CN112114909B - Mechanical arm correction system and mechanical arm correction method - Google Patents
Mechanical arm correction system and mechanical arm correction method Download PDFInfo
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- CN112114909B CN112114909B CN201910962038.XA CN201910962038A CN112114909B CN 112114909 B CN112114909 B CN 112114909B CN 201910962038 A CN201910962038 A CN 201910962038A CN 112114909 B CN112114909 B CN 112114909B
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- 238000000034 method Methods 0.000 title claims abstract description 26
- 230000009471 action Effects 0.000 claims abstract description 86
- 230000004044 response Effects 0.000 claims description 5
- 238000001514 detection method Methods 0.000 claims description 4
- 230000033001 locomotion Effects 0.000 description 9
- 238000010586 diagram Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 239000007787 solid Substances 0.000 description 2
- 230000007774 longterm Effects 0.000 description 1
- 238000005297 material degradation process Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
Classifications
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F9/00—Arrangements for program control, e.g. control units
- G06F9/06—Arrangements for program control, e.g. control units using stored programs, i.e. using an internal store of processing equipment to receive or retain programs
- G06F9/44—Arrangements for executing specific programs
- G06F9/448—Execution paradigms, e.g. implementations of programming paradigms
- G06F9/4482—Procedural
-
- 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
-
- 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
- B25J19/02—Sensing devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1692—Calibration of manipulator
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Software Systems (AREA)
- Theoretical Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- General Engineering & Computer Science (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Manipulator (AREA)
Abstract
A robot calibration system and a robot calibration method are provided. The mechanical arm correction method comprises the following steps: performing, by the robotic arm, a first action corresponding to the first X-Y plane; detecting whether the mechanical arm is positioned in a sensing range by a sensor; judging a first execution time of the first action according to the time point when the mechanical arm leaves the sensing range and returns to the sensing range during the first action executed by the mechanical arm; and comparing the first execution time with the first reference time to judge whether the mechanical arm needs to be corrected.
Description
Technical Field
The present invention relates to a technique for calibrating a robot, and more particularly, to a robot calibration system and a robot calibration method.
Background
The long term operation may result in robot wear. For example, the robot arm may shift due to mechanical wear or material degradation. For some processes requiring very precise robot operations, these deviations often cause process anomalies.
Disclosure of Invention
In view of the above, the present invention provides a robot calibration system and a robot calibration method, which can perform a predetermined action after the robot is started, thereby calibrating the robot.
The invention discloses a mechanical arm correction system, which comprises a mechanical arm, a sensor and a processor. The robot performs a first action corresponding to the first X-Y plane. The sensor detects whether the mechanical arm is located in the sensing range. The processor is coupled to the robot arm and the sensor, wherein the processor is configured to perform: judging a first execution time of the first action according to the time point when the mechanical arm leaves the sensing range and returns to the sensing range during the first action executed by the mechanical arm; and comparing the first execution time with the first reference time to judge whether the mechanical arm needs to be corrected.
In an embodiment of the invention, the robot calibration system further includes a storage medium. The storage medium is coupled to the processor, wherein the first reference time is pre-stored in the storage medium.
In one embodiment of the invention, after the robot performs the first action, the robot moves along the Z-axis and then performs a second action corresponding to a second X-Y plane, and the processor is further configured to perform: judging a second execution time of the second action according to the time point when the mechanical arm leaves the sensing range and returns to the sensing range during the second action of the mechanical arm; and comparing the second execution time with the second reference time to determine whether the robot arm needs to be corrected.
In an embodiment of the invention, the processor is coupled to the output device, and the processor sends a prompt through the output device in response to determining that the robot arm needs to be corrected.
In an embodiment of the invention, the sensor is a laser sensor, and the sensor is configured to emit a laser beam for detection to the sensing range.
The mechanical arm correction method of the invention is suitable for mechanical arms and comprises the following steps: performing, by the robotic arm, a first action corresponding to the first X-Y plane; detecting whether the mechanical arm is positioned in a sensing range by a sensor; judging a first execution time of the first action according to the time point when the mechanical arm leaves the sensing range and returns to the sensing range during the first action executed by the mechanical arm; and comparing the first execution time with the first reference time to judge whether the mechanical arm needs to be corrected.
In an embodiment of the invention, the method for calibrating a robot further includes: the first reference time is pre-stored in a storage medium.
In an embodiment of the invention, the method for calibrating a robot further includes: after the first action is performed by the robotic arm, moving along the Z axis by the robotic arm and then performing a second action corresponding to the second X-Y plane; judging a second execution time of the second action according to the time point when the mechanical arm leaves the sensing range and returns to the sensing range during the second action of the mechanical arm; and comparing the second execution time with the second reference time to determine whether the robot arm needs to be corrected.
In an embodiment of the invention, the method for calibrating a robot further includes: a prompt is issued via the output device in response to determining that the robotic arm needs to be corrected.
In an embodiment of the invention, the sensor is a laser sensor, and the sensor is configured to emit a laser beam for detection to the sensing range.
Based on the above, the robot calibration system of the present invention can determine whether the robot needs to be calibrated according to the execution time of the preset actions of the robot.
In order to make the above features and advantages of the present invention more comprehensible, embodiments accompanied with figures are described in detail below.
Drawings
FIG. 1 is a schematic diagram of a robot calibration system according to an embodiment of the invention.
FIG. 2 illustrates a top view of a robot according to an embodiment of the invention.
FIG. 3 is a flowchart of a robot calibration method according to an embodiment of the invention.
10: mechanical arm correction system
100: processor and method for controlling the same
200: storage medium
300: sensor device
310: laser beam
400: mechanical arm
EP: sensing range
S301, S303, S305, S307: step (a)
Detailed Description
In order that the invention may be more readily understood, the following examples are provided as illustrations of the true practice of the invention. In addition, wherever possible, the same reference numbers are used in the drawings and the embodiments to refer to the same or like parts.
FIG. 1 is a schematic diagram of a robot calibration system 10 according to an embodiment of the invention. The robot calibration system 10 includes a processor 100, a storage medium 200, a sensor 300, and a robot 400.
The processor 100 is coupled to the storage medium 200, the sensor 300, and the robot 400. The processor 100 is, for example, a central processing unit (central processing unit, CPU), or other programmable general purpose or special purpose micro control unit (micro control unit, MCU), microprocessor (microprocessor), digital signal processor (digital signal processor, DSP), programmable controller, application specific integrated circuit (application specific integrated circuit, ASIC), graphics processor (graphics processing unit, GPU), arithmetic logic unit (arithmetic logic unit, ALU), complex programmable logic device (complex programmable logic device, CPLD), field programmable logic gate array (field programmable gate array, FPGA), or other similar element or combination of elements.
The storage medium 200 is, for example, any type of fixed or removable random access memory (random access memory, RAM), read-only memory (ROM), flash memory (flash memory), hard Disk Drive (HDD), solid state disk (solid state drive, SSD), or the like or a combination thereof, and is used to store a plurality of modules or various applications executable by the robot calibration system 10 or the processor 100.
The sensor 300 is used for detecting whether the robot 400 is located at a specific position. Specifically, the sensor 300 is a laser sensor configured to emit a laser beam 310 for detecting the robot 400 to a specific position on the X-Y plane to form a sensing range on the X-Y plane. Fig. 2 illustrates a top view of a robot 400 according to an embodiment of the invention. As shown in fig. 2, when the robot 400 is at a specific position within the sensing range EP, the sensor 300 can detect the presence of the robot 400 by the laser beam 310. In contrast, when the robot 400 is not at a specific position within the sensing range EP, the laser beam 310 of the sensor 300 cannot detect the existence of the robot 400. It should be noted that the size of the sensing range EP may be related to the setting position of the sensor 300 or the shape of the robot 400.
Please refer to fig. 1 and fig. 2, wherein X, Y and Z in fig. 1 and fig. 2 represent three coordinate axes of the rectangular coordinate system. The storage medium 200 may pre-store a lookup table associated with the motion of the robot and its corresponding reference time, as shown in table 1, wherein the lookup table may be considered as a table describing the calibration procedure of the robot 400. It should be noted that, in the present embodiment, the reference time described in table 1 is accumulated from the beginning of the calibration procedure of the robot 400 (but the invention is not limited thereto). If the robot 400 has an offset, the offset corresponding to each action will cause a time difference between the execution time of the action and the corresponding reference time. Thus, the later performed actions accumulate time differences corresponding to the previous actions. In other words, the execution time of an action performed later may deviate from the reference time corresponding to the action.
TABLE 1
| Action | Reference time |
| First movement: move +10 cm along X axis | 9-15 seconds |
| And a second action: move along Y-axis by-10 cm | 14-20 seconds |
| Third action: move along Z axis by-15 cm | 19-30 seconds |
| Fourth action: move +10 cm along X axis | 29 to 35 seconds |
| Fifth action: move along Y-axis by-10 cm | 34-40 seconds |
| … | … |
In this embodiment, after the robot 400 is started, the processor 100 of the robot calibration system 10 can control the robot 400 to sequentially perform the actions as shown in table 1, so as to perform the calibration procedure of the robot 400.
Specifically, after the robot 400 is started, the processor 100 may control the robot 400 to perform the first movement according to table 1. During the first movement, the robot arm 400 moves +10 cm along the X-axis, leaving the sensing range EP of the sensor 300. The robot 400 then moves-10 cm along the X-axis for homing. After the robot 400 is reset, the robot 400 will return to the sensing range EP of the sensor 300 and the first action will end.
During the first action performed by the robot 400, the processor 100 may determine a first execution time of the first action according to a time point when the robot 400 leaves the sensing range EP and returns to the sensing range EP. Then, the processor 100 can compare the first execution time with the reference time corresponding to the first action in table 1 to determine whether the robot needs to be calibrated. For example, during the first action performed by the robot 400, if the processor 100 detects that the robot 400 leaves the sensing range EP at 10.5 seconds and returns to the sensing range EP at 14.5 seconds through the sensor 300, the processor 100 may determine that there is no offset of the robot 400 or the offset of the robot 400 has not reached the level that needs to be corrected based on the first execution time of the robot 400 used for performing the first action being within 10-15 seconds of the reference time. In contrast, if the processor 100 detects that the robot 400 leaves the sensing range EP at 10 seconds and returns to the sensing range EP at 15.5 seconds through the sensor 300, the processor 100 may determine that the robot 400 needs to perform the correction based on the first execution time used by the robot 400 to perform the first action being outside the reference time of 10-15 seconds.
In the above description, since the processor 100 needs to determine whether the robot arm 400 needs to be corrected according to the point in time when the robot arm 400 leaves or returns to the sensing range EP. Thus, each action for the X-axis (e.g., the first action or the fourth action shown in Table 1) needs to be configured to completely move the robot arm 400 away from the sensing range EP of the sensor 300. If the processor 100 detects an action of the robot 400 along the X-axis through the sensor 300, but the action does not leave the robot 400 from the sensing range EP, the processor 100 may determine that the action is an ineffective action.
After the first action is performed, the processor 100 may control the robot 400 to perform the second action according to table 1. The processor 100 may determine that there is no offset in the robot 400 or that the offset in the robot 400 has not been corrected to the extent that it is necessary to correct the offset based on the second execution time for the robot 400 to execute the second action being within 14-20 seconds of the reference time. In contrast, the processor 100 may determine that the calibration of the robot 400 is required based on the second execution time of the second action performed by the robot 400 being 14-20 seconds longer than the reference time.
In the above description, since the processor 100 needs to determine whether the robot 400 needs to be corrected according to the point in time when the robot 400 leaves or returns to the sensing range EP. Thus, each action for the Y-axis (e.g., the second action or the fifth action shown in Table 1) needs to be configured to completely leave the sensing range EP of the sensor 300 by the robot arm 400. If the processor 100 detects an action of the robot 400 along the Y-axis through the sensor 300, but the action does not leave the robot 400 from the sensing range EP, the processor 100 may determine that the action is an ineffective action.
After performing the first and second actions corresponding to the X-Y plane, the processor 100 may control the robot 400 to perform a third action, thereby moving the robot 400 along the Z-axis by-15 cm. The third action also includes a homing indication of the robotic arm 400, so that the third action ends after the robotic arm 400 moves-15 cm along the Z-axis. During the execution of the third action, the robot arm 400 will not leave the sensing range EP of the sensor 300. Therefore, the processor 100 cannot determine whether the robot 400 needs to be corrected according to the time point when the robot 400 leaves the sensing range EP or returns to the sensing range EP. In contrast, the processor 100 directly measures the distance traveled by the robot 400 in the Z-axis by the laser beam 310 of the sensor 300. The processor 100 may determine that there is no offset in the robot 400 or that the offset in the robot 400 has not yet been corrected to the extent that it is necessary to correct, based on the third execution time for the robot 400 to execute the third action being within 19-30 seconds of the reference time. In contrast, the processor 100 may determine that the calibration of the robot 400 is required based on the third execution time of the robot 400 being 19-30 seconds longer than the reference time.
After the third action is performed, the processor 100 may control the robot 400 to sequentially perform the fourth action, the fifth action, the … actions, etc. as shown in table 1, until the calibration procedure of the robot 400 is completed. It should be noted that, although in the present embodiment, the fourth motion is the same as the first motion (but the two motions respectively correspond to different X-Y planes), the present invention is not limited thereto. For example, the fourth action may be 'move +20 cm along the X-axis' different from the first action.
In some embodiments, the processor 100 may be coupled to an output device such as a screen or speaker. In response to processor 100 determining that manipulator 400 needs to be calibrated, processor 100 may issue a prompt via the output device to instruct the operator to calibrate manipulator 400.
FIG. 3 is a flow chart of a robot calibration method according to an embodiment of the invention, wherein the robot calibration method is suitable for a robot, and the robot calibration method can be implemented by the robot calibration system 10 shown in FIG. 1. In step S301, a first action corresponding to a first X-Y plane is performed by the robot 400. In step S303, the sensor 300 detects whether the robot 400 is located within the sensing range EP. In step S305, during the first movement performed by the robot 400, a first execution time of the first movement is determined according to the time points when the robot 400 leaves the sensing range EP and returns to the sensing range EP. In step S307, the first execution time and the first reference time are compared to determine whether the robot 400 needs to be corrected.
In summary, the robot calibration system of the present invention can detect the execution time of the robot to execute the predetermined action by the laser beam sensor, and determine whether the execution time of the action is within the error range according to the lookup table. If the execution time of the action exceeds the error range, the processor can judge that the mechanical arm possibly needs to be corrected, and notify the judgment result to the operator of the mechanical arm.
Although the present invention has been described with reference to the above embodiments, it should be understood that the invention is not limited thereto, but rather is capable of modification and variation without departing from the spirit and scope of the present invention.
Claims (8)
1. A robotic arm correction system, comprising:
a robotic arm performing a first action corresponding to a first X-Y plane, wherein after the robotic arm performs the first action, the robotic arm moves along a Z-axis and then performs a second action corresponding to a second X-Y plane;
the sensor is used for detecting whether the mechanical arm is positioned in a sensing range; and
a processor coupled to the robotic arm and the sensor, wherein the processor is configured to perform:
judging a first execution time of the first action according to a time point when the mechanical arm leaves the sensing range and returns to the sensing range during the first action executed by the mechanical arm;
comparing the first execution time with a first reference time to determine whether the robotic arm needs to be corrected;
judging a second execution time of the second action according to a time point when the mechanical arm leaves the sensing range and returns to the sensing range during the second action of the mechanical arm; and
comparing the second execution time with a second reference time to determine whether the robot arm needs to be corrected.
2. The robot calibration system of claim 1, further comprising:
and a storage medium coupled to the processor, wherein the first reference time is pre-stored in the storage medium.
3. The robotic arm correction system according to claim 1, wherein the processor is coupled to an output device, and the processor issues a prompt through the output device in response to determining that the robotic arm needs to be corrected.
4. The robot calibration system of claim 1, wherein the sensor is a laser sensor and the sensor is configured to direct a detection laser beam to the sensing range.
5. A method for calibrating a robot arm, comprising:
performing, by the robotic arm, a first action corresponding to a first X-Y plane, wherein after the robotic arm has performed the first action, moving, by the robotic arm, along a Z-axis and then performing a second action corresponding to a second X-Y plane;
detecting whether the mechanical arm is positioned in a sensing range by a sensor;
judging a first execution time of the first action according to a time point when the mechanical arm leaves the sensing range and returns to the sensing range during the first action executed by the mechanical arm;
comparing the first execution time with a first reference time to determine whether the robotic arm needs to be corrected;
judging a second execution time of the second action according to a time point when the mechanical arm leaves the sensing range and returns to the sensing range during the second action of the mechanical arm; and
comparing the second execution time with a second reference time to determine whether the robot arm needs to be corrected.
6. The method of claim 5, further comprising:
the first reference time is pre-stored in a storage medium.
7. The method of claim 5, further comprising: a prompt is issued via an output device in response to determining that the robotic arm needs to be corrected.
8. The method of claim 5, wherein the sensor is a laser sensor and the sensor is configured to direct a detection laser beam to the sensing range.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| TW108121408 | 2019-06-20 | ||
| TW108121408A TWI693133B (en) | 2019-06-20 | 2019-06-20 | Robot arm calibration system and method of robot arm calibration |
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| Publication Number | Publication Date |
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| CN112114909A CN112114909A (en) | 2020-12-22 |
| CN112114909B true CN112114909B (en) | 2024-03-15 |
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| CN201910962038.XA Active CN112114909B (en) | 2019-06-20 | 2019-10-11 | Mechanical arm correction system and mechanical arm correction method |
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| TW (1) | TWI693133B (en) |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN112114909A (en) | 2020-12-22 |
| TW202100327A (en) | 2021-01-01 |
| TWI693133B (en) | 2020-05-11 |
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