CN114043528A - Robot positioning performance testing method, system, equipment and medium - Google Patents
Robot positioning performance testing method, system, equipment and medium Download PDFInfo
- Publication number
- CN114043528A CN114043528A CN202111410912.2A CN202111410912A CN114043528A CN 114043528 A CN114043528 A CN 114043528A CN 202111410912 A CN202111410912 A CN 202111410912A CN 114043528 A CN114043528 A CN 114043528A
- Authority
- CN
- China
- Prior art keywords
- calibration plate
- robot
- coordinate system
- reference point
- tool coordinate
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0095—Means or methods for testing manipulators
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a method, a system, equipment and a medium for testing the positioning performance of a robot, wherein the method comprises the following steps: acquiring a plurality of positioning points on the calibration plate assembly; obtaining a fitting plane according to a plurality of positioning points on the calibration plate assembly; acquiring a tool coordinate system of the robot; according to the tool coordinate system, acquiring a linear track of the robot in the Z-axis direction of the tool coordinate system; and judging whether the pose measurement subsystem meets a preset condition or not according to the normal line and the linear track of the fitting plane, if not, adjusting a tool coordinate system of the robot, and returning to the step of obtaining the linear track of the robot in the Z-axis direction of the tool coordinate system according to the tool coordinate system until the pose measurement subsystem meets the preset condition. Compared with the measuring method in the prior art, the method is simpler, the efficiency of the positioning performance of the robot is improved, and meanwhile, the accuracy of the measuring result can be ensured.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a method, a system, equipment and a medium for testing the positioning performance of a robot.
Background
Industrial robots are robots used in production processes and environments and are characterized by replacing people in structured environments for some long-time operations that are monotonous, frequent and repetitive. The shape of an industrial robot is various, based on adaptation to the field use environment and function, and is not limited to the human body shape. In recent years, the industrial robot industry has been developed vigorously, and more industrial robots are used in production lines for object transportation, component assembly, machining, and the like instead of human labor.
Aiming at the quality and performance test of the industrial robot, the existing test process is complex.
Disclosure of Invention
The invention provides a robot positioning performance testing method aiming at the problem that the existing industrial robot cannot accurately evaluate the positioning performance of the industrial robot in various aspects, and the specific technical scheme is as follows:
in order to achieve the above object, an embodiment of the present application provides a robot positioning performance testing method, including the following steps:
acquiring a plurality of positioning points on a calibration plate assembly, wherein the calibration plate assembly comprises a first calibration plate and a second calibration plate which can be matched with the first calibration plate;
obtaining a fitting plane according to a plurality of positioning points on the calibration plate assembly;
acquiring a tool coordinate system of the robot, wherein the tool coordinate system is a coordinate system established at a mechanical arm end of the robot;
according to the tool coordinate system, obtaining a linear track of the robot in the Z-axis direction of the tool coordinate system;
and judging whether the pose measurement subsystem meets preset conditions or not according to the normal of the fitting plane and the linear track, if not, adjusting a tool coordinate system of the robot, and returning to the step of obtaining the linear track of the robot in the Z-axis direction of the tool coordinate system according to the tool coordinate system until the pose measurement subsystem meets the preset conditions.
Optionally, the method further includes:
acquiring parameters of a vision measurement subsystem;
acquiring a first reference point and a second reference point of the calibration plate assembly, wherein the first reference point and the second reference point are respectively positioned on the first calibration plate and the second calibration plate;
and judging whether the parameter meets an error condition according to the first reference point and the second reference point, if not, adjusting the parameter, returning to the step of judging whether the parameter meets the error condition according to the first reference point and the second reference point, and circulating until the parameter meets the error condition.
Optionally, the step of obtaining a first reference point and a second reference point of the calibration plate assembly includes:
acquiring a plurality of first corner points on the first calibration plate and a plurality of second corner points on the second calibration plate;
obtaining a plurality of first diagonal lines of the first corner points and a plurality of second diagonal lines of the second corner points according to the first corner points and the second corner points;
and obtaining a first reference point and a second reference point which meet the length condition according to the first diagonal lines and the second diagonal lines.
Optionally, the step of obtaining a first reference point and a second reference point satisfying a length condition according to the first diagonal line and the second diagonal line includes:
judging whether intersection points among a plurality of first diagonal lines are overlapped, if so, outputting the intersection points as first reference points, otherwise, continuously acquiring first intersection point diagonal lines among the intersection points among the first diagonal lines according to the intersection points among the first diagonal lines until the length of the first intersection point diagonal lines meets a length condition, and outputting an area among the first intersection point diagonal lines as the first reference points;
and judging whether the intersection points among the second diagonal lines are overlapped, if so, outputting the intersection point as a second reference point, otherwise, continuously acquiring a second intersection point diagonal line among the intersection points among the second diagonal lines according to the intersection point among the second diagonal lines until the length of the second intersection point diagonal line meets the length condition, and outputting an area among the second intersection point diagonal lines as the second reference point.
Optionally, the length condition includes: the length of the diagonal line of the first intersection point is less than 10% of the length of the first diagonal line, and the length of the diagonal line of the first intersection point is less than 0.3 mm;
the length condition further comprises that the length of the second intersection point diagonal is less than 10% of the length of the second diagonal, and the length of the second intersection point diagonal is less than 0.3 mm.
Optionally, the preset condition includes that an included angle between the normal of the fitting plane and the straight-line trajectory is smaller than 1 degree.
Optionally, the first calibration plate comprises a plate body, and one end face of the plate body is provided with a groove;
the shape and the size of the second calibration plate are mutually adaptive to those of the groove, and the second calibration plate is mutually matched with the groove;
the first calibration plate is provided with a first reference point, the first reference point is the intersection point of the diagonals of the groove, the second calibration plate is provided with a second reference point, and the second reference point is the intersection point of the diagonals of the second calibration plate.
In order to achieve the above object, an embodiment of the present application further provides a robot positioning performance testing system, including:
an acquisition module: the positioning system is used for acquiring a plurality of positioning points on the first calibration plate and acquiring a tool coordinate system of the robot;
an obtaining module: the first calibration plate is used for obtaining a fitting plane according to a plurality of positioning points on the first calibration plate; the robot is also used for obtaining a linear track of the robot in the Z-axis direction of the tool coordinate system according to the tool coordinate system;
a processing module: and the step of judging whether the pose measurement subsystem meets preset conditions or not according to the normal of the fitting plane and the linear track, if not, adjusting a tool coordinate system of the robot, and returning to the step of obtaining the linear track of the robot in the Z-axis direction of the tool coordinate system according to the tool coordinate system until the pose measurement subsystem meets the preset conditions.
In order to achieve the above object, an embodiment of the present application further provides an electronic device, which includes a memory and a processor, where the memory stores a computer program, and the processor executes the computer program to implement the method.
In order to achieve the above object, an embodiment of the present application further provides a computer-readable storage medium, on which a computer program is stored, and a processor executes the computer program to implement the method.
The invention has the following beneficial effects:
the embodiment of the application provides a robot positioning performance testing method, which comprises the steps of obtaining a plurality of positioning points of a calibration plate assembly, and obtaining a fitting plane according to the plurality of positioning points on a first calibration plate of the calibration plate assembly; acquiring a tool coordinate system of the robot, wherein the tool coordinate system is a coordinate system established at a mechanical arm end of the robot; according to the tool coordinate system, obtaining a linear track of the robot in the Z-axis direction of the tool coordinate system; and judging whether the pose measurement subsystem meets preset conditions or not according to the normal of the fitting plane and the linear track, if not, adjusting a tool coordinate system of the robot, and returning to the step of obtaining the linear track of the robot in the Z-axis direction of the tool coordinate system according to the tool coordinate system until the pose measurement subsystem meets the preset conditions. Compared with the existing measuring method, the method has the advantages that in the process of the pose measuring subsystem, the accuracy of the pose measuring subsystem is judged and adjusted by comparing the normal of the fitting plane with the linear track of the robot in the Z-axis direction of the tool coordinate system, so that the pose measuring subsystem meeting the positioning accuracy requirement can be obtained.
Drawings
FIG. 1 is a schematic diagram of a production facility in a hardware operating environment according to an embodiment of the present disclosure;
fig. 2 is a schematic flowchart of one implementation of a robot positioning performance testing method according to an embodiment of the present disclosure;
fig. 3 is a schematic flowchart of another implementation manner of a robot positioning performance testing method according to an embodiment of the present application;
fig. 4 is a functional module schematic diagram of a robot positioning performance testing system according to an embodiment of the present application.
The implementation, functional features and advantages of the objectives of the present application will be further explained with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
The main solution of the embodiment of the application is as follows: the method comprises the steps of obtaining a fitting plane according to a plurality of positioning points on a calibration plate assembly by obtaining the plurality of positioning points on the calibration plate assembly, and obtaining a tool coordinate system of the robot, wherein the tool coordinate system is a coordinate system established at a mechanical arm end of the robot; according to the tool coordinate system, obtaining a linear track of the robot in the Z-axis direction of the tool coordinate system; and judging whether the pose measurement subsystem meets preset conditions or not according to the normal of the fitting plane and the linear track, if not, adjusting a tool coordinate system of the robot, and returning to the step of obtaining the linear track of the robot in the Z-axis direction of the tool coordinate system according to the tool coordinate system until the pose measurement subsystem meets the preset conditions.
In the prior art, domestic robots are mostly applied to the fields of carrying, loading and unloading, and in the face of more complex industrial robot systems, domestic quality and performance detection for the robots are still in a starting stage. At present, some standardized auxiliary means are lacked, most domestic robot manufacturers cannot carry out tests according to two standards of GB/T12642-.
For a complex integrated industrial robot, the high-end complex operations are comprehensively completed based on a plurality of measurement subsystems, so that it is difficult to judge the source of single action or measurement result non-compliance.
Therefore, the scheme provides a solution, the accuracy of the pose measurement subsystem is judged and adjusted by comparing the normal of the fitting plane with the linear track of the robot in the Z-axis direction of the tool coordinate system, so that the pose measurement subsystem meeting the positioning accuracy requirement can be obtained.
Referring to fig. 1, fig. 1 is a schematic structural diagram of a production device in a hardware operating environment according to an embodiment of the present application.
As shown in fig. 1, the production apparatus may include: a processor 1001, such as a Central Processing Unit (CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. Wherein a communication bus 1002 is used to enable connective communication between these components. The user interface 1003 may include a Display screen (Display), an input unit such as a Keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface, a wireless interface. The network interface 1004 may optionally include a standard wired interface, a WIreless interface (e.g., a WIreless-FIdelity (WI-FI) interface). The Memory 1005 may be a Random Access Memory (RAM) Memory, or may be a Non-Volatile Memory (NVM), such as a disk Memory. The memory 1005 may alternatively be a storage device separate from the processor 1001.
Those skilled in the art will appreciate that the configuration shown in FIG. 1 does not constitute a limitation of the production apparatus and may include more or fewer components than shown, or some components may be combined, or a different arrangement of components.
As shown in fig. 1, a memory 1005, which is a storage medium, may include therein an operating system, a data storage module, a network communication module, a user interface module, and an electronic program.
In the production apparatus shown in fig. 1, the network interface 1004 is mainly used for data communication with a network server; the user interface 1003 is mainly used for data interaction with a user; the processor 1001 and the memory 1005 in the production device of the present invention may be disposed in the production device, and the production device calls the robot positioning performance testing system stored in the memory 1005 through the processor 1001 and executes the robot positioning performance testing method provided in the embodiment of the present application.
Referring to fig. 2, based on the hardware device of the foregoing embodiment, an embodiment of the present application provides a robot positioning performance testing method, including the following steps:
s40, acquiring a plurality of positioning points on a calibration plate assembly, wherein the calibration plate assembly comprises a first calibration plate and a second calibration plate which can be matched with the first calibration plate;
in a specific implementation process, the calibration plate assembly is applied to machine vision, image measurement, photogrammetry, three-dimensional reconstruction and the like, is used for correcting lens distortion, determining a conversion relation between a physical size and a pixel, and determining a mutual relation between a three-dimensional geometric position of a certain point on the surface of a space object and a corresponding point in an image, a geometric model of camera imaging needs to be established, the calibration plate is shot by a camera, and the geometric model of the camera can be obtained through calculation of a calibration algorithm, so that a high-precision measurement result is obtained; the anchor points are used to assist in measuring the camera imaging model.
The method for obtaining the plurality of positioning points on the calibration plate component comprises various methods, the first method is to manually select any point on the calibration plate as the positioning point and attach a mark, the plurality of positioning points can be obtained by marking for many times, and the second method is to place the calibration plate on the working plane of the laser machine and introduce preset parameters into the laser machine host, so that the plurality of laser marked positioning points are obtained.
In the above, the calibration plate assembly includes a first calibration plate and a second calibration plate matched with the first calibration plate, wherein the first calibration plate includes a plate body, and one end surface of the plate body is provided with a groove; the shape and the size of the second calibration plate are mutually adaptive to those of the groove, and the second calibration plate is mutually matched with the groove; the first calibration plate is placed on the measuring plane, and the second calibration plate is installed at the end of the mechanical arm of the robot.
It should be noted that the shape of the calibration board in the above process is not limited, but is preferably a regular shape of a non-rectangular type to increase the positioning difficulty of the vision measuring subsystem, and in this embodiment, a right trapezoid is taken as an example to further describe this embodiment.
S50, obtaining a fitting plane according to a plurality of positioning points on the calibration plate assembly;
in specific application, the fitting plane is an imaginary plane and is obtained through space measurement and analysis software SA and a laser tracking and measuring system, wherein the laser tracking and measuring system comprises a laser tracker, a controller, a user computer and a reflector.
The step of obtaining a fitted plane comprises: the method comprises the steps of respectively arranging a reflector on a plurality of positioning points, starting spatial analyzer software (SA for short), connecting a laser tracker, measuring coordinates of the plurality of positioning points in the SA software by using a single-point measurement mode, creating a plane by using the coordinates of the plurality of positioning points, and obtaining a fitting plane to obtain a normal of the fitting plane.
S60, acquiring a tool coordinate system of the robot, wherein the tool coordinate system is a coordinate system established at the mechanical arm end of the robot;
in a specific application, the tool coordinate system is a coordinate system established by the end of the arm of the robot.
The method comprises the steps of acquiring a tool coordinate system of the robot through a laser tracker in SA software, acquiring a basic coordinate system of the robot through the laser tracker, acquiring a compensation value between a standard coordinate system and the basic coordinate system through the standard coordinate system and the basic coordinate system according to the standard coordinate system on the laser tracker, introducing the compensation value into parameter setting of the robot, and transferring the standard coordinate system to the basic coordinate system to acquire the tool coordinate system of the robot.
S70, acquiring a linear track of the robot in the Z-axis direction of the tool coordinate system according to the tool coordinate system;
in the specific application, a tool coordinate system is taken as a basis, a mechanical arm end of the robot is enabled to move along the Z-axis direction of the tool coordinate system, in the moving process, a group of continuously measured coordinate points are obtained in an SA software in a space scanning mode through a laser scanner, the sampling frequency is selected to be 200Hz, and a straight line is created according to the group of coordinate points, namely the straight line motion track of the mechanical arm platform tension and compression device.
And S80, judging whether the pose measurement subsystem meets the preset conditions or not according to the normal line and the linear track of the fitting plane, if not, adjusting the tool coordinate system of the robot, and returning to the step of obtaining the linear track of the robot in the Z-axis direction of the tool coordinate system according to the tool coordinate system until the pose measurement subsystem meets the preset conditions.
In a specific application process, intersecting the linear motion track with a normal line of a fitting plane in SA software, calculating an included angle between the linear motion track and the normal line of the fitting plane, judging whether the included angle is smaller than 1 degree, if the included angle is smaller than 1 degree, judging that the performance of a pose measurement subsystem of the robot passes detection, if the included angle is larger than 1 degree, not passing the performance detection of the pose measurement subsystem of the robot, when a tool coordinate system needs to be acquired in the step S60, acquiring a basic coordinate system of the robot again in the SA software, acquiring a compensation value between the acquired basic coordinate system and a standard coordinate system, and then performing the steps S70-S80 until the included angle between the linear motion track and the normal line of the fitting plane is smaller than 1 degree.
In this embodiment, a method for testing robot positioning performance is provided, and compared with an existing measurement method, the method starts from a working flow of a robot, and judges and adjusts accuracy of a pose measurement subsystem by comparing a normal of a fitting plane with a linear track of the robot in a Z-axis direction of a tool coordinate system, so that the pose measurement subsystem meeting a positioning accuracy requirement can be obtained. The test method of the scheme can be repeatedly verified, is irrelevant to the shape of the calibration plate assembly, and improves the accuracy and reliability of the positioning performance test of the industrial robot.
Further, the robot moves towards the Z-axis direction from the origin of the tool coordinate system, sequentially measures the coordinates of three points P1, P2 and P3 for multiple times, returns to the origin after measuring the coordinates of three points P1, P2 and P3 for one time, sequentially measures the coordinates of three points P1, P2 and P3 until returning to the starting position, and measures the straightness of three straight-line tracks formed by multiple measurements of three points P1, P2 and P3 and the levelness of a plurality of planes formed among the three straight lines.
As shown in table 1 below, in which P1, P2, and P3 were measured 6 times as three positioning points, the reference value was a preset coordinate value, the measured value was a value measured during actual operation, and the difference was a difference between the measured value and the reference value.
TABLE 1 measured values of coordinate points of positioning points P1, P2 and P3 and differences between the measured values and reference values
The straightness data is shown in Table 2 below, where L1-1 represents the straightness of the straight line trajectory at the P1 anchor point measured 1 st time, L2-1 represents the straightness of the straight line trajectory at the P1 anchor point measured 2 nd time, and so on.
TABLE 2 straightness of straight-line trajectory of coordinate points for positioning points P1, P2 and P3
The levelness data are shown in the following table 3, wherein the levelness data of 11 planes formed in three straight-line trajectories are measured 3 times with one of the planes as a reference, PL1-2 is expressed as the levelness between the PL1-2 plane and the PL1-1 plane in the 1 st measurement, and PL2-2 is expressed as the levelness between the PL2-1 plane and the PL2-2 plane in the 2 nd measurement.
TABLE 3 levelness of multiple planes between the straight-line trajectories of the coordinate points of positioning points P1, P2 and P3
According to the scheme, the straightness of the three motion tracks and the levelness of a plurality of planes formed among the three motion tracks are analyzed, so that the quantitative index of the positioning accuracy of the pose measurement subsystem of the industrial robot can be obtained, the positioning accuracy of the pose measurement subsystem can be guaranteed, and meanwhile, the accuracy of the test method of the pose measurement subsystem is verified.
Referring to fig. 3, in one embodiment, the method further comprises:
s10, acquiring parameters of the vision measurement subsystem;
in a specific application, the vision measuring subsystem comprises a camera, a distance measuring device and an image processing device, wherein the distance measuring device is used for emitting laser and infrared rays, and reflected light is generated after the emitted laser and infrared rays touch an object. With the measurement of the direction and time of the reflected light, the distance of the object can be determined. An image processing apparatus extracts features from an image and performs high-speed processing, and an apparatus that generates a corresponding similar image is called an image processing apparatus. Its hardware includes special purpose LSI (Large Scale integrated circuit), FPGA (field programmable Gate Array), DSP (Digital Signal Processor), etc., and their combination systems.
S20, acquiring a first reference point and a second reference point of the calibration plate assembly, wherein the first reference point and the second reference point are respectively positioned on the first calibration plate and the second calibration plate;
in a specific application, the method for acquiring the first reference point and the second reference point refers to the following steps S201 to S203, which are not described herein again.
And S30, judging whether the parameter meets the error condition according to the first reference point and the second reference point, if not, adjusting the parameter, returning to the step of judging whether the parameter meets the error condition according to the first reference point and the second reference point, and circulating until the parameter meets the error condition.
In specific application, after the first reference point and the second reference point are obtained, the movement of the mechanical arm end of the robot is controlled by the input parameters of the robot, when the first calibration plate and the second calibration plate can be matched with each other, the parameters of the vision measurement subsystem of the robot can be judged to meet requirements, and if the parameters cannot meet the requirements, the parameters need to be adjusted until the second calibration plate can be matched with the first calibration plate.
According to the scheme, whether the performance of the vision measurement subsystem meets the requirements or not is specifically analyzed, the measurement result of the vision measurement subsystem can be directly quoted in the verification of the pose measurement subsystem, the accuracy of the measurement result of the pose measurement subsystem can be further ensured, the calibration plate assembly is used in the verification of the vision measurement subsystem, the accuracy rule output by the vision measurement subsystem is defined, the allowable deviation form is used as the verification mode of the vision measurement subsystem, a standard verification flow is formed, and the verification can be repeated.
In one embodiment, the step of S20 includes:
s201, acquiring a plurality of first corner points on a first calibration plate and a plurality of second corner points on a second calibration plate;
s202, obtaining a plurality of first diagonal lines of the plurality of first corner points and a plurality of second diagonal lines of the plurality of second corner points according to the plurality of first corner points and the plurality of second corner points;
s203, obtaining a first reference point and a second reference point which meet the length condition according to the first diagonal lines and the second diagonal lines.
The present embodiment is further described with respect to step S20, and the first reference point and the second reference point are obtained to facilitate the determination and adjustment process in the subsequent step S30.
In one embodiment, the step of S203 includes:
judging whether intersection points among a plurality of first diagonal lines coincide or not, if so, outputting the intersection points as first reference points, otherwise, continuously acquiring first intersection point diagonal lines among the intersection points among the first diagonal lines according to the intersection points among the first diagonal lines until the length of the first intersection point diagonal lines meets a length condition, and outputting an area among the first intersection point diagonal lines as the first reference points;
and judging whether the intersection points among the second diagonal lines are overlapped, if so, outputting the intersection points as second reference points, otherwise, continuously acquiring second intersection point diagonal lines among the intersection points among the second diagonal lines according to the intersection points among the second diagonal lines until the length of the second intersection point diagonal lines meets the length condition, and outputting the area among the second intersection point diagonal lines as the second reference points.
It should be noted that there is no precedence relationship between the above processes, which is only for convenience of description.
In the scheme, the length condition comprises that the length of the diagonal line of the first intersection point is less than 10% of the length of the first diagonal line, and the length of the diagonal line of the first intersection point is less than 0.3 mm; the length condition further includes that the length of the second intersection diagonal is less than 10% of the length of the second diagonal, and the length of the second intersection diagonal is less than 0.3 mm.
It can be seen that the length condition requires that the length of the first intersection diagonal line in the first calibration plate is less than 10% of the length of the first diagonal line, and the length of the first intersection diagonal line is less than 0.3 mm; the length of the diagonal line of the first intersection point in the second calibration plate is less than 10% of the length of the first diagonal line, and the length of the diagonal line of the first intersection point is less than 0.3 mm; i.e. a condition of smaller length between the two conditions needs to be fulfilled to ensure the accuracy of the found first reference point and second reference point.
In one embodiment, the preset condition includes that an angle between a normal of the fitting plane and the straight line trajectory is less than 1 degree.
The effect of this scheme is for measuring industrial robot's movement track repeatedly through the laser tracker to incessantly with industrial robot self control movement track's continuous comparison, fit out two curves, and adjust when two curves have the contained angle, finally adjust to within 1, can regard industrial robot's location measurement to pass through verification this moment, through defining the deviation in order to measure the verification flow standardization of subsystem with the vision.
In one embodiment, the first calibration plate comprises a plate body, wherein one end face of the plate body is provided with a groove; the shape and the size of the second calibration plate are mutually adaptive to those of the groove, and the second calibration plate is mutually matched with the groove; the first calibration plate is provided with a first reference point which is a diagonal intersection point of the groove, the second calibration plate is provided with a second reference point which is a diagonal intersection point of the second calibration plate.
In this embodiment, the shapes of the first calibration plate and the second calibration plate are irregular shapes to improve the positioning difficulty of the vision measurement subsystem, and finally, the robot with higher positioning accuracy after debugging is obtained.
Further, after the first calibration plate and the second calibration plate are matched with each other, the gap between the edges of the first calibration plate and the second calibration plate is not more than 0.3mm, and the gap between the corners of the first calibration plate and the second calibration plate is not more than 1 mm; the first calibration plate and the second calibration plate are made of aluminum alloy, the roughness of the surfaces of the first calibration plate and the second calibration plate, which are in mutual contact, is not greater than RA6.4, and the levelness of the surfaces of the first calibration plate and the second calibration plate, which are in mutual contact, is not greater than 0.05 mm/m; in the first calibration plate, the groove walls of the groove form a distribution area of the annular rib as a positioning point. Be provided with the circular slot at the center of the opposite face of second calibration board with first calibration board, circumference distributes around the circular slot has eight screw holes, and wherein, the degree of depth 5mm of circular slot, the radius of circular slot are 20mm, and the diameter of screw hole is 7.95mm, and pitch is 1mm, and the interval between two adjacent screw holes is 100 mm.
The calibration plate with the irregular shape provided by the scheme is used for replacing an irregular machining plane of the robot in the actual process, so that the positioning difficulty of the vision measurement subsystem is improved, and the final measurement result precision can be higher.
Based on the same inventive concept, the robot positioning performance testing method of the embodiment of the present application further includes:
s90, acquiring an initial force value of the robot, wherein the initial force value is a value input during parameter debugging;
in a specific application, the initial force value is a preset value, and the initial force value is input into a control panel of the robot during the test.
S100, acquiring an actual force value of the robot, wherein the actual force value is obtained after actual measurement after the mechanical arm end of the robot acts;
in a specific application, the process of acquiring the actual force value of the robot is that a high-precision dynamometer is installed at the end of the mechanical arm of the robot, and after the robot is controlled to act by a set initial force value, an indication value of the high-precision dynamometer is obtained, and the indication value is the actual force value of the robot.
S110, obtaining a difference value according to the initial force value and the actual force value of the robot;
and S120, judging whether the difference value meets the difference value condition, and if not, judging that the transmission end of the robot does not pass the detection.
In a specific application, the difference condition is: the difference between the initial force value and the actual force value is within ± 1% of the initial force value.
In the embodiment, the output accuracy of the robot transmission end is verified by a comparison method through a Newton' S third law principle, and since the posture measuring subsystem is verified in the steps S40-S80, the transmission end can be considered to be perpendicular to the stress plane when being loaded, and the indication value output accuracy of the transmission end can be evaluated by a high-accuracy dynamometer at the moment.
According to the scheme, the output accuracy of the initial force value of the robot transmission end is further tested after verification is carried out on the basis of the pose measurement system, the measurement result of the pose measurement subsystem is introduced into the verification of the tension and pressure loading actuation tester, and the complex integrated industrial robot which is difficult to judge the error source originally can realize unqualified system accuracy traceability and standard action definition according to the scheme. Therefore, the accurate evaluation of the positioning measurement performance of the robot is completed.
Referring to fig. 4, based on the same inventive concept, an embodiment of the present application further provides a robot positioning performance testing system, including:
an acquisition module: the positioning system is used for acquiring a plurality of positioning points on the first calibration plate and acquiring a tool coordinate system of the robot;
an obtaining module: the first calibration plate is used for obtaining a fitting plane according to a plurality of positioning points on the first calibration plate; the robot is also used for acquiring a linear track of the robot in the Z-axis direction of the tool coordinate system according to the tool coordinate system;
a processing module: and the pose measuring subsystem is used for judging whether the pose measuring subsystem meets the preset condition or not according to the normal line and the linear track of the fitting plane, if not, adjusting the tool coordinate system of the robot, and returning to the step of obtaining the linear track of the robot in the Z-axis direction of the tool coordinate system according to the tool coordinate system until the pose measuring subsystem meets the preset condition.
It should be noted that, in this embodiment, each module in the robot positioning performance testing system corresponds to each step in the robot positioning performance testing method in the foregoing embodiment one to one, and therefore, the specific implementation of this embodiment may refer to the implementation of the robot positioning performance testing method, which is not described herein again.
Furthermore, in an embodiment, an embodiment of the present application further provides an electronic device, which includes a processor, a memory, and a computer program stored in the memory, and when the computer program is executed by the processor, the steps of the method in the foregoing embodiments are implemented.
In addition, in an embodiment, an embodiment of the present application further provides a computer storage medium, on which a computer program is stored, and the computer program is executed by a processor to implement the steps of the method in the foregoing embodiment.
In some embodiments, the computer-readable storage medium may be memory such as FRAM, ROM, PROM, EPROM, EEPROM, flash, magnetic surface memory, optical disk, or CD-ROM; or may be various devices including one or any combination of the above memories. The computer may be a variety of computing devices including intelligent terminals and servers.
In some embodiments, executable instructions may be written in any form of programming language (including compiled or interpreted languages), in the form of programs, software modules, scripts or code, and may be deployed in any form, including as a stand-alone program or as a module, component, subroutine, or other unit suitable for use in a computing environment.
By way of example, executable instructions may correspond, but do not necessarily have to correspond, to files in a file system, and may be stored in a portion of a file that holds other programs or data, such as in one or more scripts in a hypertext Markup Language (HTML) document, in a single file dedicated to the program in question, or in multiple coordinated files (e.g., files that store one or more modules, sub-programs, or portions of code).
By way of example, executable instructions may be deployed to be executed on one computing device or on multiple computing devices at one site or distributed across multiple sites and interconnected by a communication network.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.
The above-mentioned serial numbers of the embodiments of the present application are merely for description and do not represent the merits of the embodiments.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solution of the present application or portions thereof contributing to the prior art may be substantially embodied in the form of a software product, the computer software product being stored in a storage medium (e.g. a rom/ram, a magnetic disk, an optical disk) and including instructions for enabling a multimedia terminal (e.g. a mobile phone, a computer, a television receiver, or a network device) to execute the method according to the embodiments of the present application
The above description is only a preferred embodiment of the present application, and not intended to limit the scope of the present application, and all modifications of equivalent structures and equivalent processes, which are made by the contents of the specification and the drawings of the present application, or which are directly or indirectly applied to other related technical fields, are included in the scope of the present application.
Claims (10)
1. A robot positioning performance test method is characterized by comprising the following steps:
acquiring a plurality of positioning points on a calibration plate assembly, wherein the calibration plate assembly comprises a first calibration plate and a second calibration plate which can be matched with the first calibration plate;
obtaining a fitting plane according to a plurality of positioning points on the calibration plate assembly;
acquiring a tool coordinate system of the robot, wherein the tool coordinate system is a coordinate system established at a mechanical arm end of the robot;
according to the tool coordinate system, obtaining a linear track of the robot in the Z-axis direction of the tool coordinate system;
and judging whether the pose measurement subsystem meets preset conditions or not according to the normal of the fitting plane and the linear track, if not, adjusting a tool coordinate system of the robot, and returning to the step of obtaining the linear track of the robot in the Z-axis direction of the tool coordinate system according to the tool coordinate system until the pose measurement subsystem meets the preset conditions.
2. The method of claim 1, further comprising:
acquiring parameters of a vision measurement subsystem;
acquiring a first reference point and a second reference point of the calibration plate assembly, wherein the first reference point and the second reference point are respectively positioned on the first calibration plate and the second calibration plate;
and judging whether the parameter meets an error condition according to the first reference point and the second reference point, if not, adjusting the parameter, returning to the step of judging whether the parameter meets the error condition according to the first reference point and the second reference point, and circulating until the parameter meets the error condition.
3. The method of claim 2, wherein said step of obtaining a first reference point and a second reference point of said calibration plate assembly comprises:
acquiring a plurality of first corner points on the first calibration plate and a plurality of second corner points on the second calibration plate;
obtaining a plurality of first diagonal lines of the first corner points and a plurality of second diagonal lines of the second corner points according to the first corner points and the second corner points;
and obtaining a first reference point and a second reference point which meet the length condition according to the first diagonal lines and the second diagonal lines.
4. The method of claim 3, wherein the step of obtaining a first reference point and a second reference point that satisfy a length condition based on the first plurality of diagonals and the second plurality of diagonals comprises:
judging whether intersection points among a plurality of first diagonal lines are overlapped, if so, outputting the intersection points as first reference points, otherwise, continuously acquiring first intersection point diagonal lines among the intersection points among the first diagonal lines according to the intersection points among the first diagonal lines until the length of the first intersection point diagonal lines meets a length condition, and outputting an area among the first intersection point diagonal lines as the first reference points;
and judging whether the intersection points among the second diagonal lines are overlapped, if so, outputting the intersection point as a second reference point, otherwise, continuously acquiring a second intersection point diagonal line among the intersection points among the second diagonal lines according to the intersection point among the second diagonal lines until the length of the second intersection point diagonal line meets the length condition, and outputting an area among the second intersection point diagonal lines as the second reference point.
5. The method of claim 4, wherein the length condition comprises: the length of the diagonal line of the first intersection point is less than 10% of the length of the first diagonal line, and the length of the diagonal line of the first intersection point is less than 0.3 mm;
the length condition further comprises that the length of the second intersection point diagonal is less than 10% of the length of the second diagonal, and the length of the second intersection point diagonal is less than 0.3 mm.
6. The method of claim 1, wherein the preset condition comprises an angle between a normal of the fitting plane and the straight-line trajectory being less than 1 degree.
7. The method according to claim 1, wherein the first calibration plate comprises a plate body, one end surface of which is provided with a groove;
the shape and the size of the second calibration plate are mutually adaptive to those of the groove, and the second calibration plate is mutually matched with the groove;
the first calibration plate is provided with a first reference point, the first reference point is the intersection point of the diagonals of the groove, the second calibration plate is provided with a second reference point, and the second reference point is the intersection point of the diagonals of the second calibration plate.
8. A robot positioning performance test system, comprising:
an acquisition module: the positioning system is used for acquiring a plurality of positioning points on the first calibration plate and acquiring a tool coordinate system of the robot;
an obtaining module: the first calibration plate is used for obtaining a fitting plane according to a plurality of positioning points on the first calibration plate; the robot is also used for obtaining a linear track of the robot in the Z-axis direction of the tool coordinate system according to the tool coordinate system;
a processing module: and the step of judging whether the pose measurement subsystem meets preset conditions or not according to the normal of the fitting plane and the linear track, if not, adjusting a tool coordinate system of the robot, and returning to the step of obtaining the linear track of the robot in the Z-axis direction of the tool coordinate system according to the tool coordinate system until the pose measurement subsystem meets the preset conditions.
9. An electronic device, characterized in that the device comprises a memory in which a computer program is stored and a processor which executes the computer program to implement the method according to any of claims 1-7.
10. A computer-readable storage medium, having a computer program stored thereon, which, when executed by a processor, performs the method of any one of claims 1-7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111410912.2A CN114043528B (en) | 2021-11-25 | 2021-11-25 | Robot positioning performance test method, system, equipment and medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111410912.2A CN114043528B (en) | 2021-11-25 | 2021-11-25 | Robot positioning performance test method, system, equipment and medium |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114043528A true CN114043528A (en) | 2022-02-15 |
| CN114043528B CN114043528B (en) | 2023-08-04 |
Family
ID=80210872
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111410912.2A Active CN114043528B (en) | 2021-11-25 | 2021-11-25 | Robot positioning performance test method, system, equipment and medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114043528B (en) |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102294695A (en) * | 2010-06-25 | 2011-12-28 | 鸿富锦精密工业（深圳）有限公司 | Robot calibration method and calibration system |
| JP2012076216A (en) * | 2010-09-06 | 2012-04-19 | Toyota Auto Body Co Ltd | Method for combining camera coordinate system and robot coordinate system in robot control system, image processing device, program, and storage medium |
| EP2722136A1 (en) * | 2012-10-19 | 2014-04-23 | inos Automationssoftware GmbH | Method for in-line calibration of an industrial robot, calibration system for performing such a method and industrial robot comprising such a calibration system |
| CN106052555A (en) * | 2016-06-08 | 2016-10-26 | 中国科学院重庆绿色智能技术研究院 | Industrial robot base coordinate measuring method |
| CN108789404A (en) * | 2018-05-25 | 2018-11-13 | 哈尔滨工程大学 | A kind of serial manipulator kinematic calibration method of view-based access control model |
| CN109910016A (en) * | 2019-04-22 | 2019-06-21 | 亿嘉和科技股份有限公司 | Vision collecting scaling method, apparatus and system based on multi-degree-of-freemechanical mechanical arm |
| CN112171666A (en) * | 2020-09-15 | 2021-01-05 | 深圳市商汤科技有限公司 | Pose calibration method and device for visual robot, visual robot and medium |
| CN112476435A (en) * | 2020-11-25 | 2021-03-12 | 北京配天技术有限公司 | Calibration method and calibration device for gravity acceleration direction and storage medium |
| CN112629499A (en) * | 2020-12-03 | 2021-04-09 | 合肥富煌君达高科信息技术有限公司 | Hand-eye calibration repeated positioning precision measuring method and device based on line scanner |
| CN112621742A (en) * | 2019-10-09 | 2021-04-09 | 发那科株式会社 | Robot, measuring jig, and method for determining tool tip position |
-
2021
- 2021-11-25 CN CN202111410912.2A patent/CN114043528B/en active Active
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102294695A (en) * | 2010-06-25 | 2011-12-28 | 鸿富锦精密工业（深圳）有限公司 | Robot calibration method and calibration system |
| JP2012076216A (en) * | 2010-09-06 | 2012-04-19 | Toyota Auto Body Co Ltd | Method for combining camera coordinate system and robot coordinate system in robot control system, image processing device, program, and storage medium |
| EP2722136A1 (en) * | 2012-10-19 | 2014-04-23 | inos Automationssoftware GmbH | Method for in-line calibration of an industrial robot, calibration system for performing such a method and industrial robot comprising such a calibration system |
| CN106052555A (en) * | 2016-06-08 | 2016-10-26 | 中国科学院重庆绿色智能技术研究院 | Industrial robot base coordinate measuring method |
| CN108789404A (en) * | 2018-05-25 | 2018-11-13 | 哈尔滨工程大学 | A kind of serial manipulator kinematic calibration method of view-based access control model |
| CN109910016A (en) * | 2019-04-22 | 2019-06-21 | 亿嘉和科技股份有限公司 | Vision collecting scaling method, apparatus and system based on multi-degree-of-freemechanical mechanical arm |
| CN112621742A (en) * | 2019-10-09 | 2021-04-09 | 发那科株式会社 | Robot, measuring jig, and method for determining tool tip position |
| CN112171666A (en) * | 2020-09-15 | 2021-01-05 | 深圳市商汤科技有限公司 | Pose calibration method and device for visual robot, visual robot and medium |
| CN112476435A (en) * | 2020-11-25 | 2021-03-12 | 北京配天技术有限公司 | Calibration method and calibration device for gravity acceleration direction and storage medium |
| CN112629499A (en) * | 2020-12-03 | 2021-04-09 | 合肥富煌君达高科信息技术有限公司 | Hand-eye calibration repeated positioning precision measuring method and device based on line scanner |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114043528B (en) | 2023-08-04 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US7197836B2 (en) | Reference coordinate calculating method, reference coordinate calculating program, recording medium thereof, reference plate and form measuring machine | |
| US20130194569A1 (en) | Substrate inspection method | |
| CN103697824A (en) | System calibration method for measuring head of coordinate measuring machine | |
| Di Leo et al. | Covariance propagation for the uncertainty estimation in stereo vision | |
| JP2000180103A (en) | Cmm calibration gauge and calibrating method for cmm | |
| CN112415493A (en) | Three-dimensional scanning laser radar coordinate error correction method | |
| US9250071B2 (en) | Measurement apparatus and correction method of the same | |
| CN107907055B (en) | Pattern projection module, three-dimensional information acquisition system, processing device and measuring method | |
| CN111256591B (en) | External parameter calibration device and method for structured light sensor | |
| CN101694370A (en) | Method for evaluating precision of large-scale industrial photogrammetry system and benchmark device | |
| CN112558027B (en) | Radar verification method, device, equipment and storage medium | |
| US7142313B2 (en) | Interaxis angle correction method | |
| JP2018021831A (en) | Inspection method and device of positioning machine by tracking type laser interferometer | |
| JPH09311021A (en) | Method for measuring three-dimensional shape using light wave range finder | |
| CN111256592A (en) | External parameter calibration device and method for structured light sensor | |
| Givi et al. | Performance evaluation of a portable 3D imaging system | |
| CN114061444A (en) | Calibration method | |
| CN114043528B (en) | Robot positioning performance test method, system, equipment and medium | |
| Baleani et al. | Analysis of reproducibility and repeatability of a hand-held laser scanner for gap&flush measurement in car-assembly line | |
| CN113238906B (en) | Touch performance test method and system of curved surface display device and electronic equipment | |
| Hartmann et al. | Optimisation of the calibration process of a k-tls based multi-sensor-system by genetic algorithms | |
| CN115077478B (en) | Elevation measurement method and system for continuously tracking lifting of monitoring points | |
| JP3999063B2 (en) | CMM, CMM calibration method, and computer-readable storage medium storing program for executing the method | |
| CN112330737B (en) | Parallel detection method, device, storage medium and apparatus | |
| Pahk et al. | Development of virtual coordinate measuring machines incorporating probe errors |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |