated position determination calculation result. The above-mentioned position determining device of the embodiment of the present invention can realize rapid detection of product surface quality and accurate position determination of defects.

[0116] Next, a localization device 800 according to an embodiment of the present invention will be described with reference to FIG. 8 . FIG. 8 shows a block diagram of the localization device 800 according to the embodiment of the present invention. The localization device includes a robot arm, and the localization device is used to perform a localization operation on a localization target. In the localization device, the fixed end of the robot arm is fixed, and the corresponding coordinate system is a fixed base coordinate system, which corresponds to the end coordinate system of the movable robot arm. When a first tool or a second tool is mounted on the robot arm, a first tool coordinate system or a second tool coordinate system may be provided, respectively. These coordinate systems have a relative position deviation relationship in the origin and coordinate axis directions, and this relative position deviation relationship is later used in the localization calculation of the localization target.

[0117] As shown in FIG. 8, the location device 800 may include a computer or a server.

[0118] 8, the location determination device 800 includes one or more processors 810 and memory 820. In addition, the location determination device 800 may include input devices, output devices (not shown), etc., which may be interconnected via a bus system and / or other type of connection mechanism. It should be noted that the components and configuration of the location determination device 800 shown in FIG. 8 are exemplary only and are not limiting, and the location determination device 800 may have other components and configurations as desired.

[0119] The processor 810 may be a central processing unit (CPU) or other type of processing unit having data processing capabilities and / or command execution capabilities, and can execute desired functions using computer program commands stored in the memory 820, including: obtaining a relative position deviation between a first tool coordinate system and a robot arm end coordinate system at the end of a robot arm of a localization device, and a relative position deviation between a second tool coordinate system and a robot arm end coordinate system; obtaining a first relative position deviation between a localization object coordinate system of a localization object and a base coordinate system at a fixed end of the robot arm of the localization device using the measurement results of a first tool; obtaining a second relative position deviation between a localization object coordinate system of a localization object and a base coordinate system at a fixed end of the robot arm of the localization device using the measurement results of a second tool; obtaining three-dimensional position information of a measurement area on the localization object using the second tool, a portion of the measurement area being a measurement plane, performing fitting based on the three-dimensional position information of the measurement plane to obtain a corresponding fitting plane, and obtaining the second relative position deviation based on at least the first relative position deviation and the three-dimensional positional relationship between the measurement plane and the corresponding fitting plane. A position specifying operation is performed on the position specifying object based on at least the second relative position deviation.

[0120] The memory 820 may include one or more computer program products, which may include various types of computer-readable storage media, such as volatile and / or non-volatile memory. One or more computer program commands may be stored in the computer-readable storage media, and the processor 810 may execute the program commands to perform the functions of the location determination device according to the embodiment of the present invention and / or other desired functions and / or the location determination method according to the embodiment of the present invention. Various application programs and various data may also be stored in the computer-readable storage media.

[0121] The following describes a computer program stored in a computer system according to an embodiment of the present invention. The computer program can execute the following steps by a processor: obtain a relative position deviation between a first tool coordinate system and a robot arm end coordinate system at the end of a robot arm of a localization device, and obtain a relative position deviation between a second tool coordinate system and a robot arm end coordinate system; obtain a first relative position deviation between a localization object coordinate system of a localization object and a base coordinate system at a fixed end of the robot arm of the localization device using the measurement results of the first tool; obtain a second relative position deviation between the localization object coordinate system of the localization object and the base coordinate system at the fixed end of the robot arm of the localization device using the measurement results of a second tool; obtain three-dimensional position information of a measurement area of ​​the localization object using the second tool, a portion of the measurement area being a measurement plane, perform fitting based on the three-dimensional position information of the measurement plane to obtain a corresponding fitting plane, and obtain the second relative position deviation based on at least the first relative position deviation and the three-dimensional positional relationship between the measurement plane and the corresponding fitting plane; and perform a localization operation on the localization object based on at least the second relative position deviation.

[0122] Of course, the above specific embodiments are merely examples and are not limiting, and those skilled in the art may combine and integrate some steps and devices from the above separately described embodiments based on the concept of the present invention to achieve the effects of the present invention. Such combined and integrated embodiments are also included in the present invention and will not be described here.

[0123] The advantages, merits, and effects mentioned in the present invention are merely illustrative and not limiting, and these advantages, merits, and effects are not essential to each embodiment of the present invention. Furthermore, the specific details disclosed above are merely for illustrative purposes and easy understanding, and are not limiting. The above details do not limit the following. In other words, it is essential to use the above specific details to realize the present invention.

[0124] Block diagrams of components, devices, equipment, and systems according to the present invention are merely exemplary and do not require or suggest that the components, devices, equipment, and systems be connected, laid out, or arranged in the manner shown in the block diagrams. Those skilled in the art will recognize that these components, devices, equipment, and systems can be connected, laid out, or arranged in any manner. The terms "including," "including," "having," and "including" are open-ended terms and are used interchangeably. As used herein, the words "or" and "and" refer to the word "and / or" and are used interchangeably unless the context clearly dictates otherwise. As used herein, the word "for example," "for example, without limitation," and are used interchangeably.

[0125] The step flow charts and the above descriptions of the present invention are merely exemplary and are not intended to require or suggest that the steps of each embodiment be performed in the order presented. As will be recognized by those skilled in the art, the steps within the above embodiments can be performed in any order. Words such as "then," "thereafter," and "next" are not intended to limit the order of the steps. These words are merely to guide the reader in reading these method descriptions. Furthermore, any reference to a singular element using the articles "a," "one," or "the" does not limit that element to the singular.

[0126] Furthermore, the steps and devices in each embodiment of this specification are not limited to being performed in a particular embodiment, and in fact, new embodiments can be constructed by combining some of the relevant steps and devices of each embodiment of this specification based on the concept of the present invention, and these new embodiments are also included within the scope of the present invention.

[0127] Each operation in the methods described above may be implemented by any suitable means capable of performing the corresponding function, including various hardware and / or software components and / or modules, including, but not limited to, a circuit, an application specific integrated circuit (ASIC), or a processor.

[0128] Each illustrative logic block, module, circuit, etc. may be implemented or described using a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA) or other programmable logic device (PLD), discrete gate or transistor logic, discrete hardware components, or any combination thereof, designed to perform the functions described herein. A general-purpose processor may be a microprocessor, but alternatively, the processor may be any commercially available processor, controller, microcontroller, or state machine. A processor may also be implemented as a combination of computing devices, such as a combination of a DSP and a microprocessor, multiple microprocessors, one or more microprocessors in conjunction with a DSP core, or any other such configuration.

[0129] The steps embodying the methods or algorithms described herein may be embodied directly in hardware, in a software module executed by a processor, or a combination of the two. The software module may be stored on any form of tangible storage medium. Possible storage media include, for example, random access memory (RAM), read-only memory (ROM), fast flash memory, EPROM memory, EEPROM memory, registers, hard disk, removable disk, CD-ROM, etc. The storage medium may be coupled to the processor such that the processor reads information from, and writes information to, the storage medium. In the alternative, the storage medium may be integral to the processor. A software module may be a single command or multiple commands, and may be distributed over several different code segments, among different programs, and across multiple storage media.

[0130] The methods invented herein comprise one or more acts for achieving the described method. The methods and / or acts may be interchanged with one another without departing from the scope of the claims. In other words, except where a specific order of acts is specified, the order and / or execution of specific acts may be changed without departing from the scope of the claims.

[0131] The functions can be implemented by hardware, software, firmware, or any combination thereof. If implemented by software, the functions can be stored as one or more commands on a computer-readable medium. The storage medium can be any available medium that can be accessed by a computer. The following examples are not limiting. Such computer-readable media can include RAM, ROM, EEPROM, CD-ROM or other optical disk storage, magnetic disk storage or other magnetic memory, or any other secure medium that carries or stores desired program code in the form of commands or data structures and is accessible to a computer. As used herein, "disc" includes compact discs (CDs), laser discs, optical discs, digital versatile discs (DVDs), soft magnetic discs, and Blu-ray discs.

[0132] Thus, a computer program product can perform the operations described herein. For example, such a computer program product can be a computer-readable tangible medium having instructions tangibly stored (and / or encoded) thereon, which instructions can be executed by one or more processors to perform the operations described herein. The computer program product can include packaging materials.

[0133] The software or commands may be transmitted over a transmission medium, such as coaxial cable, fiber optics, twisted pair cable, digital subscriber line (DSL), or wireless technologies such as infrared, radio, or microwave, to transmit the software from a website, server, or other remote source.

[0134] Alternatively, modules and / or other suitable means for performing the methods and techniques described herein may be downloaded and / or otherwise obtained by a user terminal and / or base station, as appropriate. For example, such devices may be coupled to a server to facilitate the transmission of means for performing the described methods. Alternatively, the various methods described herein may be provided via a storage medium (e.g., RAM, ROM, physical storage medium such as a CD or soft magnetic disk) such that a user terminal and / or base station obtains the various methods when coupled to or provides the storage medium to the device. Alternatively, any other suitable technology for providing the methods and techniques described herein to a device may be used.

[0135] Other examples and implementations are within the spirit and scope of the present invention and the claims. For example, depending on the nature of the software, the functions described above may be implemented using software executed by a processor, hardware, firmware, hardwired, or any combination thereof. Features implementing the functions may also be physically located, including distribution of functions so that portions of the functions are implemented in different physical locations. Moreover, as used herein, including in the claims, "or" in a list, such as "at least one," means a disjunctive list. That is, a list such as "at least one of A, B, or C" means A, B, or C, or AB, or AC, or BC, or ABC (i.e., A and B and C). Furthermore, the term "exemplary" does not imply that the described example is optimal or better than other examples.

[0136] Various changes, substitutions, and modifications may be made to the techniques described herein without departing from the teachings of the claims. Moreover, the claims are not limited to the specific details of the processes, apparatus, manufacture, compositions of events, means, methods, and acts described herein. Existing or developed processes, apparatus, manufacture, compositions of events, means, methods, or acts may be used that perform substantially the same function or achieve substantially the same result as those described herein. Accordingly, the claims include within their scope any such processes, apparatus, manufacture, compositions of events, means, methods, or acts.

[0137] The above teachings of the invention are provided to enable one skilled in the art to make or use the invention. Various modifications of these teachings will be apparent to those skilled in the art, and the general principles defined herein may be applied in other ways without departing from the scope of the invention. Thus, it is not desired that the present invention be limited to the teachings shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

[0138] The foregoing description has been presented for purposes of illustration and description, and is not intended to limit the embodiments of the present invention to the precise form disclosed herein. Having considered the foregoing examples and embodiments, certain variations, modifications, variations, additions, and subcombinations thereof will be apparent to those skilled in the art.

Claims

1. A location determination method used by a location determination device to perform a location determination operation on a location determination object and executed by a processor of the location determination device, comprising: the positioning device includes a robotic arm, the robotic arm having a fixed end and a movable end, the end being used to mount a first tool or a second tool; The location identification method includes: Obtaining a relative position deviation between a first tool coordinate system and a robot arm end coordinate system at the end of the robot arm of the position specifying device, and a relative position deviation between a second tool coordinate system and the robot arm end coordinate system; Using the measurement result of the first tool, obtain a first relative position deviation between a coordinate system of the target to be located and a base coordinate system of a fixed end of the robot arm of the position determining device; using the measurement result of the second tool to obtain a second relative position deviation between the position identification object coordinate system of the position identification object and a base coordinate system of the fixed end of the robot arm of the position identification device, wherein the second tool is used to obtain three-dimensional position information of a measurement area of ​​the position identification object, a part of the measurement area is a measurement plane, and fitting is performed based on the three-dimensional position information of the measurement plane to obtain a corresponding fitting plane, and obtaining the second relative position deviation based on at least the first relative position deviation and the three-dimensional positional relationship between the measurement plane and the corresponding fitting plane; performing a position identification operation on the position identification target based on at least the second relative position deviation; A location determination method comprising:

2. The step of acquiring a relative position deviation between the first tool coordinate system and a robot arm end coordinate system of the end of the robot arm of the position specifying device includes: determining preset points associated with the first tool and determining the first tool coordinate system based on the preset points; superimposing the preset point on the first point using at least three different postures of a robot arm on which the first tool is mounted; Calculating a relative position deviation between the preset point and the end of a robot arm on which the first tool is mounted, and obtaining a relative position deviation between the first tool coordinate system and the end of the robot arm coordinate system of the position specifying device; The method of claim 1 , further comprising:

3. the first tool is a contact probe or a non-contact probe; 2. The method of claim 1, wherein the method further comprises:

4. The step of acquiring a relative position deviation between the second tool coordinate system and the robot arm end coordinate system includes: Detecting a plurality of feature points on the calibration member using a plurality of different postures relative to the robot arm carrying the second tool; acquiring a relative position deviation between the second tool coordinate system and the robot arm end coordinate system based on the detection results for the plurality of feature points on the calibration member of the second tool; The method of claim 1 , further comprising:

5. the second tool is a three-dimensional scanner; 2. The method of claim 1, wherein the method further comprises:

6. The step of obtaining a first relative position deviation between a coordinate system of the target to be located and a base coordinate system of a fixed end of the robot arm of the position specifying device by using the measurement result of the first tool includes: determining three-dimensional position information in a location object coordinate system of at least three points on the location object; adjusting the attitude of a mechanical arm carrying the first tool so that the first tool measures and acquires three-dimensional position information of the at least three points in the first tool coordinate system, and recording the relative position deviation between the mechanical arm end coordinate system and the base coordinate system during each measurement; acquiring a first relative position deviation between the position identification target coordinate system of the position identification target and a base coordinate system of a fixed end of the mechanical arm of the position identification device based on at least three-dimensional position information of the at least three points in the position identification target coordinate system, three-dimensional position information of the at least three points in the first tool coordinate system, a relative position deviation between the mechanical arm end coordinate system and the base coordinate system when measuring the at least three points, and a relative position deviation between the first tool coordinate system and the mechanical arm end coordinate system; The method of claim 1 , further comprising:

7. a step of using the measurement result of the second tool to obtain a second relative position deviation between a position identification object coordinate system of the position identification object and a base coordinate system of a fixed end of the robot arm of the position identification device, wherein the second tool is used to obtain three-dimensional position information of a measurement area of ​​the position identification object, a part of the measurement area is a measurement plane, and fitting is performed based on the three-dimensional position information of the measurement plane to obtain a corresponding fitting plane; and obtaining the second relative position deviation based on at least the first relative position deviation and the three-dimensional positional relationship between the measurement plane and the corresponding fitting plane; Acquiring three-dimensional position information of the measurement area in a position identification target coordinate system; adjusting the attitude of a mechanical arm on which the second tool is mounted, and using the measurement results of the second tool to obtain three-dimensional position information of the measurement area in the second tool coordinate system, and obtaining the relative position deviation between the mechanical arm end coordinate system and the base coordinate system during measurement; Obtaining the second relative position deviation by minimizing the distance between one or more points on the measurement plane and the fitting plane based on at least three-dimensional position information of the measurement area in the position identification target coordinate system, three-dimensional position information of the measurement area in the second tool coordinate system, the relative position deviation between the machine arm end coordinate system and the base coordinate system during measurement, the relative position deviation between the second tool coordinate system and the machine arm end coordinate system, and the first relative position deviation; The method of claim 1 , further comprising:

8. The step of performing a position identification operation on the position identification target based on at least the second relative position deviation includes: adjusting the posture of a robot arm equipped with the second tool, and using the second tool to obtain three-dimensional position information of at least one defect in the position identification target in the second tool coordinate system, and obtaining a relative position deviation between the robot arm end coordinate system and the base coordinate system during measurement; acquiring three-dimensional position information of the at least one defect in the position identification target based on at least three-dimensional position information of the at least one defect in the second tool coordinate system, a relative position deviation between the second tool coordinate system and the robot arm end coordinate system, a relative position deviation between the robot arm end coordinate system and the base coordinate system at the time of measurement, and the second relative position deviation; The method of claim 1 , further comprising:

9. A position specifying device that performs a position specifying operation on a position specifying object, the positioning device includes a robotic arm, the robotic arm having a fixed end and a movable end, the end being used to mount a first tool or a second tool; The location device further comprises: a first acquisition unit for acquiring a relative position deviation between a first tool coordinate system and a robot arm end coordinate system at the end of the robot arm of the position specifying device, and a relative position deviation between a second tool coordinate system and the robot arm end coordinate system; a second acquisition unit that acquires a first relative position deviation between a coordinate system of the target to be located and a base coordinate system of a fixed end of the robot arm of the position identification device using the measurement result of the first tool; a third acquisition unit that uses the measurement result of the second tool to acquire a second relative position deviation between a position identification object coordinate system of the position identification object and a base coordinate system of a fixed end of the robot arm of the position identification device, wherein the measurement result of the second tool is used to acquire three-dimensional position information of a measurement area of ​​the position identification object, a part of the measurement area is a measurement plane, and performs fitting based on the three-dimensional position information of the measurement plane to acquire a corresponding fitting plane, and acquires the second relative position deviation based on at least the first relative position deviation and the three-dimensional positional relationship between the measurement plane and the corresponding fitting plane; a position specifying unit that performs a position specifying operation on the position specifying target based on at least the second relative position deviation; A location determination device comprising:

10. A position specifying device that performs a position specifying operation on a position specifying object, the positioning device includes a robotic arm, the robotic arm having a fixed end and a movable end, the end being used to mount a first tool or a second tool; The location device further comprises: a processor; a memory in which computer program commands are stored; The computer program instructions, when executed by the processor, cause the processor to: Obtaining a relative position deviation between a first tool coordinate system and a robot arm end coordinate system at the end of the robot arm of the position specifying device, and a relative position deviation between a second tool coordinate system and the robot arm end coordinate system; Using the measurement result of the first tool, obtain a first relative position deviation between a coordinate system of the target to be located and a base coordinate system of a fixed end of the robot arm of the position determining device; using the measurement result of the second tool to obtain a second relative position deviation between the position identification object coordinate system of the position identification object and a base coordinate system of the fixed end of the robot arm of the position identification device, wherein the second tool is used to obtain three-dimensional position information of a measurement area of ​​the position identification object, a part of the measurement area is a measurement plane, and fitting is performed based on the three-dimensional position information of the measurement plane to obtain a corresponding fitting plane, and obtaining the second relative position deviation based on at least the first relative position deviation and the three-dimensional positional relationship between the measurement plane and the corresponding fitting plane; performing a position identification operation on the position identification target based on at least the second relative position deviation; A position determination device characterized by causing the device to execute the above.

11. A computer-readable storage medium having stored thereon computer program instructions executable by a processor of a location determination device for performing a location determination operation on a location object, the computer program instructions comprising: the positioning device includes a robotic arm, the robotic arm having a fixed end and a movable end, the end being used to mount a first tool or a second tool; The computer program instructions, when executed by a processor of the location device, Obtaining a relative position deviation between a first tool coordinate system and a robot arm end coordinate system at the end of the robot arm of the position specifying device, and a relative position deviation between a second tool coordinate system and the robot arm end coordinate system; Using the measurement result of the first tool, obtain a first relative position deviation between a coordinate system of the target to be located and a base coordinate system of a fixed end of the robot arm of the position determining device; using the measurement result of the second tool to obtain a second relative position deviation between the position identification object coordinate system of the position identification object and a base coordinate system of the fixed end of the robot arm of the position identification device, wherein the second tool is used to obtain three-dimensional position information of a measurement area of ​​the position identification object, a part of the measurement area is a measurement plane, and fitting is performed based on the three-dimensional position information of the measurement plane to obtain a corresponding fitting plane, and obtaining the second relative position deviation based on at least the first relative position deviation and the three-dimensional positional relationship between the measurement plane and the corresponding fitting plane; performing a position identification operation on the position identification target based on at least the second relative position deviation; A computer-readable storage medium that realizes the above.

12. 1. A computer program executable by a processor of a location determination device for performing a location determination operation on a location determination object, comprising: the positioning device includes a robotic arm, the robotic arm having a fixed end and a movable end, the end being used to mount a first tool or a second tool; The computer program, when executed by a processor of the location determination device, Obtaining a relative position deviation between a first tool coordinate system and a robot arm end coordinate system at the end of the robot arm of the position specifying device, and a relative position deviation between a second tool coordinate system and the robot arm end coordinate system; Using the measurement result of the first tool, obtain a first relative position deviation between a coordinate system of the target to be located and a base coordinate system of a fixed end of the robot arm of the position determining device; using the measurement result of the second tool to obtain a second relative position deviation between the position identification object coordinate system of the position identification object and a base coordinate system of the fixed end of the robot arm of the position identification device, wherein the second tool is used to obtain three-dimensional position information of a measurement area of ​​the position identification object, a part of the measurement area is a measurement plane, and fitting is performed based on the three-dimensional position information of the measurement plane to obtain a corresponding fitting plane, and obtaining the second relative position deviation based on at least the first relative position deviation and the three-dimensional positional relationship between the measurement plane and the corresponding fitting plane; performing a position identification operation on the position identification target based on at least the second relative position deviation; A computer program that achieves this.

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