CN114043528B - Robot positioning performance test method, system, equipment and medium - Google Patents
Robot positioning performance test method, system, equipment and medium Download PDFInfo
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- CN114043528B CN114043528B CN202111410912.2A CN202111410912A CN114043528B CN 114043528 B CN114043528 B CN 114043528B CN 202111410912 A CN202111410912 A CN 202111410912A CN 114043528 B CN114043528 B CN 114043528B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0095—Means or methods for testing manipulators
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Abstract
The invention discloses a method, a system, equipment and a medium for testing the positioning performance of a robot, wherein the method comprises the following steps: acquiring a plurality of positioning points on the calibration plate assembly; obtaining a fitting plane according to a plurality of positioning points on the calibration plate assembly; acquiring a tool coordinate system of the robot; according to the tool coordinate system, obtaining a linear track of the robot in the Z-axis direction of the tool coordinate system; judging whether the pose measurement subsystem meets the preset condition according to the normal line of the fitting plane and the linear track, if not, adjusting a tool coordinate system of the robot, and returning to the step of obtaining the linear track of the robot in the Z-axis direction of the tool coordinate system according to the tool coordinate system until the pose measurement subsystem meets the preset condition. Compared with the measuring method in the prior art, the measuring method is simpler, the efficiency of the positioning performance of the robot is improved, and meanwhile, the accuracy of a measuring result can be guaranteed.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a method, a system, equipment and a medium for testing the positioning performance of a robot.
Background
Industrial robots are robots used in production processes and environments, and are characterized by replacing people for some monotonous, frequent and repeated long-time operations in a structured environment. The industrial robot has various forms, and is not limited to human body forms based on adapting to the field use environment and functions. In recent years, industrial robot industry has been actively developed, and more industrial robots are being used in place of manpower in production lines such as object handling, component assembly, and machining.
Aiming at quality and performance tests of industrial robots, the existing test process is complex.
Disclosure of Invention
Aiming at the problem that the existing industrial robot cannot accurately evaluate the positioning performance of the industrial robot in multiple aspects, the invention provides a method for testing the positioning performance of the robot, which comprises the following specific technical scheme:
in order to achieve the above object, an embodiment of the present application provides a method for testing positioning performance of a robot, including the steps of:
a plurality of positioning points on a calibration plate assembly are obtained, and the calibration plate assembly comprises a first calibration plate and a second calibration plate which can be matched with the first calibration plate; the first calibration plate comprises a plate body, one end face of the plate body is provided with a groove, the shape and the size of the second calibration plate are mutually adapted to those of the groove, the second calibration plate is mutually matched with the groove, the first calibration plate is placed on a measurement plane, and the second calibration plate is installed at the mechanical arm end of the robot; the first calibration plate is provided with a first datum point, the first datum point is a diagonal intersection point of the groove, the second calibration plate is provided with a second datum point, and the second datum point is a diagonal intersection point of the second calibration plate;
obtaining a fitting plane according to a plurality of positioning points on the calibration plate assembly; wherein, a plurality of positioning points are positioned on the same surface of the calibration plate component;
acquiring a tool coordinate system of the robot, wherein the tool coordinate system is a coordinate system established at a mechanical arm end of the robot;
according to the tool coordinate system, a linear track of the robot in the Z-axis direction of the tool coordinate system is obtained;
judging whether the pose measurement subsystem meets a preset condition according to the normal line of the fitting plane and the linear track, if not, adjusting a tool coordinate system of the robot, and returning to the step of obtaining the linear track of the robot in the Z-axis direction of the tool coordinate system according to the tool coordinate system until the pose measurement subsystem meets the preset condition; the preset condition comprises that the included angle between the normal line of the fitting plane and the straight line track is smaller than 1 degree.
Optionally, the method further comprises:
acquiring parameters of a vision measurement subsystem;
acquiring a first datum point and a second datum point of the calibration plate assembly, wherein the first datum point and the second datum point are respectively positioned on the first calibration plate and the second calibration plate;
judging whether the parameter meets an error condition according to the first datum point and the second datum point, if not, adjusting the parameter, returning to the step of judging whether the parameter meets the error condition according to the first datum point and the second datum point, and circulating to the step that the parameter meets the error condition; the error condition is that the first calibration plate and the second calibration plate can be matched with each other.
Optionally, the step of obtaining the first reference point and the second reference point of the calibration plate assembly includes:
acquiring a plurality of first corner points on the first calibration plate and a plurality of second corner points on the second calibration plate;
obtaining a plurality of first diagonal lines of the first corner points and a plurality of second diagonal lines of the second corner points according to the first corner points and the second corner points;
and obtaining a first datum point and a second datum point which meet the length condition according to the first diagonals and the second diagonals.
Optionally, the step of obtaining the first reference point and the second reference point satisfying the length condition according to the plurality of first diagonals and the plurality of second diagonals includes:
judging whether the intersection points among the first diagonals are coincident or not, if so, outputting the intersection point as a first datum point, if not, continuing to acquire the first intersection point diagonal lines among the intersection points among the first diagonals according to the intersection points among the first diagonals until the length of the first intersection point diagonal lines meets the length condition, and outputting the area among the first intersection point diagonal lines as the first datum point;
judging whether the intersection points among the second diagonal lines are coincident or not, if so, outputting the intersection points as second datum points, and if not, continuing to acquire the second intersection point diagonal lines among the intersection points among the second diagonal lines according to the intersection points among the second diagonal lines until the length of the second intersection point diagonal lines meets the length condition, and outputting the area among the second intersection point diagonal lines as the second datum points.
Optionally, the length condition includes: the length of the first intersection diagonal is less than 10% of the length of the first diagonal, and the length of the first intersection diagonal is less than 0.3mm;
the length condition also includes that the length of the second intersection diagonal is less than 10% of the length of the second diagonal, and the length of the second intersection diagonal is less than 0.3mm.
In order to achieve the above object, an embodiment of the present application further provides a system for testing positioning performance of a robot, including:
the acquisition module is used for: the positioning device comprises a positioning plate, a positioning plate assembly and a positioning plate assembly, wherein the positioning plate assembly is used for acquiring a plurality of positioning points on the positioning plate assembly; the first calibration plate comprises a plate body, one end face of the plate body is provided with a groove, the shape and the size of the second calibration plate are mutually adapted to those of the groove, the second calibration plate is mutually matched with the groove, the first calibration plate is placed on a measurement plane, and the second calibration plate is installed at the mechanical arm end of the robot; the first calibration plate is provided with a first datum point which is a diagonal intersection point of the groove, the second calibration plate is provided with a second datum point which is a diagonal intersection point of the second calibration plate, and a tool coordinate system of the robot is obtained;
the obtaining module is as follows: the fitting plane is obtained according to the positioning points on the first calibration plate; wherein, a plurality of positioning points are positioned on the same surface of the calibration plate component; the linear track of the robot in the Z-axis direction of the tool coordinate system is obtained according to the tool coordinate system;
the processing module is used for: judging whether the pose measurement subsystem meets a preset condition according to the normal line of the fitting plane and the linear track, if not, adjusting a tool coordinate system of the robot, and returning to the step of obtaining the linear track of the robot in the Z-axis direction of the tool coordinate system according to the tool coordinate system until the pose measurement subsystem meets the preset condition; the preset condition comprises that the included angle between the normal line of the fitting plane and the straight line track is smaller than 1 degree.
To the above object, embodiments of the present application further provide an electronic device, which includes a memory and a processor, the memory storing a computer program, the processor executing the computer program to implement the method.
For the above purpose, embodiments of the present application further provide a computer readable storage medium having a computer program stored thereon, and a processor executing the computer program to implement the method.
The invention has the following beneficial effects:
the embodiment of the application provides a robot positioning performance testing method, which comprises the steps of obtaining a plurality of positioning points of a calibration plate assembly, and obtaining a fitting plane according to the plurality of positioning points on a first calibration plate of the calibration plate assembly; acquiring a tool coordinate system of the robot, wherein the tool coordinate system is a coordinate system established at a mechanical arm end of the robot; according to the tool coordinate system, a linear track of the robot in the Z-axis direction of the tool coordinate system is obtained; judging whether the pose measurement subsystem meets the preset condition according to the normal line of the fitting plane and the linear track, if not, adjusting a tool coordinate system of the robot, and returning to the step of obtaining the linear track of the robot in the Z-axis direction of the tool coordinate system according to the tool coordinate system until the pose measurement subsystem meets the preset condition. Compared with the existing measuring method, the pose measuring subsystem can be obtained by comparing the normal line of the fitting plane with the linear track of the robot in the Z-axis direction of the tool coordinate system, so that the pose measuring subsystem meeting the requirement of positioning accuracy can be obtained.
Drawings
FIG. 1 is a schematic diagram of a production facility of a hardware operating environment according to an embodiment of the present application;
FIG. 2 is a schematic flow chart of one implementation of a method for testing positioning performance of a robot according to an embodiment of the present application;
FIG. 3 is a flow chart of another implementation of a method for testing positioning performance of a robot according to an embodiment of the present application;
fig. 4 is a schematic diagram of functional modules of a robot positioning performance test system according to an embodiment of the present application.
The realization, functional characteristics and advantages of the present application will be further described with reference to the embodiments, referring to the attached drawings.
Detailed Description
It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the present application.
The main solutions of the embodiments of the present application are: the method, the system, the equipment and the medium for testing the positioning performance of the robot are provided, a fitting plane is obtained according to a plurality of positioning points on a calibration plate assembly by obtaining the plurality of positioning points on the calibration plate assembly, and a tool coordinate system of the robot is obtained, wherein the tool coordinate system is a coordinate system established at a mechanical arm end of the robot; according to the tool coordinate system, a linear track of the robot in the Z-axis direction of the tool coordinate system is obtained; judging whether the pose measurement subsystem meets the preset condition according to the normal line of the fitting plane and the linear track, if not, adjusting a tool coordinate system of the robot, and returning to the step of obtaining the linear track of the robot in the Z-axis direction of the tool coordinate system according to the tool coordinate system until the pose measurement subsystem meets the preset condition.
In the prior art, domestic robots are mostly applied to the fields of carrying, loading and unloading, and the quality and performance detection of the domestic robots are still in a starting stage in the face of more complex industrial robot systems. Most domestic robot manufacturers cannot develop tests according to two standards of GB/T12642-2013 industrial robot performance Specification and test method and GB/T20868-2007 industrial robot performance test implementation Specification, and domestic industrial robots or integrated systems are in a runaway or semi-runaway state, so that the existing detection method is poor in test repeatability and traceability, and is not beneficial to the correct evaluation of the industrial robot performance.
For complex integrated industrial robots, high-end complex operations are performed synthetically based on a plurality of measurement subsystems, and it is therefore difficult to determine the source of a single action or measurement result inconsistency.
Therefore, the utility model provides a solution, this scheme is through comparing with the normal of fitting plane and the straight line orbit of robot in the instrument coordinate system on the Z axle direction, in order to judge and adjust the degree of accuracy of position appearance measurement subsystem, thereby can obtain the position appearance measurement subsystem that accords with the positioning accuracy requirement, this scheme is simpler for the measuring method among the prior art, the efficiency of robot positioning performance has been improved, simultaneously can also guarantee the accuracy of measuring result, this scheme can verify alone one of them subsystem output result compliance, the measuring result that will accord with any subsystem verification requirement of test requirement is applied to another measuring subsystem's verification in-process, make the industrial robot of complicated integrated system can realize the accurate traceability of unqualified subsystem.
Referring to fig. 1, fig. 1 is a schematic structural diagram of a production device of a hardware running environment according to an embodiment of the present application.
As shown in fig. 1, the production apparatus may include: a processor 1001, such as a central processing unit (Central Processing Unit, CPU), a communication bus 1002, a user interface 1003, a network interface 1004, a memory 1005. Wherein the communication bus 1002 is used to enable connected communication between these components. The user interface 1003 may include a Display, an input unit such as a Keyboard (Keyboard), and the optional user interface 1003 may further include a standard wired interface, a wireless interface. The network interface 1004 may optionally include a standard wired interface, a WIreless interface (e.g., a WIreless-FIdelity (WI-FI) interface). The Memory 1005 may be a high-speed random access Memory (Random Access Memory, RAM) Memory or a stable nonvolatile Memory (NVM), such as a disk Memory. The memory 1005 may also optionally be a storage device separate from the processor 1001 described above.
It will be appreciated by those skilled in the art that the structure shown in fig. 1 is not limiting of the production apparatus and may include more or fewer components than shown, or certain components may be combined, or a different arrangement of components.
As shown in fig. 1, an operating system, a data storage module, a network communication module, a user interface module, and an electronic program may be included in the memory 1005 as one type of storage medium.
In the production facility shown in fig. 1, the network interface 1004 is mainly used for data communication with a network server; the user interface 1003 is mainly used for data interaction with a user; the processor 1001 and the memory 1005 in the production equipment of the present invention may be disposed in the production equipment, and the production equipment invokes the robot positioning performance test system stored in the memory 1005 through the processor 1001, and executes the robot positioning performance test method provided in the embodiment of the present application.
Referring to fig. 2, based on the hardware device of the foregoing embodiment, an embodiment of the present application provides a method for testing positioning performance of a robot, including the following steps:
s40, acquiring a plurality of positioning points on a calibration plate assembly, wherein the calibration plate assembly comprises a first calibration plate and a second calibration plate which can be mutually matched with the first calibration plate;
in a specific implementation process, the calibration plate assembly is applied to machine vision, image measurement, photogrammetry, three-dimensional reconstruction and the like, and is used for correcting lens distortion, determining conversion relation between physical size and pixels and determining the correlation between the three-dimensional geometric position of a certain point on the surface of a space object and a corresponding point in an image, wherein a geometric model imaged by a camera is required to be established, and the geometric model of the camera can be obtained through the calculation of the camera shooting calibration plate and the calibration algorithm, so that a high-precision measurement result is obtained; the locating points are used for assisting in measuring the camera imaging model.
There are various ways to obtain multiple positioning points on the calibration plate assembly, the first way is to manually select any point on the calibration plate as a positioning point and to attach a mark, multiple marks can obtain multiple positioning points, the second way is to place the calibration plate on the working plane of the laser machine and to introduce preset parameters into the laser machine host, so as to obtain multiple positioning points marked by laser.
In the above, the calibration plate assembly comprises a first calibration plate and a second calibration plate matched with the first calibration plate, wherein the first calibration plate comprises a plate body, and one end face of the plate body is provided with a groove; the shape and the size of the second calibration plate are mutually adapted to the shape and the size of the groove, and the second calibration plate is mutually matched with the groove; the first calibration plate is placed on the measurement plane, and the second calibration plate is installed at the mechanical arm end of the robot.
It should be noted that, the shape of the calibration plate in the above process is not limited, but a regular shape of non-rectangular type is preferable to increase the positioning difficulty of the vision measurement subsystem, and the present embodiment is further described by taking a right trapezoid as an example.
S50, obtaining a fitting plane according to a plurality of positioning points on the calibration plate assembly;
in a specific application, the fitting plane refers to an imaginary plane, which is obtained through space measurement analysis software SA and a laser tracking measurement system, wherein the laser tracking measurement system comprises a laser tracker, a controller, a user computer and a reflector.
The step of obtaining a fitting plane comprises: a reflector is respectively arranged on the plurality of positioning points, space measurement analysis software spatial analayzer (SA for short) is started and connected with a laser tracker, coordinates of the plurality of positioning points are measured in the SA software by using a single-point measurement mode, and planes are created by the coordinates of the plurality of positioning points, so that a fitting plane is obtained, and then a normal of the fitting plane is obtained.
S60, acquiring a tool coordinate system of the robot, wherein the tool coordinate system is a coordinate system established at a mechanical arm end of the robot;
in a specific application, the tool coordinate system is a coordinate system established at the arm end of the robot.
The method comprises the steps that a basic coordinate system of a robot is required to be obtained in SA software through a laser tracker, then according to a standard coordinate system on the laser tracker, a compensation value between the standard coordinate system and the basic coordinate system can be obtained through the standard coordinate system and the basic coordinate system, the compensation value is introduced into parameter setting of the robot, and the standard coordinate system is transferred to the basic coordinate system, so that the tool coordinate system of the robot can be obtained.
S70, obtaining a linear track of the robot in the Z-axis direction of the tool coordinate system according to the tool coordinate system;
in specific application, based on a tool coordinate system, the mechanical arm end of the robot is enabled to move along the Z-axis direction of the tool coordinate system, in the moving process, a group of coordinate points obtained by continuous measurement are obtained in SA software through a laser scanner in a space scanning mode, sampling frequency is selected to be 200Hz, and a straight line is created by the group of coordinate points, namely the straight line movement track of the mechanical arm platform pulling and pressing device.
S80, judging whether the pose measurement subsystem meets the preset condition according to the normal line of the fitting plane and the linear track, if not, adjusting a tool coordinate system of the robot, and returning to the step of obtaining the linear track of the robot in the Z-axis direction of the tool coordinate system according to the tool coordinate system until the pose measurement subsystem meets the preset condition.
In a specific application process, intersecting the linear motion track with the normal line of the fitting plane in SA software, calculating an included angle between the linear motion track and the normal line of the fitting plane, judging whether the included angle is smaller than 1 degree, if the included angle is smaller than 1 degree, judging that the performance of the pose measurement subsystem of the robot passes detection, if the included angle is larger than 1 degree, the performance detection of the pose measurement subsystem of the robot does not pass, re-acquiring a basic coordinate system of the robot in SA software when the tool coordinate system is required to be acquired in the step S60, and after acquiring a compensation value between the re-acquired basic coordinate system and the standard coordinate system, performing the step S70-S80 until the included angle between the linear motion track and the normal line of the fitting plane is smaller than 1 degree.
In this embodiment, a method for testing positioning performance of a robot is provided, compared with the existing measurement method, the method starts from the operation flow of the robot, and by comparing the normal line of a fitting plane with the linear track of the robot in the Z-axis direction of a tool coordinate system, the accuracy of a pose measurement subsystem is judged and adjusted, so that the pose measurement subsystem meeting the requirement of positioning accuracy can be obtained. The test method of the scheme can be used for repeated verification, is irrelevant to the shape of the calibration plate assembly, and increases the accuracy and reliability of the industrial robot positioning performance test.
Further, the robot moves in the Z-axis direction with the origin of the tool coordinate system, sequentially measures coordinates of three points P1, P2 and P3 multiple times, after measuring coordinates of three points P1, P2 and P3 once, sequentially measures coordinates of three points P1, P2 and P3 again by returning to the origin until returning to the start position, and measures straightness of three straight-line tracks formed by measuring three points P1, P2 and P3 multiple times and levelness of a plurality of planes formed between the three straight lines.
As shown in table 1 below, P1, P2 and P3 are measured 6 times as three positioning points, the reference value is a preset coordinate value, the measured value is a value measured in the actual operation process, and the difference value is a difference value between the measured value and the reference value.
Table 1 measured values of coordinate points of positioning points P1, P2 and P3 and differences between the measured values and reference values
The straightness data is shown in the following table 2, wherein L1-1 represents the straightness of the straight line track of the 1 st measurement P1 anchor point, L2-1 represents the straightness of the straight line track of the 2 nd measurement P1 anchor point, and so on.
Table 2 straightness of straight-line trajectories of coordinate points of anchor points P1, P2, and P3
The levelness data is shown in table 3 below, in which data of levelness of 11 planes formed in three straight-line trajectories are measured 3 times with reference to one of the planes, PL1-2 being represented as levelness between the PL1-2 plane and the PL1-1 plane in the 1 st measurement, and PL2-2 being represented as levelness between the PL2-1 plane and the PL2-2 plane in the 2 nd measurement.
Table 3 levelness of multiple planes between straight-line trajectories of coordinate points of positioning points P1, P2, and P3
According to the method, the quantized index of the positioning accuracy of the pose measurement subsystem of the industrial robot can be obtained by analyzing the straightness of the three motion tracks and the levelness of a plurality of planes formed between the three motion tracks, so that the positioning accuracy of the pose measurement subsystem can be ensured, and meanwhile, the accuracy of the testing method of the pose measurement subsystem of the method is verified.
Referring to fig. 3, in one embodiment, the method further comprises:
s10, acquiring parameters of a vision measurement subsystem;
in a specific application, the vision measurement subsystem comprises a camera, a distance measurement device and an image processing device, wherein the distance measurement device is used for emitting laser and infrared rays, and reflected light is generated after the emitted laser and infrared rays hit an object. The distance of the object can be determined by means of measurements of the direction and time of the reflected light. The image processing apparatus extracts features from an image and performs high-speed processing, and an apparatus that generates a corresponding similar image is called an image processing apparatus. Its hardware includes special LSI (Large Scale integrated circuit), FPGA (FieldProgrammable Gate Array ), DSP (Digital Signal Processor, digital signal processor) and the like, and their combination systems.
S20, acquiring a first datum point and a second datum point of the calibration plate assembly, wherein the first datum point and the second datum point are respectively positioned on the first calibration plate and the second calibration plate;
in a specific application, the method for obtaining the first reference point and the second reference point refers to the following steps S201-S203, which are not described herein.
S30, judging whether the parameter meets the error condition according to the first datum point and the second datum point, if not, adjusting the parameter, returning to the step of judging whether the parameter meets the error condition according to the first datum point and the second datum point, and circulating until the parameter meets the error condition.
In specific application, after the first datum point and the second datum point are obtained, the movement of the mechanical arm end of the robot is controlled by the input parameters of the robot, when the first calibration plate and the second calibration plate can be matched with each other, the parameters of the vision measurement subsystem of the robot can be judged to meet the requirements, and if the parameters cannot be adjusted, the parameters are required to be adjusted until the second calibration plate can be matched with the first calibration plate.
According to the method, whether the performance of the vision measurement subsystem meets the requirement is specifically analyzed, the measurement result of the vision measurement subsystem can be directly quoted in the verification of the pose measurement subsystem, the accuracy of the measurement result of the pose measurement subsystem can be further ensured, the calibration plate assembly is used in the verification of the vision measurement subsystem, the accuracy rule output by the vision measurement subsystem is defined, the form of the allowable deviation is used as a verification mode of the vision measurement subsystem, a standard verification flow is formed, and the repeated verification can be realized.
In one embodiment, step S20 includes:
s201, acquiring a plurality of first corner points on a first calibration plate and a plurality of second corner points on a second calibration plate;
s202, obtaining a plurality of first diagonal lines of the plurality of first corner points and a plurality of second diagonal lines of the plurality of second corner points according to the plurality of first corner points and the plurality of second corner points;
s203, obtaining a first datum point and a second datum point which meet the length condition according to the first diagonals and the second diagonals.
The present solution is further described in step S20, where the first reference point and the second reference point are obtained to facilitate the determination and adjustment process in the subsequent step S30.
In one embodiment, the step S203 includes:
judging whether the intersection points among the plurality of first diagonal lines coincide, if so, outputting the intersection point as a first datum point, if not, continuing to acquire the first intersection point diagonal lines among the intersection points among the first diagonal lines according to the intersection points among the first diagonal lines until the length of the first intersection point diagonal lines meets the length condition, and outputting the area among the first intersection point diagonal lines as the first datum point;
judging whether the intersection points among the plurality of second diagonal lines are coincident or not, if so, outputting the intersection point as a second datum point, and if not, continuing to acquire the second intersection point diagonal lines among the intersection points among the second diagonal lines according to the intersection points among the second diagonal lines until the length of the second intersection point diagonal lines meets the length condition, and outputting the region among the second intersection point diagonal lines as the second datum point.
It should be noted that the above processes have no precedence relationship, which is only for convenience of description.
In the scheme, the length condition comprises that the length of the diagonal line of the first intersection point is smaller than 10% of the length of the diagonal line of the first intersection point, and the length of the diagonal line of the first intersection point is smaller than 0.3mm; the length condition further includes that the length of the second intersection diagonal is less than 10% of the length of the second diagonal, and the length of the second intersection diagonal is less than 0.3mm.
It can be seen that the length condition requires that the length of the first intersection diagonal line in the first calibration plate is less than 10% of the length of the first intersection diagonal line, and the length of the first intersection diagonal line is less than 0.3mm; the length of the diagonal line of the first intersection point is smaller than 10% of the length of the first diagonal line, and the length of the diagonal line of the first intersection point is smaller than 0.3mm; i.e. a condition of smaller length between the two conditions needs to be fulfilled to ensure the accuracy of the found first and second reference points.
In one embodiment, the preset condition includes that the included angle between the normal to the fitting plane and the straight line trajectory is less than 1 degree.
The method has the effects that the motion trail of the industrial robot is repeatedly measured through the laser tracker, the motion trail is continuously compared with the motion trail controlled by the industrial robot, two curves are fitted, the two curves are adjusted when included angles are formed, and finally the two curves are adjusted to be within 1 DEG, so that the positioning measurement of the industrial robot can be considered to pass verification, and the verification flow of the vision measurement subsystem is standardized by defining the deviation.
In one embodiment, the first calibration plate comprises a plate body, wherein one end surface of the plate body is provided with a groove; the shape and the size of the second calibration plate are mutually adapted to the shape and the size of the groove, and the second calibration plate is mutually matched with the groove; the first calibration plate is provided with a first datum point which is a diagonal intersection point of the groove, the second calibration plate is provided with a second datum point which is a diagonal intersection point of the second calibration plate.
In this embodiment, the shapes of the first calibration plate and the second calibration plate are irregular, so as to improve the positioning difficulty of the vision measurement subsystem, and finally obtain the robot with higher positioning accuracy after debugging.
Further, after the first calibration plate and the second calibration plate are mutually matched, the gap between the edges of the first calibration plate and the second calibration plate is not more than 0.3mm, and the gap between the corners is not more than 1mm; the first calibration plate and the second calibration plate are made of aluminum alloy, the roughness of the surfaces of the first calibration plate and the second calibration plate, which are in contact with each other, is not more than RA6.4, and the levelness of the surfaces of the first calibration plate and the second calibration plate, which are in contact with each other, is not more than 0.05mm/m; in the first calibration plate, the walls of the grooves form a distribution area of annular ribs as positioning points. The center of the second calibration plate opposite to the first calibration plate is provided with a circular groove, eight threaded holes are circumferentially distributed around the circular groove, wherein the depth of the circular groove is 5mm, the radius of the circular groove is 20mm, the diameters of the threaded holes are 7.95mm, the screw pitch is 1mm, and the distance between every two adjacent threaded holes is 100mm.
The irregular calibration plate provided by the scheme is used for replacing an irregular machining plane of a robot in an actual process, so that the positioning difficulty of a vision measurement subsystem is improved, and the final measurement result accuracy is higher.
Based on the same inventive concept, the method for testing the positioning performance of the robot according to the embodiment of the application further comprises the following steps:
s90, acquiring an initial force value of the robot, wherein the initial force value is input when parameters are debugged;
in a specific application, the initial force value is a preset value, which is entered into the control panel of the robot at the time of the test.
S100, acquiring an actual force value of the robot, wherein the actual force value is obtained after the mechanical arm end of the robot acts and then is actually measured;
in a specific application, the process of obtaining the actual force value of the robot is that a high-precision dynamometer is arranged at the end of the hunger mechanical arm of the robot, and after the robot is controlled to act according to the set initial force value, an indication value of the high-precision dynamometer is obtained, wherein the indication value is the actual force value of the robot.
S110, obtaining a difference value according to an initial force value and an actual force value of the robot;
s120, judging whether the difference value meets a difference value condition, and if not, judging that the driving end of the robot does not pass detection.
In a specific application, the difference condition is: the difference between the initial force value and the actual force value is within + -1% of the initial force value.
According to the embodiment, the output accuracy of the driving end of the robot is verified by adopting a Newton third law principle and a comparison method, and as the position measurement subsystem in the step S40-S80 is verified, the driving end is considered to be vertical to a stress plane when being loaded, and the indication value output accuracy of the driving end can be evaluated by a high-accuracy dynamometer.
According to the method, the output accuracy of the initial force value of the driving end of the robot is further tested after verification based on the pose measurement system, the measurement result of the pose measurement subsystem is cited in verification of the tensile and compressive loading actuation tester, and therefore the complex integrated industrial robot which is difficult to judge an error source originally can achieve unqualified system accuracy tracing and standard action definition according to the method. Thereby completing the accurate evaluation of the positioning measurement performance of the robot.
Referring to fig. 4, based on the same inventive concept, an embodiment of the present application further provides a system for testing positioning performance of a robot, including:
the acquisition module is used for: the method comprises the steps of acquiring a plurality of positioning points on a first calibration plate and acquiring a tool coordinate system of a robot;
the obtaining module is as follows: the fitting plane is obtained according to a plurality of positioning points on the first calibration plate; the linear track of the robot in the Z-axis direction of the tool coordinate system is obtained according to the tool coordinate system;
the processing module is used for: and the pose measurement subsystem is used for judging whether the pose measurement subsystem meets the preset condition according to the normal line of the fitting plane and the linear track, if not, the tool coordinate system of the robot is adjusted, and the step of obtaining the linear track of the robot in the Z-axis direction of the tool coordinate system according to the tool coordinate system is returned until the pose measurement subsystem meets the preset condition.
It should be noted that, each module in the robot positioning performance test system in this embodiment corresponds to each step in the robot positioning performance test method in the foregoing embodiment, so the specific implementation of this embodiment may refer to the implementation of the foregoing robot positioning performance test method, and will not be described herein again.
Furthermore, in an embodiment, an electronic device is provided, where the device includes a processor, a memory, and a computer program stored in the memory, the computer program being executed by the processor to implement the steps of the method in the previous embodiment.
Furthermore, in an embodiment, the embodiments of the present application further provide a computer storage medium, where a computer program is stored, where the computer program when executed by a processor implements the steps of the method in the foregoing embodiment.
In some embodiments, the computer readable storage medium may be FRAM, ROM, PROM, EPROM, EEPROM, flash memory, magnetic surface memory, optical disk, or CD-ROM; but may be a variety of devices including one or any combination of the above memories. The computer may be a variety of computing devices including smart terminals and servers.
In some embodiments, the executable instructions may be in the form of programs, software modules, scripts, or code, written in any form of programming language (including compiled or interpreted languages, or declarative or procedural languages), and they may be deployed in any form, including as stand-alone programs or as modules, components, subroutines, or other units suitable for use in a computing environment.
As an example, the executable instructions may, but need not, correspond to files in a file system, may be stored as part of a file that holds other programs or data, for example, in one or more scripts in a hypertext markup language (HTML, hyper Text Markup Language) document, in a single file dedicated to the program in question, or in multiple coordinated files (e.g., files that store one or more modules, sub-programs, or portions of code).
As an example, executable instructions may be deployed to be executed on one computing device or on multiple computing devices located at one site or, alternatively, distributed across multiple sites and interconnected by a communication network.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.
The foregoing embodiment numbers of the present application are merely for describing, and do not represent advantages or disadvantages of the embodiments.
From the above description of the embodiments, it will be clear to those skilled in the art that the above-described embodiment method may be implemented by means of software plus a necessary general hardware platform, but of course may also be implemented by means of hardware, but in many cases the former is a preferred embodiment. Based on such understanding, the technical solution of the present application may be embodied essentially or in a part contributing to the prior art in the form of a software product stored in a storage medium (e.g. read-only memory/random-access memory, magnetic disk, optical disk), comprising several instructions for causing a multimedia terminal device (which may be a mobile phone, a computer, a television receiver, or a network device, etc.) to perform the method described in the embodiments of the present application.
The foregoing description is only of the preferred embodiments of the present application, and is not intended to limit the scope of the claims, and all equivalent structures or equivalent processes using the descriptions and drawings of the present application, or direct or indirect application in other related technical fields are included in the scope of the claims of the present application.
Claims (8)
1. The method for testing the positioning performance of the robot is characterized by comprising the following steps of:
a plurality of positioning points on a calibration plate assembly are obtained, and the calibration plate assembly comprises a first calibration plate and a second calibration plate which can be matched with the first calibration plate; the first calibration plate comprises a plate body, one end face of the plate body is provided with a groove, the shape and the size of the second calibration plate are mutually adapted to those of the groove, the second calibration plate is mutually matched with the groove, the first calibration plate is placed on a measurement plane, and the second calibration plate is installed at the mechanical arm end of the robot; the first calibration plate is provided with a first datum point, the first datum point is a diagonal intersection point of the groove, the second calibration plate is provided with a second datum point, and the second datum point is a diagonal intersection point of the second calibration plate;
obtaining a fitting plane according to a plurality of positioning points on the calibration plate assembly; wherein, a plurality of positioning points are positioned on the same surface of the calibration plate component;
acquiring a tool coordinate system of the robot, wherein the tool coordinate system is a coordinate system established at a mechanical arm end of the robot;
according to the tool coordinate system, a linear track of the robot in the Z-axis direction of the tool coordinate system is obtained;
judging whether the pose measurement subsystem meets a preset condition according to the normal line of the fitting plane and the linear track, if not, adjusting a tool coordinate system of the robot, and returning to the step of obtaining the linear track of the robot in the Z-axis direction of the tool coordinate system according to the tool coordinate system until the pose measurement subsystem meets the preset condition; the preset condition comprises that the included angle between the normal line of the fitting plane and the straight line track is smaller than 1 degree.
2. The method according to claim 1, wherein the method further comprises:
acquiring parameters of a vision measurement subsystem;
acquiring a first datum point and a second datum point of the calibration plate assembly, wherein the first datum point and the second datum point are respectively positioned on the first calibration plate and the second calibration plate;
judging whether the parameter meets an error condition according to the first datum point and the second datum point, if not, adjusting the parameter, returning to the step of judging whether the parameter meets the error condition according to the first datum point and the second datum point, and circulating to the step that the parameter meets the error condition; the error condition is that the first calibration plate and the second calibration plate can be matched with each other.
3. The method of claim 2, wherein the step of obtaining the first datum point and the second datum point of the calibration plate assembly comprises:
acquiring a plurality of first corner points on the first calibration plate and a plurality of second corner points on the second calibration plate;
obtaining a plurality of first diagonal lines of the first corner points and a plurality of second diagonal lines of the second corner points according to the first corner points and the second corner points;
and obtaining a first datum point and a second datum point which meet the length condition according to the first diagonals and the second diagonals.
4. The method of claim 3, wherein the step of obtaining a first reference point and a second reference point satisfying a length condition from a plurality of the first diagonals and a plurality of the second diagonals comprises:
judging whether the intersection points among the first diagonals are coincident or not, if so, outputting the intersection point as a first datum point, if not, continuing to acquire the first intersection point diagonal lines among the intersection points among the first diagonals according to the intersection points among the first diagonals until the length of the first intersection point diagonal lines meets the length condition, and outputting the area among the first intersection point diagonal lines as the first datum point;
judging whether the intersection points among the second diagonal lines are coincident or not, if so, outputting the intersection points as second datum points, and if not, continuing to acquire the second intersection point diagonal lines among the intersection points among the second diagonal lines according to the intersection points among the second diagonal lines until the length of the second intersection point diagonal lines meets the length condition, and outputting the area among the second intersection point diagonal lines as the second datum points.
5. The method of claim 4, wherein the length condition comprises: the length of the first intersection diagonal is less than 10% of the length of the first diagonal, and the length of the first intersection diagonal is less than 0.3mm;
the length condition also includes that the length of the second intersection diagonal is less than 10% of the length of the second diagonal, and the length of the second intersection diagonal is less than 0.3mm.
6. A robot positioning performance test system, comprising:
the acquisition module is used for: the positioning device comprises a positioning plate, a positioning plate assembly and a positioning plate assembly, wherein the positioning plate assembly is used for acquiring a plurality of positioning points on the positioning plate assembly; the first calibration plate comprises a plate body, one end face of the plate body is provided with a groove, the shape and the size of the second calibration plate are mutually adapted to those of the groove, the second calibration plate is mutually matched with the groove, the first calibration plate is placed on a measurement plane, and the second calibration plate is installed at the mechanical arm end of the robot; the first calibration plate is provided with a first datum point which is a diagonal intersection point of the groove, the second calibration plate is provided with a second datum point which is a diagonal intersection point of the second calibration plate, and a tool coordinate system of the robot is obtained;
the obtaining module is as follows: the fitting plane is obtained according to the positioning points on the first calibration plate; wherein, a plurality of positioning points are positioned on the same surface of the calibration plate component; the linear track of the robot in the Z-axis direction of the tool coordinate system is obtained according to the tool coordinate system;
the processing module is used for: judging whether the pose measurement subsystem meets a preset condition according to the normal line of the fitting plane and the linear track, if not, adjusting a tool coordinate system of the robot, and returning to the step of obtaining the linear track of the robot in the Z-axis direction of the tool coordinate system according to the tool coordinate system until the pose measurement subsystem meets the preset condition; the preset condition comprises that the included angle between the normal line of the fitting plane and the straight line track is smaller than 1 degree.
7. An electronic device comprising a memory and a processor, the memory having stored therein a computer program, the processor executing the computer program to implement the method of any of claims 1-5.
8. A computer readable storage medium, having stored thereon a computer program, the computer program being executable by a processor to implement the method of any of claims 1-5.
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