CN114055475B

CN114055475B - Calibration method and calibration device for robot, robot and readable storage medium

Info

Publication number: CN114055475B
Application number: CN202111515218.7A
Authority: CN
Inventors: 徐舟
Original assignee: KUKA Robot Manufacturing Shanghai Co Ltd
Current assignee: KUKA Robot Manufacturing Shanghai Co Ltd
Priority date: 2021-12-13
Filing date: 2021-12-13
Publication date: 2023-03-31
Anticipated expiration: 2041-12-13
Also published as: CN114055475A

Abstract

The invention provides a calibration method and a calibration device for a robot, the robot and a readable storage medium. The robot includes a photosensor for generating light, the method comprising: controlling the robot driving tool to move according to a first track, and acquiring first coordinate information of an intersection point when the tool passes through a ray; and calibrating the base coordinate system according to the first coordinate information. According to the embodiment of the invention, the tool coordinate system of the robot is automatically calibrated through the photoelectric sensor, so that high-precision and high-efficiency automatic calibration can be realized, the conventional manual calibration usually needs more than 10 minutes of calibration time, and the automatic calibration provided by the invention can be completed only in 15 to 60 seconds, so that the calibration efficiency is improved.

Description

Calibration method and calibration device for robot, robot and readable storage medium

Technical Field

The invention relates to the technical field of robot control, in particular to a calibration method and a calibration device for a robot, the robot and a readable storage medium.

Background

In the related art, the robot needs to be calibrated during the industrial production process to ensure the machining precision. At present, the robot is calibrated manually, the consumed time is long, and the calibration efficiency is low.

Disclosure of Invention

The present invention is directed to solving at least one of the problems of the prior art or the related art.

To this end, a first aspect of the invention proposes a method for calibrating a robot.

A second aspect of the present invention provides a calibration apparatus for a robot.

A third aspect of the invention provides a robot.

A fourth aspect of the invention is directed to a readable storage medium.

A fifth aspect of the present invention proposes another robot.

A sixth aspect of the invention provides a robot assembly.

In view of the above, a first aspect of the present invention provides a calibration method for a robot, the robot including a photosensor for generating light, the method including: controlling the robot driving tool to move according to a first track, and acquiring first coordinate information of an intersection point when the tool passes through light; and calibrating the base coordinate system according to the first coordinate information.

In the technical solution, the coordinate system of the robot generally includes a tool coordinate system (tool) and a base coordinate system (base), wherein the base coordinate system of the robot needs to be calibrated before the robot starts working, so as to improve the machining precision of the robot.

The base coordinate system of the robot is specifically a coordinate system where a robot base or a robot body is located, and is also a coordinate system of the photoelectric sensor, and the coordinate system is used for indicating information such as a position, an angle and a posture of a mechanical arm of the robot.

Before the robot works, the base coordinate of the robot is calibrated, so that the processing precision of the robot is improved, and the working efficiency of the robot is improved.

Specifically, firstly, the robot is controlled to move, a tool mounted on a flange of the robot is driven to draw a fifth track in space, the fifth track is intersected with laser light emitted by a laser probe of the photoelectric sensor, namely when the robot moves along the fifth track, the tool of the robot can penetrate through the light emitted by the laser probe, at the moment, second coordinate information of an intersection point between the tool of the robot and the light is obtained, and a base coordinate system of the robot can be calibrated according to the second coordinate information, so that high-precision calibration is realized.

It can be understood that, in the embodiment of the present invention, the operation process of the calibration may be automatically implemented through a base coordinate calibration software of the robot, where the base coordinate calibration software is a pre-programmed robot calibration program, the base coordinate calibration program is installed on a control device of the robot or an upper computer performing instruction data interaction with the robot, and the base coordinate calibration program may run a corresponding calibration program after receiving a base coordinate calibration instruction, so as to automatically calibrate a coordinate or a coordinate system to be calibrated.

According to the embodiment of the invention, the tool coordinate system of the robot is automatically calibrated through the photoelectric sensor, so that high-precision and high-efficiency automatic calibration can be realized, the conventional manual calibration usually needs more than 10 minutes of calibration time, and the automatic calibration provided by the invention can be completed only in 15 to 60 seconds, so that the calibration efficiency is improved.

In addition, the calibration method for the robot in the above technical solution provided by the present invention may further have the following additional technical features:

in the above technical solution, the light ray includes a first light ray and a second light ray, wherein the first light ray and the second light ray intersect perpendicularly; the first tracks include first semi-rectangular tracks and second semi-rectangular tracks.

In this technical scheme, photoelectric sensor includes two laser probe of quality, and these two laser probe jet out laser ray respectively, specifically are first light, and second light. The first light ray and the second light ray are on the same horizontal plane, and the first light ray and the second light ray are perpendicular to each other and intersect with each other, so that a cross-shaped light ray distribution is formed on the same horizontal plane. The intersection point of the first light ray and the second light ray is set as a reference point, when the tool of the robot moves to the reference point, the tool is intersected with the first light ray and the second light ray at the same time, and at the moment, the first laser probe and the second laser probe acquire the position information of the tool at the same time.

For example, the first and second half-rectangular tracks intersect with the upper portion of the first light ray and the left portion of the second light ray, and the second half-rectangular track intersects with the lower portion of the first light ray and the right portion of the second light ray.

The driving tool moves according to the semi-rectangular track, so that the intersection point between the tool and the light can be quickly obtained, the moving linear distance can be conveniently recorded, the calibration of the base coordinate system can be quickly completed, and the calibration efficiency of the base coordinate system is improved.

In any of the above technical solutions, controlling the robot driving tool to move according to the first trajectory to obtain the first coordinate information of the intersection point when the tool passes through the light ray includes:

controlling the robot to drive the tool to move according to the first semi-rectangular track, and determining a first intersection point coordinate of the tool and the first light ray and a second intersection point coordinate of the tool and the second light ray; and controlling the robot to drive the tool to move according to the second semi-rectangular track, and determining a third intersection point coordinate of the tool and the second light ray and a fourth intersection point coordinate of the tool and the first light ray.

In the technical scheme, in the process of controlling the robot to drive the tool to move along the first track, specifically, firstly, the robot is controlled to drive the tool to move in the control according to the first half rectangular track, and the first half rectangular track is respectively intersected with the first ray and the second ray to obtain a first intersection point coordinate and a second intersection point coordinate.

And then controlling the robot to drive the tool to move in the control according to a second semi-rectangular track, and intersecting the second semi-rectangular track with the first light ray and the second light ray respectively to obtain a third intersection point coordinate and a fourth intersection point coordinate.

It can be understood that the first semi-rectangular track and the second semi-rectangular track intersect with the first light ray and the second light ray in different ways, for example, the first light ray and the second light ray intersecting in a cross shape are divided into an upper part and a lower part of the first light ray, a left part and a right part of the second light ray according to the intersection point, namely the position of the reference point, the first semi-rectangular track intersects with the upper part of the first light ray and the left part of the second light ray, and the second semi-rectangular track intersects with the lower part of the first light ray and the right part of the second light ray.

In any of the above solutions, calibrating the base coordinate system according to the first coordinate information includes: determining a first vector according to the fourth intersection point coordinate and the first intersection point coordinate; determining a second vector according to the second intersection point coordinate and the third intersection point coordinate; the base coordinate system is calibrated according to the first vector and the second vector.

In the technical scheme, after the second coordinate information is obtained, the first vector and the second vector are determined according to the first intersection point coordinate, the second intersection point coordinate, the third intersection point coordinate and the fourth intersection point coordinate.

Specifically, if the first intersection point is a, the second intersection point is B, the third intersection point is C, and the fourth intersection point is D, the first vector is

The second vector is->

According to a first vector>

And a second direction quantity>

Can constitute the plane that corresponds to calibrate the basic coordinate system of robot, consequently can realize high accuracy and efficient automatic calibration, need not artifical intervention simultaneously in this process, can effectively reduce the required time of calibration, improved calibration efficiency.

In any of the above solutions, the base coordinate system includes an x-axis, a y-axis, and a z-axis; said calibrating said base coordinate system according to said first vector and said second vector, comprising:

determining the direction of the x axis according to the second vector; determining a corresponding XOY plane according to the x-axis direction, the first vector and the second vector; determining a z-axis direction from a vector product of the first vector and the second vector based on the XOY plane; and determining the y-axis direction according to the z-axis direction and the x-axis direction so as to calibrate the base coordinate system.

In the technical solution, the base coordinate system is a standard xyz spatial coordinate system, which specifically includes three spatial axes of an x axis, a y axis, and a z axis.

After the first vector and the second vector are determined according to the first intersection point coordinate, the second intersection point coordinate, the third intersection point coordinate and the fourth intersection point coordinate, the x-axis direction, the y-axis direction and the z-axis direction of the base coordinate system are determined according to the first vector and the second vector.

The second vector is>

In the second direction->

X-axis direction as a base coordinate system of the robot->

Thus, the first vector->

And a second direction quantity->

An XOY plane can be constructed, after which the z-axis direction ≥ can be determined by a vector product>

Finally calculating the z-axis direction>

Last according to >>

And &>

I.e. is>

And &>

Determines the y-axis direction->

Thereby completing the correction of the x-axis direction, the y-axis direction and the z-axis direction, namely completing the correction of the base coordinate system.

In any of the above technical solutions, an intersection point of the first ray and the second ray is a reference point, and the method further includes: calibrating the origin coordinates of the robot according to the reference points; controlling the robot to drive the tool to start from the origin coordinate and move in the first horizontal plane according to the second track to obtain a fifth intersection coordinate of the tool and the first light ray and the second light ray; controlling the robot driving tool to move in a second horizontal plane according to a third track to obtain a sixth intersection point coordinate of the tool and the first light ray and the second light ray; controlling the robot to drive the tool to move according to the fourth track to obtain a seventh intersection point coordinate of the tool and the first light ray and the second light ray; and determining the coordinate value of the tool according to the fifth intersection point coordinate, the sixth intersection point coordinate and the seventh intersection point coordinate.

In this technical scheme, photoelectric sensor includes two laser probe of quality, and these two laser probe emit laser light respectively, specifically are first light, and second light. The first light ray and the second light ray are on the same horizontal plane, and the first light ray and the second light ray are perpendicular to each other and intersect with each other, so that a cross-shaped light ray distribution is formed on one horizontal plane. The intersection point of the first light ray and the second light ray is set as a reference point, when the tool of the robot moves to the reference point, the tool is intersected with the first light ray and the second light ray at the same time, and at the moment, the first laser probe and the second laser probe acquire the position information of the tool at the same time.

When determining the coordinate values of the tool, that is, performing the first calibration on the coordinate values of the tool, first, the origin coordinates of the robot are determined. Specifically, the robot is controlled to move the tool to the reference point, and at the moment, the first light ray and the second light ray are both shielded by the tool of the robot. Then, the robot driving tool is controlled to move upward by a distance that passes a preset setting.

After the tool moves upwards for a certain distance, a point vertically above the origin is obtained, and the point is set as the origin of the robot. The coordinate value of the reference point is known by the photoelectric sensor, so that the origin point coordinate of the robot can be obtained by adding z-axis data according to the upward movement distance of the robot on the basis of the coordinate value of the reference point.

After the origin coordinates are determined, the robot is controlled to be in the first horizontal plane, the driving tool moves out of a third track in the space range of the first horizontal plane, the third track is intersected with the first light rays and the second light rays at the same time, and therefore fifth intersection point coordinates are obtained, wherein the fifth intersection point coordinates comprise intersection point coordinates of the tool and the first light rays and intersection point coordinates of the tool and the second light rays.

It can be understood that the origin is located in the first horizontal plane, and therefore, the coordinates of all points in the first horizontal plane, including the coordinates of the fifth intersection point, have the same z-axis data as the origin. Meanwhile, the tool coordinate of the robot is a coordinate under a Cartesian coordinate system, and the structure of the robot is as follows: DECL GLOBAL FRAME Tcp _ ToolOffset = { X0.0, y 0.0, z 0.0, a 0.0, b 0.0, c 0.0}.

And then, controlling the robot to drive the tool to move downwards for a certain distance to reach a second horizontal plane, controlling the robot to move in the second horizontal plane and controlling the driving tool to move out of a fourth track in the space range of the second horizontal plane, wherein the fourth track is also intersected with the first light ray and the second light ray so as to obtain a sixth intersection point coordinate, and the sixth intersection point coordinate comprises the intersection point coordinate of the tool and the first light ray and the intersection point coordinate of the tool and the second light ray.

It can be understood that the intersection of the third track and the fourth track with the first ray and the second ray and the intersection of the fourth track with the first ray and the second ray may be the same, for example, the first ray and the second ray crossed in a cross shape are divided into the upper part and the lower part of the first ray according to the intersection point, namely the position of the reference point, and the left part and the right part of the second ray, so that the third track and the fourth track firstly intersect with the upper part of the first ray and the left part of the second ray and then intersect with the lower part of the first ray and the right part of the second ray.

After the fifth intersection point coordinate and the sixth intersection point coordinate are obtained, the x-axis coordinate and the y-axis coordinate in the current coordinate values of the tool can be calculated according to the origin point coordinate of the robot and the movement direction and the movement distance of the robot driving tool.

And then, controlling the robot to drive the tool to move again, forming a fourth track, wherein the intersection point coordinate of the fourth track, the first light ray and the second light ray is a seventh intersection point coordinate, and determining a, b and c in the tool coordinate value through the seventh intersection point coordinate, so as to obtain an accurate tool coordinate value, namely the coordinate value of the tool.

By determining and recording the coordinate value of the tool, the accuracy of tool motion in the machining process of the robot can be ensured, the coordinate value of the tool can be quickly calibrated after the tool is replaced or collided by the robot, and the working efficiency of the robot is improved.

In any of the above technical solutions, a height difference between the first horizontal plane and the second horizontal plane is a first difference.

In the technical scheme, the height difference between the first horizontal plane and the second horizontal plane, namely the difference between the coordinates of the first intersection point and the coordinates of the second intersection point and the z-axis coordinate. The tool is driven to be respectively intersected with the first light ray and the second light ray at different horizontal heights, namely different z-axis coordinate values, so that the x-axis coordinate and the y-axis coordinate of the tool at different z-axes are obtained, the correction accuracy of the tool coordinate values can be improved, and the machining precision and the machining efficiency of the robot are improved.

In any of the above technical solutions, the calibration method further includes: controlling the robot driving tool to move from the origin coordinate to the reference point; and determining that the tool coordinate calibration is completed based on the first light ray and the second light ray both being blocked by the tool.

According to the technical scheme, after the original coordinates of the robot tool are calibrated for the first time or the coordinate values of the tool are calibrated again, the robot is controlled to drive the tool to move and return to the original point, and starting from the original point, the robot is controlled to drive the tool to move to the reference point again according to the original point coordinates and the reference point coordinates.

After the driving is finished, if the first light ray and the second light ray are both shielded by the tool of the robot, the robot accurately moves the tool to the reference point, the tool coordinate value which represents the robot calibration is accurate and error-free, and the original coordinate calibration of the robot is finished.

In any of the above technical solutions, the second track and the third track are semi-rectangular tracks, and the fourth track is a rectangular track.

In this technical solution, the second trajectory and the third trajectory both include two semi-rectangular trajectories, that is, the robot driving tool moves in the first horizontal plane to obtain two semi-rectangular trajectories, and the robot driving tool moves in the second horizontal plane to obtain two semi-rectangular trajectories.

When the driving tool moves according to the semi-rectangular track, the driving tool starts from the endpoint a and moves linearly to the endpoint b, a line segment ab is formed at the time, and then the driving tool starts from the endpoint b and moves linearly to the endpoint c, and a line segment bc is formed. The line segment ab is intersected with the first ray, the line segment bc is intersected with the second ray, and an included angle between the line segment ab and the line segment bc is 90 degrees.

The fourth track is a rectangular track, the rectangular track intersects with the first light ray and the second light ray simultaneously and forms 4 intersection points, wherein the rectangular track intersects with the first light ray twice, and the two intersection points are located at the intersection points of the first light ray and the second light ray respectively, namely two sides of the reference point.

The driving tool moves according to the semi-rectangular track, so that the intersection point between the tool and the light can be quickly obtained, the moving linear distance can be conveniently recorded, the calibration of the tool coordinate value can be quickly completed, and the calibration efficiency of the tool coordinate value is improved.

In any of the above technical solutions, the calibration method further includes: and calibrating a tool coordinate system of the robot.

In the technical scheme, a coordinate system of the robot generally includes a tool coordinate system (tool) and a base coordinate system (base), wherein the tool coordinate system of the robot needs to be calibrated before the robot starts to work, so that the machining precision of the robot is improved.

In any of the above technical solutions, calibrating a tool coordinate system of a robot includes: teaching a first point in a base coordinate system; teaching a second point along the negative direction of the z-axis from the first point; and teaching a third point along the positive direction of the x axis from the second point, and calibrating the tool coordinate system according to the first point, the second point and the third point.

In the technical scheme, in the working process of the robot, the coordinate value of the tool of the robot needs to be accurately set, so that the machining precision and the machining accuracy of the robot are ensured. The coordinate values of the tool of the robot are coordinate values in the tool coordinate system, and therefore, the tool coordinate system needs to be calibrated before the robot works.

Wherein the tool coordinate system of the robot can be calibrated by a three-point method. Specifically, first, the robot tool is adjusted to an angle substantially perpendicular to the bottom surface, and then, a first point having a sufficient movement range is selected in the movement space of the robot, and taught, the coordinate of the first point being one point in the base coordinate system.

Then, along the z-axis direction of the base coordinate system, the robot is controlled to drive the tool to move a distance downwards, the tool is taught to reach a second point at the moment, next, along the x-axis direction of the base coordinate system, the robot is controlled to drive the tool to move a distance, and a third point, which is reached by the tool at the moment, is taught.

Therefore, the first point, the second point and the third point are connected with each other to form a right triangle track in space, the right-angle side of the right triangle perpendicular to the horizontal plane is the z-axis direction of the tool coordinate system, the right-angle side parallel to the horizontal plane is the x-axis direction of the tool coordinate system, a straight line perpendicular to the x-axis and the z-axis is determined in the plane of the x-axis, and the straight line is determined as the y-axis direction of the tool coordinate system, so that the calibration of the tool coordinate system of the robot is completed.

A second aspect of the present invention provides a calibration apparatus for a base coordinate of a robot, the robot including a photosensor for generating light, the calibration apparatus comprising: the control module is used for controlling the robot driving tool to move according to a first track; the acquisition module is used for acquiring first coordinate information of an intersection point when the tool passes through the light; and the calibration module is used for calibrating the base coordinate system according to the first coordinate information.

A third aspect of the present invention provides a robot comprising: a memory for storing programs or instructions; the processor is configured to implement the steps of the calibration method provided in any one of the above technical solutions when executing the program or the instruction, so that the robot simultaneously includes all the beneficial effects of the calibration method provided in any one of the above technical solutions, and in order to avoid repetition, details are not described here again.

A fourth aspect of the present invention provides a readable storage medium, on which a program or an instruction is stored, where the program or the instruction, when executed by a processor, implements the steps of the calibration method provided in any of the above technical solutions, and therefore, the readable storage medium simultaneously includes all the beneficial effects of the calibration method provided in any of the above technical solutions, and is not described herein again to avoid repetition.

A fifth aspect of the present invention provides a robot comprising: the calibration device for the tool coordinates of the robot provided in any one of the above technical solutions; and/or a readable storage medium as provided in any of the above claims, whereby the robot comprises at the same time the calibration device of the robot as provided in any of the above claims; and/or all the advantages of the readable storage medium provided in any of the above technical solutions, which are not described herein again to avoid repetition.

A sixth aspect of the present invention provides a robot assembly comprising: as for the robot provided in any of the above technical solutions, the robot assembly simultaneously includes all the beneficial effects of the robot provided in any of the above technical solutions, and in order to avoid repetition, details are not repeated here.

Drawings

The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:

fig. 1 shows a flow chart of a calibration method of a robot according to an embodiment of the invention;

FIG. 2 shows one of the schematic structural diagrams of a robot according to an embodiment of the invention;

fig. 3 shows a second schematic structural view of a robot according to an embodiment of the invention;

FIG. 4 shows a schematic structural diagram of a photosensor according to an embodiment of the present invention;

FIG. 5 shows one of the schematic motion profiles of a tool according to an embodiment of the invention;

FIG. 6 illustrates a second schematic diagram of a tool motion profile according to an embodiment of the invention;

FIG. 7 illustrates a third schematic diagram of a tool motion profile according to an embodiment of the invention;

fig. 8 shows a block diagram of a calibration apparatus according to an embodiment of the present invention.

Description of the drawings:

200 robot, 202 robot body, 204 tool, 206 photosensor, 208 workpiece, 402 first light, 404 second light.

Detailed Description

In order that the above objects, features and advantages of the present invention can be more clearly understood, a more particular description of the invention, taken in conjunction with the accompanying drawings and detailed description, is set forth below. It should be noted that the embodiments and features of the embodiments of the present application may be combined with each other without conflict.

In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced in other ways than those specifically described herein, and therefore the scope of the present invention is not limited by the specific embodiments disclosed below.

A calibration method and a calibration apparatus of a robot, and a readable storage medium according to some embodiments of the present invention are described below with reference to fig. 1 to 8.

Example one

In some embodiments of the present invention, there is provided a calibration method for a robot, the robot including a photoelectric sensor for generating light, fig. 1 shows a flowchart of the calibration method for the robot according to an embodiment of the present invention, and as shown in fig. 1, the method includes:

step 102, controlling a robot driving tool to move according to a first track, and acquiring first coordinate information of an intersection point when the tool passes through a ray;

and 104, calibrating a base coordinate system according to the first coordinate information.

In the embodiment of the present invention, fig. 2 shows one of the schematic structural diagrams of the robot according to the embodiment of the present invention, fig. 3 shows the second schematic structural diagram of the robot according to the embodiment of the present invention, and fig. 4 shows the schematic structural diagram of the photoelectric sensor according to the embodiment of the present invention, as shown in fig. 2, fig. 3 and fig. 4, the robot 200 includes: robot body 202, tool 204, photoelectric sensor 206, workpiece 208. The robot body 202 drives the tool 204 to move, so as to process the workpiece 208, and the photoelectric sensor 206 is used for calibrating the tool coordinate value of the robot. The coordinate system of the robot generally includes a tool coordinate system (tool) and a base coordinate system (base), wherein the base coordinate system of the robot needs to be calibrated before the robot starts working, so as to improve the machining precision of the robot.

In some embodiments of the present invention, as shown in FIG. 4, the rays include a first ray 402 and a second ray 404, wherein the first ray 402 and the second ray 404 intersect perpendicularly; fig. 5 shows one of the schematic diagrams of the motion trajectory of the tool according to the embodiment of the present invention, and fig. 6 shows the second schematic diagram of the motion trajectory of the tool according to the embodiment of the present invention, as shown in fig. 5 and 6, the first trajectory includes a first semi-rectangular trajectory and a second semi-rectangular trajectory.

In an embodiment of the present invention, the photoelectric sensor includes two laser probes, and the two laser probes respectively emit laser light, specifically, a first light and a second light. The first light ray and the second light ray are on the same horizontal plane, and the first light ray and the second light ray are perpendicular to each other and intersect with each other, so that a cross-shaped light ray distribution is formed on one horizontal plane. The intersection point of the first light ray and the second light ray is set as a reference point, when the tool of the robot moves to the reference point, the tool is intersected with the first light ray and the second light ray at the same time, and at the moment, the first laser probe and the second laser probe acquire the position information of the tool at the same time.

For example, the first half-rectangular track intersects with the upper part of the first ray and the left part of the second ray, and the second half-rectangular track intersects with the lower part of the first ray and the right part of the second ray.

In some embodiments of the present invention, controlling the robot driving tool to move according to the first trajectory, and acquiring first coordinate information of the intersection point when the tool passes through the light ray, includes:

In the embodiment of the invention, in the process of controlling the robot to drive the tool to move along the first track, specifically, firstly, the robot is controlled to drive the tool to move in the control according to the first semi-rectangular track, and the first semi-rectangular track is respectively intersected with the first ray and the second ray to obtain the first intersection point coordinate and the second intersection point coordinate.

The driving tool moves according to the semi-rectangular track, so that the intersection point between the tool and the light can be obtained quickly, the linear distance of movement can be recorded conveniently, the calibration of a base coordinate system can be completed quickly, and the calibration efficiency of the base coordinate system is improved.

In some embodiments of the invention, calibrating the base coordinate system according to the first coordinate information comprises: determining a first vector according to the fourth intersection point coordinate and the first intersection point coordinate; determining a second vector according to the second intersection point coordinate and the third intersection point coordinate; the base coordinate system is calibrated based on the first vector and the second vector.

In the embodiment of the invention, after the second coordinate information is obtained, the first vector and the second vector are determined according to the first intersection point coordinate, the second intersection point coordinate, the third intersection point coordinate and the fourth intersection point coordinate respectively.

Specifically, fig. 7 shows a third schematic diagram of the movement locus of the tool according to the embodiment of the invention, and as shown in fig. 7, a first intersection point is set as a, a second intersection point is set as B, a third intersection point is set as C, and a fourth intersection point is set as CThe intersection point is D, the first vector is

The second vector is->

According to a first vector>

And a second direction quantity->

In some embodiments of the invention, the base coordinate system includes an x-axis, a y-axis, and a z-axis; calibrating a base coordinate system from the first vector and the second vector, comprising: determining the x-axis direction according to the second vector; determining a corresponding XOY plane according to the x-axis direction, the first vector and the second vector; determining a z-axis direction from a vector product of the first vector and the second vector based on the XOY plane; and determining the y-axis direction according to the z-axis direction and the x-axis direction so as to calibrate the base coordinate system.

In the embodiment of the present invention, the base coordinate system is a standard xyz spatial coordinate system, which specifically includes three spatial axes of x-axis, y-axis and z-axis.

The second vector is->

In the second direction->

X-axis direction as a base coordinate system of the robot->

Thus, the first vector->

And a second direction quantity->

Finally, the z-axis direction is calculated>

Finally according to>

And &>

I.e. also>

And &>

Determines the y-axis direction->

In some embodiments of the invention, the intersection of the first ray and the second ray is a reference point, the method further comprising: calibrating the origin coordinates of the robot according to the reference points; controlling the robot to drive the tool to start from the origin coordinate and move in the first horizontal plane according to the second track to obtain a fifth intersection point coordinate of the tool and the first light ray and the second light ray; controlling the robot to drive the tool to move in a second horizontal plane according to a third track to obtain a sixth intersection point coordinate of the tool and the first light ray and the second light ray; controlling the robot to drive the tool to move according to the fourth track to obtain a seventh intersection point coordinate of the tool and the first light ray and the second light ray; and determining the coordinate value of the tool according to the fifth intersection point coordinate, the sixth intersection point coordinate and the seventh intersection point coordinate.

In an embodiment of the present invention, the photoelectric sensor includes two laser probes, and the two laser probes respectively emit laser light, specifically, a first light and a second light. The first light ray and the second light ray are on the same horizontal plane, and the first light ray and the second light ray are perpendicular to each other and intersect with each other, so that a cross-shaped light ray distribution is formed on the same horizontal plane. The intersection point of the first light ray and the second light ray is set as a reference point, when the tool of the robot moves to the reference point, the tool is intersected with the first light ray and the second light ray at the same time, and at the moment, the first laser probe and the second laser probe acquire the position information of the tool at the same time.

In determining the coordinate values of the tool, that is, performing the first calibration on the coordinate values of the tool, first, the origin coordinates of the robot are determined. Specifically, the robot is controlled to move the tool to the reference point, and at the moment, the first light ray and the second light ray are both shielded by the tool of the robot. Then, the robot driving tool is controlled to move upward by a distance that passes a preset setting.

It can be understood that the intersection manner of the third track and the fourth track with the first ray and the second ray and the intersection manner of the fourth track with the first ray and the second ray may be the same, for example, the first ray and the second ray crossed in a cross shape are divided into the upper part and the lower part of the first ray according to the intersection point, i.e. the position of the reference point, and the left part and the right part of the second ray, so that the third track and the fourth track first intersect with the upper part of the first ray and the left part of the second ray and then intersect with the lower part of the first ray and the right part of the second ray.

In some embodiments of the invention, the difference in height between the first level and the second level is a first difference.

In the embodiment of the present invention, the height difference between the first horizontal plane and the second horizontal plane, that is, the difference between the coordinates of the first intersection and the coordinates of the second intersection, the z-axis coordinate. The tool is driven to be respectively intersected with the first light ray and the second light ray at different horizontal heights, namely different z-axis coordinate values, so that the x-axis coordinate and the y-axis coordinate of the tool at different z-axes are obtained, the correction accuracy of the tool coordinate values can be improved, and the machining precision and the machining efficiency of the robot are improved.

In some embodiments of the invention, the calibration method further comprises: controlling the robot driving tool to move from the origin coordinate to the reference point; and determining that the tool coordinate calibration is completed based on the first light ray and the second light ray both being blocked by the tool.

In the embodiment of the invention, after the original coordinates of the robot tool are calibrated for the first time or the coordinate values of the tool are calibrated again, the robot is controlled to drive the tool to move and return to the original point, and from the original point, the robot is controlled to drive the tool to move to the reference point again according to the coordinates of the original point and the coordinates of the reference point.

In some embodiments of the invention, the second and third tracks are semi-rectangular tracks and the fourth track is a rectangular track.

In an embodiment of the invention, the second trajectory and the third trajectory each comprise two semi-rectangular trajectories, i.e. the robot driving tool moves in the first horizontal plane resulting in two semi-rectangular trajectories and in the second horizontal plane resulting in two semi-rectangular trajectories.

As shown in fig. 6, a semi-rectangular trajectory includes 3 end points, and the 3 end points are respectively an end point a, an end point b, and an end point c, when the driving tool moves according to the semi-rectangular trajectory, the driving tool starts from the end point a and moves linearly to the end point b, a line segment ab is formed at this time, and then, the driving tool starts from the end point b and moves linearly to the end point c, and a line segment bc is formed. The line segment ab intersects with the first ray, the line segment bc intersects with the second ray, and an included angle between the line segment ab and the line segment bc is 90 degrees.

The fourth track is a rectangular track, the rectangular track is intersected with the first light and the second light simultaneously and forms 4 intersection points, wherein the rectangular track is intersected with the first light twice, the two intersection points are respectively located at the intersection points of the first light and the second light, namely two sides of the datum point, and similarly, the two intersection points of the rectangular track and the second light are also located at two sides of the datum point.

The driving tool moves according to the semi-rectangular track, so that the intersection point between the tool and the light ray can be obtained quickly, the linear distance of movement can be recorded conveniently, the calibration of the tool coordinate value can be completed quickly, and the calibration efficiency of the tool coordinate value is improved.

In some embodiments of the invention, the calibration method further comprises: and calibrating a tool coordinate system of the robot.

In the embodiment of the present invention, the coordinate system of the robot generally includes a tool coordinate system (tool) and a base coordinate system (base), where the tool coordinate system of the robot needs to be calibrated before the robot starts working, so as to improve the machining accuracy of the robot.

In some embodiments of the invention, calibrating the tool coordinate system of the robot comprises: teaching a first point in a base coordinate system; teaching a second point along the negative direction of the z-axis from the first point; and teaching a third point along the positive direction of the x axis from the second point, and calibrating the tool coordinate system according to the first point, the second point and the third point.

In the embodiment of the invention, in the working process of the robot, the coordinate value of the tool of the robot needs to be accurately set, so that the processing precision and the processing accuracy of the robot are ensured. The coordinate values of the tool of the robot are coordinate values in the tool coordinate system, and therefore, the tool coordinate system needs to be calibrated before the robot works.

Then, along the z-axis direction of the basic coordinate system, the robot is controlled to drive the tool for a distance downwards, the tool is taught to reach a second point at the moment, next, along the x-axis direction of the basic coordinate system, the robot is controlled to drive the tool to move for a distance, and a third point reached by the tool at the moment is taught.

Therefore, the first point, the second point and the third point are connected with each other to form a right triangle track in space, the right-angle side of the right triangle perpendicular to the horizontal plane is taken as the z-axis direction of the tool coordinate system, the right-angle side parallel to the horizontal plane is taken as the x-axis direction of the tool coordinate system, and a straight line perpendicular to the x-axis and the z-axis is determined in the plane of the x-axis and is taken as the y-axis direction of the tool coordinate system, so that the calibration of the tool coordinate system of the robot is completed.

Example two

In some embodiments of the invention, the step of calibrating the base coordinate system by the photosensor comprises:

step 1: finishing the teaching of the current tool, and selecting a corresponding tool number in a software interface;

and 2, step: finishing the preliminary teaching of the Base of the current Base coordinate system, and selecting a corresponding Base number in a software interface;

and step 3: teaching three points in a teaching table of software to obtain a Tool direction which is basically vertical and downward;

and 4, step 4: teaching reference points of a current sensor, namely a cross point of the laser sensor and an XHome1 point of one robot, and simultaneously setting the base.A =0, the base.B =0 and the base.C =0 of the current laser sensor L;

and 5: as shown in fig. 6, the robot-mounted tool first follows the semi-rectangular motion trajectory of a → b → c, recording the two coordinates P1 and P2 of (x 1, y1, z 1) and (x 2, y2, z 2), respectively, when the tool triggers the laser line; then, a semi-rectangular motion path of a → d → c is followed, and when the tool is triggered to the laser line, the two coordinates of P3 and P4 of (x 3, y3, z 3) and (x 4, y4, z 4) are recorded, respectively.

Thus, according to the parallel principle, a vector is formed by two points P4 and P1

Vector formed by two points P2 and P3->

And->

X-Axis Direction ^ As calibration Base>

And then->

And &>

The two vectors can form an XOY plane, so that a determination of ÷ in the laser sensor L is made by a vector product>

Finally combined with>

And &>

(i.e. [ means for ] A>

) Vector product determination->

This completes the Base direction calibration.

EXAMPLE III

In some embodiments of the present invention, there is provided a calibration apparatus for a base coordinate of a robot, the robot including a photosensor for generating light, fig. 8 shows a block diagram of the calibration apparatus according to an embodiment of the present invention, and as shown in fig. 8, the calibration apparatus 800 includes: a control module 802 for controlling the robot driving tool to move according to a first trajectory; an obtaining module 804, configured to obtain first coordinate information of an intersection point when the tool passes through the light; a calibration module 806, configured to calibrate the base coordinate system according to the first coordinate information.

In the embodiment of the present invention, the coordinate system of the robot generally includes a tool coordinate system (tool) and a base coordinate system (base), wherein the base coordinate system of the robot needs to be calibrated before the robot starts working, so as to improve the machining accuracy of the robot.

In some embodiments of the present invention, as shown in FIG. 4, the light rays include a first light ray 402 and a second light ray 404, wherein the first light ray 402 and the second light ray 404 intersect perpendicularly; fig. 5 shows one of the schematic diagrams of the motion trajectory of the tool according to the embodiment of the present invention, and fig. 6 shows the second schematic diagram of the motion trajectory of the tool according to the embodiment of the present invention, as shown in fig. 5 and 6, the first trajectory includes a first semi-rectangular trajectory and a second semi-rectangular trajectory.

In an embodiment of the present invention, the photoelectric sensor includes two laser probes, which emit laser light, specifically, a first light and a second light, respectively. The first light ray and the second light ray are on the same horizontal plane, and the first light ray and the second light ray are perpendicular to each other and intersect with each other, so that a cross-shaped light ray distribution is formed on one horizontal plane. The intersection point of the first light ray and the second light ray is set as a reference point, when the tool of the robot moves to the reference point, the tool is intersected with the first light ray and the second light ray at the same time, and at the moment, the first laser probe and the second laser probe acquire the position information of the tool at the same time.

In some embodiments of the invention, the control module is further configured to:

In some embodiments of the invention, the calibration device further comprises: the determining module is used for determining a first vector according to the fourth intersection point coordinate and the first intersection point coordinate; determining a second vector according to the second intersection point coordinate and the third intersection point coordinate; the calibration module is further configured to calibrate the base coordinate system based on the first vector and the second vector.

Specifically, fig. 6 shows a third schematic diagram of the motion trajectory of the tool according to the embodiment of the invention, as shown in fig. 6, when the first intersection point is a, the second intersection point is B, the third intersection point is C, and the fourth intersection point is D, the first vector is

The second vector is->

According to a first vector>

And a second direction quantity>

In some embodiments of the invention, the base coordinate system comprises an x-axis, a y-axis, and a z-axis; the determination module is further configured to: determining an x-axis from the second vector; determining a corresponding XOY plane according to the x-axis, the first vector and the second vector; determining a z-axis from a vector product of the first vector and the second vector based on the XOY plane; the y-axis is determined from the z-axis and the x-axis.

In the embodiment of the present invention, the base coordinate system is a standard xyz spatial coordinate system, which specifically includes three spatial axes of x-axis, y-axis, and z-axis.

After the first vector and the second vector are determined based on the first intersection coordinate, the second intersection coordinate, the third intersection coordinate, and the fourth intersection coordinate, the x-axis direction, the y-axis direction, and the z-axis direction of the basis coordinate system are determined based on the first vector and the second vector.

The second vector is->

In the second direction->

X-axis direction as a base coordinate system of the robot->

Thus, the first vector->

And a second direction quantity>

An XOY plane can be constructed, after which the z-axis direction { (X) } can be determined by means of a vector product>

Finally, the z-axis direction is calculated>

Last according to >>

And &>

I.e. is>

And &>

Determines the y-axis direction->

In some embodiments of the present invention, the intersection point of the first light and the second light is a reference point, and the determining module is further configured to calibrate an origin coordinate of the robot according to the reference point; the control module is further used for controlling the robot to drive the tool to start from the origin coordinate and move in the first horizontal plane according to the second track to obtain a fifth intersection point coordinate of the tool and the first light ray and the second light ray; controlling the robot driving tool to move in a second horizontal plane according to a third track to obtain a sixth intersection point coordinate of the tool and the first light ray and the second light ray; controlling the robot to drive the tool to move according to the fourth track to obtain a seventh intersection point coordinate of the tool and the first light ray and the second light ray; and determining the coordinate value of the tool according to the fifth intersection point coordinate, the sixth intersection point coordinate and the seventh intersection point coordinate.

After the fifth intersection point coordinate and the sixth intersection point coordinate are obtained, the x-axis coordinate and the y-axis coordinate in the current coordinate values of the tool can be calculated according to the origin point coordinate of the robot, and the movement direction and the movement distance of the robot driving tool.

In the embodiment of the present invention, the height difference between the first horizontal plane and the second horizontal plane, that is, the difference in the z-axis coordinate between the first intersection coordinate and the second intersection coordinate. The tool is driven to be respectively intersected with the first light ray and the second light ray at different horizontal heights, namely different z-axis coordinate values, so that the x-axis coordinate and the y-axis coordinate of the tool at different z-axes are obtained, the correction accuracy of the tool coordinate values can be improved, and the machining precision and the machining efficiency of the robot are improved.

In some embodiments of the invention, the control module is further configured to control the robot driving tool to move from the origin coordinate to the reference point; the determination module is further configured to determine that the tool coordinate calibration is complete based on both the first light ray and the second light ray being occluded by the tool.

In some embodiments of the invention, the second track and the third track are semi-rectangular tracks and the fourth track is a rectangular track.

As shown in fig. 5, a semi-rectangular trajectory includes 3 end points, and the 3 end points are respectively an end point a, an end point b, and an end point c, when the driving tool moves according to the semi-rectangular trajectory, the driving tool starts from the end point a and moves linearly to the end point b, a line segment ab is formed at this time, and then, the driving tool starts from the end point b and moves linearly to the end point c, and a line segment bc is formed. The line segment ab intersects with the first ray, the line segment bc intersects with the second ray, and an included angle between the line segment ab and the line segment bc is 90 degrees.

In some embodiments of the invention, the calibration device further comprises: and the calibration module is used for calibrating the tool coordinate system of the robot.

In the embodiment of the present invention, the coordinate system of the robot generally includes a tool coordinate system (tool) and a base coordinate system (base), wherein the tool coordinate system of the robot needs to be calibrated before the robot starts working, so as to improve the machining precision of the robot.

In some embodiments of the invention, the calibration module is further configured to: teaching a first point in a base coordinate system; teaching a second point along the negative direction of the z-axis from the first point; and (5) teaching a third point along the positive direction of the x axis from the second point, and calibrating a tool coordinate system according to the first point, the second point and the third point.

Example four

In some embodiments of the invention, there is provided a robot comprising: a memory for storing programs or instructions; the processor is configured to implement the steps of the calibration method provided in any of the above embodiments when executing the program or the instructions, so that the robot simultaneously includes all the beneficial effects of the calibration method provided in any of the above embodiments, and details are not described herein for avoiding repetition.

EXAMPLE five

In some embodiments of the present invention, a readable storage medium is provided, on which a program or an instruction is stored, and the program or the instruction, when executed by a processor, implements the steps of the calibration method provided in any of the above embodiments, so that the readable storage medium simultaneously includes all the beneficial effects of the calibration method provided in any of the above embodiments, and in order to avoid repetition, details are not described herein again.

EXAMPLE six

In some embodiments of the invention, there is provided a robot comprising: a calibration device for tool coordinates of the robot as provided in any of the above embodiments; and/or a readable storage medium as provided in any of the above embodiments, whereby the robot also comprises calibration means for the robot as provided in any of the above embodiments; and/or the readable storage medium provided in any of the above embodiments, are not described herein in order to avoid repetition.

EXAMPLE seven

In some embodiments of the invention, there is provided a robotic assembly comprising: as for the robot provided in any of the above embodiments, the robot assembly simultaneously has all the advantages of the robot provided in any of the above embodiments, and therefore, for avoiding repetition, the description thereof is omitted.

In the description of the present invention, the terms "plurality" or "a plurality" refer to two or more, and unless otherwise specifically defined, the terms "upper", "lower", and the like indicate orientations or positional relationships based on the orientations or positional relationships illustrated in the drawings, and are only for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention; the terms "connected," "mounted," "secured," and the like are to be construed broadly and include, for example, fixed connections, removable connections, or integral connections; may be directly connected or indirectly connected through an intermediate. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In the description of the present invention, the description of the terms "one embodiment," "some embodiments," "specific embodiments," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In the present invention, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A method of calibrating a robot, the robot including a photosensor for generating light, the method comprising:

controlling the robot driving tool to move according to a first track, and acquiring first coordinate information of an intersection point when the tool passes through the light;

calibrating a base coordinate system of the robot according to the first coordinate information;

the light rays comprise a first light ray and a second light ray, wherein the first light ray and the second light ray are perpendicularly intersected;

the first tracks comprise first semi-rectangular tracks and second semi-rectangular tracks;

an intersection of the first ray and the second ray is a reference point, and the method further comprises:

calibrating the origin coordinates of the robot according to the reference points;

controlling the robot to drive the tool to start from the origin coordinate and move in a first horizontal plane according to a second track to obtain a fifth intersection coordinate of the tool and the first light ray and the second light ray;

controlling the robot to drive the tool to move in a second horizontal plane according to a third track to obtain a sixth intersection point coordinate of the tool and the first light ray and the second light ray;

controlling the robot to drive the tool to move according to a fourth track to obtain a seventh intersection point coordinate of the tool and the first light ray and the second light ray;

determining a coordinate value of the tool according to the fifth intersection point coordinate, the sixth intersection point coordinate and the seventh intersection point coordinate;

controlling the robot to drive the tool to move from the origin coordinate to the reference point;

determining that the tool coordinate calibration is complete based on both the first ray and the second ray being occluded by the tool.

2. The calibration method according to claim 1, wherein the controlling the robot to drive the tool to move according to a first trajectory, and obtaining first coordinate information of an intersection point when the tool passes through the light ray comprises:

controlling the robot to drive the tool to move according to the first semi-rectangular track, and determining a first intersection point coordinate of the tool and the first light ray and a second intersection point coordinate of the tool and the second light ray;

and controlling the robot to drive the tool to move according to the second semi-rectangular track, and determining a third intersection point coordinate of the tool and the second light ray and a fourth intersection point coordinate of the tool and the first light ray.

3. The calibration method according to claim 2, wherein said calibrating the base coordinate system according to the first coordinate information comprises:

determining a first vector according to the fourth intersection point coordinate and the first intersection point coordinate;

determining a second vector according to the second intersection point coordinate and the third intersection point coordinate;

calibrating the base coordinate system according to the first vector and the second vector.

4. The calibration method according to claim 3, wherein the base coordinate system comprises an x-axis, a y-axis, and a z-axis;

said calibrating said base coordinate system according to said first vector and said second vector, comprising:

determining an x-axis direction according to the second vector;

determining a corresponding XOY plane according to the x-axis direction, the first vector and the second vector;

determining a z-axis direction from a vector product of the first vector and the second vector based on the XOY plane;

and determining the y-axis direction according to the z-axis direction and the x-axis direction so as to calibrate the base coordinate system.

5. The calibration method according to claim 1, wherein the second track and the third track are semi-rectangular tracks, and the fourth track is a rectangular track.

6. The calibration method of claim 4, further comprising:

and calibrating a tool coordinate system of the robot.

7. The calibration method according to claim 6, wherein said calibrating the tool coordinate system of the robot comprises:

teaching a first point in the base coordinate system;

teaching a second point along the negative direction of the z-axis from the first point;

and starting from the second point, teaching a third point along the positive direction of the x axis, and calibrating the tool coordinate system according to the first point, the second point and the third point.

8. A calibration device for a robot, the robot including a photosensor for generating light, the calibration device comprising:

the control module is used for controlling the robot driving tool to move according to a first track;

the acquisition module is used for acquiring first coordinate information of an intersection point when the tool passes through the light;

the calibration module is used for calibrating a base coordinate system of the robot according to the first coordinate information;

the intersection point of the first light ray and the second light ray is a reference point;

the determining module is used for calibrating the origin coordinates of the robot according to the reference points;

the control module is further configured to:

controlling the robot to drive the tool to move according to a fourth track to obtain a seventh intersection point coordinate of the tool and the first light ray and the second light ray; determining a coordinate value of the tool according to the fifth intersection point coordinate, the sixth intersection point coordinate and the seventh intersection point coordinate;

the determination module is further configured to determine that the tool coordinate calibration is complete based on both the first ray and the second ray being occluded by the tool.

9. A robot, comprising:

a memory for storing programs or instructions;

a processor for implementing the steps of the calibration method of any one of claims 1 to 7 when executing the program or instructions.

10. A readable storage medium on which a program or instructions are stored, characterized in that said program or instructions, when executed by a processor, implement the steps of the calibration method according to any one of claims 1 to 7.

11. A robot, comprising:

a calibration device of the robot according to claim 8; and/or

The readable storage medium of claim 10.

12. A robotic assembly, comprising:

the robot of claim 9; and/or

The robot of claim 11.