CN113932717A

CN113932717A - Robot precision verification system and method

Info

Publication number: CN113932717A
Application number: CN202111407152.XA
Authority: CN
Inventors: 桂领航
Original assignee: Wuhan United Imaging Zhirong Medical Technology Co Ltd
Current assignee: Wuhan United Imaging Zhirong Medical Technology Co Ltd
Priority date: 2021-11-24
Filing date: 2021-11-24
Publication date: 2022-01-14
Anticipated expiration: 2041-11-24
Also published as: CN113932717B

Abstract

The application relates to a robot precision verification system and a method, wherein the robot precision verification system comprises: execution module, verification module and judgement module, execution module sets up at the robot end, wherein: the verification module is provided with a simulation path; the execution module is used for receiving a control instruction and moving to a position corresponding to the simulation path based on the control instruction; the judging module is used for judging whether the executing module can pass through the simulation path or not and determining the precision of the robot based on the judging result. By the method and the device, the problem of a traditional robot precision verification method is solved, and efficient and accurate verification of robot precision is achieved.

Description

Robot precision verification system and method

Technical Field

The application relates to the technical field of intelligent robots, in particular to a robot precision verification system and method.

Background

Along with the continuous development of science and technology, the intensity of industrial automation is higher and higher, and the manufacturing industry develops towards more flexible direction and becomes a big trend, and the robot is the flexible arm of multiaxis linkage, collects flexibility, precision, intellectuality in an organic whole, has very high repeated positioning accuracy. In order to accomplish various tasks, various tools, such as a welding gun of an industrial robot, a surgical instrument of the robot, etc., need to be installed at the tail end of the robot.

Before the robot is put into operation formally, the accuracy of the robot needs to be measured so that a user can know the performance of the robot.

The traditional robot precision verification mode usually needs user intervention, so that the verification process is complex, is easily influenced by human factors, and has low accuracy.

Aiming at the problems that the traditional robot precision verification mode in the related technology is complex in verification process, easy to be influenced by human factors and low in accuracy, an effective solution is not provided at present.

Disclosure of Invention

The embodiment provides a robot precision verification system and a robot precision verification method, which are used for solving the problems that a traditional robot precision verification mode in the related art is complex in verification process, easy to be influenced by human factors and low in accuracy.

In a first aspect, in this embodiment, a robot precision verification system is provided, including an execution module, a verification module, and a determination module, where the execution module is disposed at a terminal of a robot, where:

the verification module is provided with a simulation path;

the execution module is used for receiving a control instruction and moving to a position corresponding to the simulation path based on the control instruction;

the judging module is used for judging whether the executing module can pass through the simulation path or not and determining the precision of the robot based on the judging result.

In some of these embodiments, the simulated path includes holes of different diameters, different angles, and different depths.

In some embodiments, the execution module comprises a laser transmitter configured to transmit laser light to a set hole along a set angle based on the control instruction.

In some embodiments, the determining module includes a laser receiver for receiving the laser light passing through the hole and determining the accuracy of the robot based on the laser light reception.

In some of these embodiments, the execution module includes a probe for passing through a set hole at a set angle based on the control command.

In some embodiments, the determining module includes a pressure sensing unit disposed at the bottom of each of the holes for determining whether the probe passes through a set hole, and determining the accuracy of the robot based on the probe passing condition.

In some of these embodiments, the verification module further comprises a positioning unit, and the robot performs position calibration with the verification module through the positioning unit.

In a second aspect, in this embodiment, a robot precision verification method is provided, including:

controlling the execution module to move to a position corresponding to the simulation path based on the control instruction;

and judging whether the execution module can pass through the simulation path or not, and determining the precision of the robot based on the judgment result.

In one embodiment, the simulation path includes holes with different diameters, different angles, and different depths, and the controlling the execution module to move to the position corresponding to the simulation path based on the control instruction includes: and controlling the execution module to sequentially move to the positions of the corresponding holes in the order of the diameters from small to large based on the control instruction, and executing a verification action.

In one embodiment, the determining the accuracy of the robot based on the determination result includes: determining a hole with the smallest diameter in holes through which the execution module can pass as a target hole; determining the diameter of the target hole as the accuracy of the robot.

In a third aspect, in this embodiment, there is provided an electronic apparatus, including a memory, a processor, and a computer program stored on the memory and executable on the processor, where the processor implements the robot precision verification method according to the second aspect when executing the computer program.

In a fourth aspect, in the present embodiment, there is provided a storage medium having stored thereon a computer program which, when executed by a processor, implements the robot precision verification method of the second aspect described above.

Compared with the related art, the robot precision verification system and method provided in the embodiment include an execution module, a verification module and a judgment module, wherein the execution module is arranged at the tail end of the robot, and the execution module comprises: the verification module is provided with a simulation path; the execution module is used for receiving a control instruction and moving to a position corresponding to the simulation path based on the control instruction; the judging module is used for judging whether the execution module can pass through the simulation path or not, and determining the precision of the robot based on the judging result, so that the automatic verification of the robot precision is realized, and the efficiency and the accuracy of the robot precision verification are improved.

The details of one or more embodiments of the application are set forth in the accompanying drawings and the description below to provide a more thorough understanding of the application.

Drawings

The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:

FIG. 1 is a schematic diagram of a robot accuracy verification system according to an embodiment of the present application;

FIG. 2 is a schematic diagram of accuracy verification of a robot accuracy verification system according to an embodiment of the application;

FIG. 3 is a schematic illustration of accuracy verification of a robot accuracy verification system according to another embodiment of the present application;

fig. 4 is a flowchart of a robot precision verification method according to an embodiment of the present application.

Detailed Description

For a clearer understanding of the objects, aspects and advantages of the present application, reference is made to the following description and accompanying drawings.

Unless defined otherwise, technical or scientific terms used herein shall have the same general meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The use of the terms "a" and "an" and "the" and similar referents in the context of this application do not denote a limitation of quantity, either in the singular or the plural. The terms "comprises," "comprising," "has," "having," and any variations thereof, as referred to in this application, are intended to cover non-exclusive inclusions; for example, a process, method, and system, article, or apparatus that comprises a list of steps or modules (elements) is not limited to the listed steps or modules, but may include other steps or modules (elements) not listed or inherent to such process, method, article, or apparatus. Reference throughout this application to "connected," "coupled," and the like is not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. Reference to "a plurality" in this application means two or more. "and/or" describes an association relationship of associated objects, meaning that three relationships may exist, for example, "A and/or B" may mean: a exists alone, A and B exist simultaneously, and B exists alone. In general, the character "/" indicates a relationship in which the objects associated before and after are an "or". The terms "first," "second," "third," and the like in this application are used for distinguishing between similar items and not necessarily for describing a particular sequential or chronological order.

With the continuous development of science and technology, the intensity of industrial automation is higher and higher, and the manufacturing develops into a trend towards more flexible direction, and the robot is the flexible arm of multiaxis linkage, collects flexibility, precision, intellectuality in an organic whole, needs very high positioning accuracy. The robot needs to detect the position precision before working, so as to ensure the working precision of the robot. The traditional robot precision verification process is extremely complex, is easily influenced by human factors, and is not high in accuracy. Therefore, an efficient and accurate robot precision verification method is needed.

In this embodiment, a robot precision verification system is provided, fig. 1 is a schematic structural diagram of a robot precision verification system according to an embodiment of the present application, and as shown in fig. 1, the robot precision verification system includes an execution module 100, a verification module 200, and a judgment module 200, where the execution module 100 is disposed at a terminal of a robot, where: the verification module 200 is provided with an analog path; the execution module 100 is configured to receive a control instruction, and move to a position corresponding to the simulation path based on the control instruction; the judging module 200 is configured to judge whether the executing module 100 can pass through the simulation path, and determine the precision of the robot based on the judgment result.

Specifically, in an actual application scenario of the robot, various different tools, such as a welding gun of an industrial robot, a surgical instrument of a surgical robot, etc., may be installed at the end of the robot according to business requirements, and after the tool is replaced or adjusted, the position of the actual working point of the robot relative to the end of the robot may change. Therefore, the execution module 100 is disposed at the end of the robot to simulate the position of the actual working point when the robot works. The verification module 200 is configured to simulate a working object of the robot, where the simulation path simulates an entire path through which the working object is to be processed in an actual working process of the robot, and the robot needs to adjust its pose when passing through the path. For example, in a surgical robot application scenario in the field of medical instruments, the verification module 200 is to verify the precision of an execution path of a surgical robot during a working process, and both the position and the posture of a surgical robot tip may affect the precision. The simulation path set by the verification module 200 is not only used for confirming the space position of the tail end of the surgical robot, but also used for simulating the focus of different positions of a patient in the surgery. The determination module 200 determines the accuracy of the robot by performing the simulated path-through of the module 100 in the verification module 200. Furthermore, the execution module 100 of the robot may simulate the path by a physical mechanical component penetrating the simulated path, for example, a probe penetrating the simulated path to the bottom of the verification module 200; it may also be that a non-physical mechanical structure traverses the analog path, such as the execution module 100 emitting a laser and the laser tube beam traversing the analog path to the bottom of the verification module 200.

Through the device, the robot precision verification system of the embodiment of the application controls the execution module 100 to enter the simulated aperture in the verification module 200 by setting the execution module 100, the verification module 200 and the judgment module 300, and determines the precision of the surgical robot by acquiring the passing condition of the execution module 100 in the simulated aperture through the judgment module 300, so that the verification efficiency and the verification accuracy of the robot precision are improved.

In some of these embodiments, the simulated path includes holes of different diameters, different angles, and different depths. Specifically, the robot executes corresponding actions based on the acquired control commands during the working process. Since the jig is generally disposed at the end of the robot, the robot needs to adjust the position and posture of the end when performing an operation. The fixture is used as a tool to assist in controlling position and/or motion. The holes with different diameters, different angles and different depths are arranged in the verification module, and the execution modules of the robot, such as jigs and the like, are controlled to enter the holes, so that whether the pose of the jig meets the precision standard or not in the process of executing different control instructions of the robot can be judged, and the precision of the robot is determined.

In one embodiment, the simulated path may be provided with different levels of precision, each level of precision corresponding to one or more diameters, angles, and depths of the holes. When each precision level corresponds to a hole with a diameter, an angle and a depth, the diameter of the hole represents the current verification precision. When each precision grade corresponds to holes with the same diameter and various angles and depths, the precision of the current robot is corresponding to the precision grade of the hole only when the execution module can pass through all the holes with the same diameter. The robot precision verification process can be verified in the sequence from high precision grade to low precision grade, and can also be verified in the sequence from low precision grade to high precision grade. Taking the sequence from low to high according to the precision grade, namely the sequence from large to small according to the diameter of the hole as an example, the precision verification process of the robot is as follows: when the execution module passes through all holes of the current precision grade, the current robot precision grade is determined to be the first precision grade, the execution module is controlled to enter the holes corresponding to the second precision grade, wherein the second precision grade is higher than the first precision grade, and the higher the grade is, the higher the robot precision is. And if the execution module fails to pass through a certain hole in the second precision grade, determining that the precision grade of the robot is the first precision grade. And if the execution module can pass through all holes corresponding to the second precision grade, determining that the current robot precision grade is the second precision grade, controlling the execution module to enter the holes corresponding to the higher precision grade, and determining the precision grade of the robot again according to the passing condition of the execution module until the execution module cannot pass through one hole. By setting the method for setting various holes under the same precision grade, the robot can complete various specified actions under the same precision verification condition, and the accuracy of precision verification is ensured. The robot precision verification method has the advantages that the robot precision verification efficiency is guaranteed by automatically verifying to a higher precision grade after the control execution equipment reaches a certain precision standard.

In one embodiment, when the robot precision verification method is applied to a surgical robot scene, the near end of the hole, namely the entrance of the hole corresponding to the execution equipment, can be used for simulating a craniotomy point of a patient in a surgical process; the distal end of the aperture, i.e., the exit of the aperture corresponding to the performing device, may be used to simulate a target site during a surgical procedure, i.e., a location of a lesion at a target site on a patient. The holes with different diameters are used for verifying the precision of the surgical robot, and the holes with different depths and different angles are used for simulating target points and surgical paths of different positions of a patient. The precision verification of the surgical robot in the medical scene is realized.

In one embodiment, the execution module includes a laser transmitter configured to transmit laser light to a set hole along a set angle based on the control instruction.

In one embodiment, the determining module includes a laser receiver for receiving the laser light passing through the hole and determining the accuracy of the robot based on the laser light receiving condition.

Specifically, fig. 2 is a schematic precision verification diagram of a robot precision verification system according to an embodiment of the present application, and as shown in fig. 2, the robot precision verification system includes a surgical robot, a terminal tool, a sensor structure, a laser transmitter, a slit plate, a precision verification tool, and a laser receiver. The end tool is arranged at the end of the surgical robot, and in practical application, the end tool can be replaced by various jigs such as scalpels, tweezers, scissors and the like according to the application of the surgical robot. The laser emitter is fixed on the end tool of the surgical robot through a sensor structural part, the sensor structural part has a fine adjustment function, the position and the direction of a light beam emitted by the laser emitter can be adjusted, the laser emitter is provided with a slit plate, the width of the slit plate can be adjusted according to the actual service condition, and the preferable slit width is 0.1 mm. The slit plate is used to limit the diameter of the laser beam. And the precision verification tool is a verification module. The precision verification tool is made of a metal material so as to avoid unnecessary damage caused by laser ablation. Holes with different diameters, different angles and different depths are arranged on the precision verification tool, and the holes are simulation paths. And a laser receiver is fixed at the bottom of each hole. The laser receiver is a judging module for judging whether the laser penetrates the verification module. The surgical robot obtains the position of each hole through positioning, then the surgical robot automatically moves the laser emitter, verification is carried out according to the diameter of the hole from small to large, the diameter of the hole corresponds to the precision grade of the robot, and the smaller the diameter of the hole is, the higher the precision of the robot is. Whether the precision verification passes or not can be judged by judging whether the laser receiver receives light, for example, if the light beam emitted by the laser emitter can pass through all holes with different angles and different depths of a certain diameter d, the verification precision of the surgical robot is represented to be less than or equal to d. When other non-entity precision verification modes are adopted, the judgment module is correspondingly adjusted to be adaptive to the non-entity mode adopted by the execution module.

In one embodiment, the execution module comprises a probe, and the probe is used for penetrating through a set hole along a set angle based on the control command.

Specifically, fig. 3 is a schematic diagram of precision verification of a robot precision verification system according to another embodiment of the present application, and as shown in fig. 3, the apparatus includes a surgical robot, a tip tool, a probe, and a precision verification workpiece. The end tool is arranged at the end of the surgical robot, and the end tool is provided with a probe as an execution module. The precision verification tool is used as a verification module, and holes with different diameters, different angles and different depths are formed in the precision verification tool to serve as simulation paths. The precision verification tool can be made of non-transparent materials or transparent materials. Preferably, when the execution module is a probe, the precision verification tool can be made of a transparent material. The user controls the probe movement manually or the system automatically, and the accuracy of the surgical robot is verified by observing whether the probe can pass through the hole with the specified size completely during the probe movement.

In one embodiment, the judging module includes a pressure sensing unit disposed at the bottom of each of the holes for judging whether the probe passes through a set hole, and judging the accuracy of the robot based on the probe passing condition. Specifically, the pressure sensing unit can be a pressure sensor, and the pressure sensing unit is used for determining whether the probe penetrates through the set hole and reaches the bottom of the precision verification tool, so that the precision verification of the robot is realized. The application of the pressure-sensitive unit enables the probe to be used for precision verification without being limited by manufacturing materials of the precision verification tool, and even if the precision verification tool is made of non-transparent materials, the pressure-sensitive unit can also feed back the passing condition of the probe in the set hole, so that the adaptability and the usability of the robot precision verification system are improved.

Specifically, the positioning unit is an image acquisition module, such as an optical camera, a CCD sensor, or the like. And completing position calibration on the robot and the image acquisition module in advance. The verification module is provided with a mark point, and the image acquisition module finishes the position calibration between the image acquisition module and the verification module by shooting a verification module image containing the mark point, so that the position calibration between the robot and the verification module is realized.

The mark points on the verification module are marks with surfaces covered with special reflective materials, and the common shapes are spherical and hemispherical. In the field of motion information acquisition, such as three-dimensional motion capture, three-dimensional gait analysis, etc., usually, a mark point is pasted on a capture object, and the mark point can reflect light rays emitted by a device. The reflected data is received by the equipment, and then the received data is processed, so that the position information of the object can be obtained.

In a specific embodiment, a robot coordinate system and a camera coordinate system are established in advance, the robot coordinate system and the camera coordinate system are calibrated, the robot coordinate system and the camera coordinate system are unified, and spatial coordinates of the robot and the camera in the unified coordinate system are determined. And acquiring an image of the verification module through a camera. The verification module is provided with spherical mark points. According to the position of the spherical mark point in the image of the verification module, the space coordinate of the spherical mark point in the camera coordinate system can be determined, and as the robot coordinate system and the camera coordinate system are calibrated, the space coordinate of the spherical mark point in the camera coordinate system can be converted into the space coordinate in the unified coordinate system, so that the position calibration of the verification module and the robot is realized, and a reference basis is provided for subsequent precision verification and the movement of a laser emitter or a probe.

In another specific embodiment, a robot coordinate system is established in advance, a probe is arranged at the tail end of the robot, the spatial position of the probe in the robot coordinate system is determined, and the position is recorded as an initial position; the probe is moved to touch the spherical mark point on the verification module, and the current position, namely the space coordinate of the position of the spherical mark point in the robot coordinate system can be determined by recording the space movement distance from the initial position to the current position of the probe, so that the position calibration of the robot and the verification module is realized.

In one specific embodiment, a three-dimensional model of the validation module may be constructed by scanning the validation module with a CT, and aligning the location coordinates of the three-dimensional model with the location coordinates of the actual validation module. And formulating a control instruction based on the space position of the simulation path and sending the control instruction to the robot, and controlling the robot to penetrate through the simulation path by adjusting the position and the posture of the execution module so as to finish the precision verification of the robot.

Through the device, the robot precision verification system of the embodiment of the application solves the problem that the precision verification process of the existing surgical robot is complex, and realizes efficient and accurate verification of the robot precision.

In this embodiment, a robot precision verification method is provided, which is applied to a robot precision verification system in the embodiment of the present application, and fig. 4 is a flowchart of the robot precision verification method in the embodiment of the present application, and as shown in fig. 4, the flowchart includes the following steps:

step S401, the execution module is controlled to move to the position corresponding to the simulation path based on the control instruction.

Step S402, judging whether the execution module can pass through the simulation path or not, and determining the precision of the robot based on the judgment result.

Through the steps, the robot precision verification system provided by the embodiment of the application adopts the precision verification tool to simulate focuses and operation paths at different positions of a human body, realizes automatic verification of the precision of the surgical robot through the laser sensor, and improves the efficiency and accuracy of precision verification of the surgical robot.

In one embodiment, the present application provides a method for verifying the accuracy of a surgical robot. The method is realized based on the surgical robot precision verification device of the embodiment of the application. Specifically, this surgical robot precision verifying attachment includes: the device comprises a surgical robot, a tail end tool, a sensor structural part, a laser transmitter, a slit plate, a precision verification tool and precision verification work. The end tool is arranged at the tail end of the mechanical arm of the surgical robot and can be used for installing and replacing the surgical tool according to actual needs. The laser emitter is fixed on the end tool of the surgical robot through a sensor structural part, and the sensor structural part has a fine adjustment function and can adjust the position and the direction of a laser emitter beam. The fine adjustment function can be manually adjusted through a knob on a sensor structural member, and can also be adjusted through other control equipment such as computer equipment or a single chip microcomputer. Preferably, the laser transmitter may employ a fiber laser. The slit plate is disposed in a beam propagation direction of the laser transmitter to limit a diameter of the laser beam. The precision verification tool is provided with holes with different diameters, different angles and different depths, one end of each hole, which is far away from the laser transmitter, is provided with a laser receiver, and when the laser receiver receives an optical signal, the laser beam is determined to pass through the current hole. The laser receiver can adopt a photoelectric detector such as a photomultiplier tube to convert a received optical signal into an electric signal, and a laser receiving result is represented by the change of the electric signal. Furthermore, the laser receiver is realized in the form of a detection circuit comprising a photo resistor. The specific connection relationship of the detection circuit is not particularly limited in this application.

In the precision verification process of the surgical robot, the surgical robot controls the end tool to finely adjust the position and the posture of the laser emitter by adjusting the structural part of the sensor according to the received precision verification instruction. Specifically, the laser transmitter is moved to a preset position and the posture of the laser transmitter is adjusted according to a control instruction, so that the laser transmitter is adapted to the angle and the depth of the current hole of the precision verification tool. And after the pose of the laser emitter is adjusted, emitting a laser beam, and injecting the laser beam into the current corresponding hole through the slit plate. The diameter of the hole represents the precision, and the angle and the depth of the hole are used for better simulating the position of the focus of the patient in the actual operation process. The laser receiver is arranged at the bottom of the hole of the precision verification tool, if the laser beam is received by the laser receiver of the current hole, the fact that the laser beam penetrates through the current hole is indicated, the precision requirement is met, and then the laser receiver is controlled to move to the position of the next hole and the pose is adjusted to conduct precision detection. If the laser beam is not received by the laser receiver of the current hole, the precision of the surgical robot does not reach the precision requirement corresponding to the current hole diameter. If the laser beam can pass through all holes with the same diameter and different depths and different angles, the precision of the surgical robot can meet the requirement of the precision corresponding to the diameter of the current hole. The precision verification process can be used for verifying from high precision to low precision and also can be used for verifying from low precision to high precision. For example, in the process of verifying from high precision to low precision, the laser emitter is controlled to emit a laser beam to the hole with the smallest diameter, if the laser receiver receives an optical signal at the moment, the laser penetrates through the hole, the precision of the surgical robot is the same as the precision of the mark of the hole with the smallest diameter at the moment, and the precision verification process is stopped; if the laser receiver does not receive the optical signal at the moment, the laser does not penetrate through the hole, the precision of the surgical robot is smaller than the precision marked by the hole, the laser transmitter is controlled to move to the position above the hole with the larger diameter, the position and the posture of the laser transmitter are adjusted, and the laser beam is transmitted again to carry out precision verification until the laser beam passes through all holes with the same diameter and different depths and different angles. By adopting the method of verifying from high precision to low precision, the higher precision verification speed can be obtained. For another example, in the process of verifying from low precision to high precision, the laser transmitter is controlled to transmit a laser beam to the hole with the largest diameter, if the laser receiver receives an optical signal at this time, it is stated that the laser penetrates through the hole, at this time, the precision of the surgical robot can reach the precision of marking the hole with the largest diameter, then the laser transmitter is controlled to move to the upper side of the hole with the smaller diameter, the position and the posture of the laser transmitter are adjusted, the laser beam is transmitted again for precision verification, until the laser receiver receives the optical signal, it is stated that the laser beam cannot penetrate through the hole with the current diameter at this time, and the precision of the surgical robot is the same as the precision of marking the hole with the previous diameter. By adopting the method from low precision to high precision verification, the situations that the laser cannot penetrate through the hole and the precision verification tool is ablated can be effectively reduced, the service life of the precision verification tool is prolonged, and the precision verification cost is reduced. In one embodiment, the precision verification step length can be set, and when the precision verification level is selected, the precision level span with a larger step length is adopted first, and then the precision level span with a smaller step length is adopted, so that the quick and accurate selection of the precision verification level is realized. By setting the precision verification step length, the precision verification speed is increased, and the service life of the precision verification tool is prolonged.

It should be noted that the steps illustrated in the above-described flow diagrams or in the flow diagrams of the figures may be performed in a computer system, such as a set of computer-executable instructions, and that, although a logical order is illustrated in the flow diagrams, in some cases, the steps illustrated or described may be performed in an order different than here.

There is also provided in this embodiment an electronic device comprising a memory having a computer program stored therein and a processor arranged to run the computer program to perform the steps of any of the above method embodiments.

Optionally, the electronic apparatus may further include a transmission device and an input/output device, wherein the transmission device is connected to the processor, and the input/output device is connected to the processor.

Optionally, in this embodiment, the processor may be configured to execute the following steps by a computer program:

and S1, controlling the execution module to move to the position corresponding to the simulation path based on the control command.

And S2, judging whether the execution module can pass through the simulation path or not, and determining the precision of the robot based on the judgment result.

It should be noted that, for specific examples in this embodiment, reference may be made to the examples described in the foregoing embodiments and optional implementations, and details are not described again in this embodiment.

In addition, in combination with the robot precision verification method provided in the above embodiment, a storage medium may also be provided in this embodiment. The storage medium having stored thereon a computer program; the computer program, when executed by a processor, implements any of the robot precision verification methods in the above embodiments.

It should be understood that the specific embodiments described herein are merely illustrative of this application and are not intended to be limiting. All other embodiments, which can be derived by a person skilled in the art from the examples provided herein without any inventive step, shall fall within the scope of protection of the present application.

It is obvious that the drawings are only examples or embodiments of the present application, and it is obvious to those skilled in the art that the present application can be applied to other similar cases according to the drawings without creative efforts. Moreover, it should be appreciated that in the development of any such actual implementation, as in any engineering or design project, numerous implementation-specific decisions must be made to achieve the developers' specific goals, such as compliance with system-related and business-related constraints, which may vary from one implementation to another.

The term "embodiment" is used herein to mean that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the present application. The appearances of such phrases in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It is to be expressly or implicitly understood by one of ordinary skill in the art that the embodiments described in this application may be combined with other embodiments without conflict.

The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the patent protection. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present application shall be subject to the appended claims.

Claims

1. The utility model provides a robot precision verification system which characterized in that, includes execution module, verification module and judgement module, execution module sets up at the robot end, wherein:

the verification module is provided with a simulation path;

2. The robot accuracy verification system of claim 1, wherein the simulated path comprises holes of different diameters, different angles, different depths.

3. The robotic precision verification system of claim 2, wherein the execution module comprises a laser transmitter configured to transmit laser light to a set hole along a set angle based on the control instruction.

4. The robot precision verification system of claim 3, wherein the determination module comprises a laser receiver configured to receive laser light passing through the hole and determine the precision of the robot based on the laser light reception.

5. The robotic precision verification system of claim 2, wherein the execution module comprises a probe for passing through a set hole along a set angle based on the control instruction.

6. The robot precision verification system of claim 5, wherein the determining module comprises a pressure sensing unit disposed at the bottom of each hole for determining whether the probe passes through a set hole and determining the precision of the robot based on the probe passing condition.

7. The robot accuracy verification system of claim 1, wherein the verification module further comprises a positioning unit, and the robot performs position calibration with the verification module through the positioning unit.

8. A robot precision verification method applied to the robot precision verification system according to any one of claims 1 to 7, comprising:

9. The robot precision verification method according to claim 8, wherein the simulation path includes holes with different diameters, different angles, and different depths, and the controlling the execution module to move to the position corresponding to the simulation path based on the control instruction includes:

and controlling the execution module to sequentially move to the positions of the corresponding holes in the order of the diameters from small to large based on the control instruction, and executing a verification action.

10. The robot accuracy verification method according to claim 9, wherein the determining the accuracy of the robot based on the determination result includes:

determining a hole with the smallest diameter in holes through which the execution module can pass as a target hole;

determining the diameter of the target hole as the accuracy of the robot.