CN114329881A - Position calibration method, device and computer readable storage medium - Google Patents

Abstract

The application discloses a position calibration method, a device and a computer readable storage medium, wherein the position calibration method comprises the following steps: firstly, respectively sampling the surface of a simulation workpiece in off-line simulation software and the surface of a real workpiece in a real environment to obtain a plurality of simulation sampling points and a plurality of real sampling points; then, processing all the simulation sampling points and the real sampling points respectively to obtain at least one simulation nearest point and at least one real nearest point; next, updating the plurality of simulation sampling points by utilizing at least one simulation closest point, at least one real closest point, a plurality of simulation sampling points and a plurality of real sampling points to obtain corresponding updated points; and finally, adjusting the position of the simulation workpiece to ensure that the position of the simulation sampling point is the same as the position of the corresponding updating point. Through the mode, the workpiece calibration can be accurately completed.

Description

A position calibration method, device and computer readable storage medium

technical field

The present application relates to the field of robotics, and in particular, to a position calibration method, device, and computer-readable storage medium.

Background technique

In general, before offline programming on the robot offline programming software, it is necessary to calibrate the tool and workpiece to ensure that in the simulation environment, the positional relationship between the workpiece and the tool relative to the robot is consistent with the real environment. Only in this way can offline programming be guaranteed. The program generated on the software can be used in the real environment; at present, when calibrating the workpiece, the three tips of the workpiece are used for workpiece calibration, and the tool center point (TCP, ToolCenter Point) of the robot is pointed to the workpiece in the real environment. Three tips are used for workpiece calibration; however, when using the tip of the workpiece to calibrate the workpiece, it is necessary to ensure that the workpiece has three tips, otherwise the accuracy of the collected position data cannot be guaranteed in either the real environment or the simulation environment, so that the accuracy of the collected position data cannot be guaranteed. The position of the workpiece relative to the robot in the simulation environment is quite different from the real environment, which eventually causes the program generated in the offline programming software to have a large error when running in the real environment.

SUMMARY OF THE INVENTION

The present application provides a position calibration method, device and computer-readable storage medium, which can accurately complete workpiece calibration.

In order to solve the above-mentioned technical problems, the technical solution adopted in the present application is to provide a position calibration method. The position calibration method includes: respectively sampling the surface of the simulated workpiece in the offline simulation software and the surface of the real workpiece in the real environment, and obtaining a plurality of Simulate sampling points and multiple real sampling points; process all simulated sampling points and real sampling points respectively to obtain at least one simulated closest point and at least one real closest point; use at least one simulated closest point, at least one real closest point, and more. A simulation sampling point and a plurality of real sampling points are updated, and the corresponding update points are obtained; the position of the simulation workpiece is adjusted so that the position of the simulation sampling point is the same as that of the corresponding update point.

In order to solve the above technical problem, another technical solution adopted in this application is to provide a position calibration device, the position calibration device includes a memory and a processor that are connected to each other, wherein the memory is used to store a computer program, and the computer program is used by the processor. When executed, it is used to implement the above-mentioned position calibration method.

In order to solve the above-mentioned technical problem, another technical solution adopted in the present application is to provide a computer-readable storage medium, the computer-readable storage medium is used to store a computer program, and when the computer program is executed by a processor, it is used to realize the above-mentioned Position calibration method.

Through the above scheme, the beneficial effects of the present application are as follows: first, the surface of the simulated workpiece in the offline simulation software and the surface of the real workpiece in the real environment are sampled respectively, so as to obtain multiple simulated sampling points and multiple real sampling points; All simulation sampling points are processed to obtain at least one simulation closest point, and all real sampling points are processed to obtain at least one real closest point; then, at least one simulation closest point, at least one real closest point, multiple simulation samples are used. point and multiple real sampling points, update multiple simulation sampling points to obtain the corresponding update points, and adjust the position of the simulated workpiece according to the update points, so that the position of the simulation sampling point is the same as the position of the corresponding update point, Thereby, the position of the workpiece in the simulation environment is kept consistent with respect to the workpiece position in the real environment; the present application completes the position calibration of the simulation workpiece with the sampling point of the workpiece surface as the benchmark, and uses the simulation closest point and the real closest point as a reference to the simulation sampling point. Update, use sampling points to calibrate the workpiece, can accurately complete the workpiece calibration without any sharp points on the surface of the workpiece, which helps to improve the accuracy of offline programming.

Description of drawings

In order to illustrate the technical solutions in the embodiments of the present application more clearly, the following briefly introduces the drawings that are used in the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can also be obtained from these drawings without creative effort. in:

1 is a schematic flowchart of an embodiment of a position calibration method provided by the present application;

Fig. 2 (a) is the structural representation of the sampling point and the closest point in the embodiment shown in Fig. 1;

Fig. 2 (b) is another structural schematic diagram of the sampling point and the closest point in the embodiment shown in Fig. 1;

Fig. 2 (c) is another structural schematic diagram of the sampling point and the closest point in the embodiment shown in Fig. 1;

3 is a schematic flowchart of another embodiment of a position calibration method provided by the present application;

Fig. 4 (a) is the structural representation of the simulation workpiece and the sampling point on the simulation workpiece in the embodiment shown in Fig. 3;

Fig. 4 (b) is the structural representation of real workpiece and sampling points on the real workpiece in the embodiment shown in Fig. 3;

Fig. 5 (a) is the structural representation of the sampling point on the simulation workpiece in the embodiment shown in Fig. 3;

Fig. 5 (b) is the structural representation of the sampling point on the real workpiece in the embodiment shown in Fig. 3;

6 is a schematic structural diagram of an embodiment of a position calibration device provided by the present application;

FIG. 7 is a schematic structural diagram of an embodiment of a computer-readable storage medium provided by the present application.

Detailed ways

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by persons of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.

Please refer to FIG. 1. FIG. 1 is a schematic flowchart of an embodiment of a position calibration method provided by the present application. The method includes:

Step 11: respectively sample the surface of the simulated workpiece in the offline simulation software and the surface of the real workpiece in the real environment to obtain multiple simulated sampling points and multiple real sampling points.

The offline simulation software is the software for processing the simulated workpiece by the simulated robot. The simulated workpiece has the same shape and size as the real workpiece, and the simulated sampling points correspond to the real sampling points one-to-one, that is, the edge where the simulated sampling point is located and the actual sampling point are located. The edges remain the same; for example, the shape of the simulated workpiece and the real workpiece is a triangular pyramid, the edge on the simulated workpiece is denoted as AB, and the edge in the same position on the real workpiece is denoted as A'B', and the simulation sampling point C is obtained by sampling AB, Sampling A'B' to obtain the real sampling point C', the specific positions of C and C' can be different, but the line segments are the same.

Further, the number of simulated sampling points is consistent with the number of real sampling points, and the number of sampling points (including simulated sampling points and real sampling points) can be four, eight, twelve or more, and the specific number can be The selection is made according to the regularity of the specific workpiece shape. The more irregular the workpiece shape is, the more simulation sampling points and real sampling points are selected.

Step 12: Process all simulated sampling points and real sampling points respectively to obtain at least one simulated closest point and at least one real closest point.

After obtaining multiple simulated sampling points and multiple real sampling points, the corresponding simulated sampling points and the real closest point can be determined by using the line segments where the simulated sampling points and the real sampling points are located, and the simulated closest point is the distance from each simulated line segment. The closest point with the sum of the distances, the real closest point is the point closest to the sum of the distances to each real line segment; or the point closest to the sum of the distances between at least part of the simulation sampling points is the simulation closest point, which will be at least The closest point with the sum of the distances between some real sampling points is used as the real closest point; or some other reasonable methods can be used to obtain the simulated closest point and the real closest point.

In a specific embodiment, the sampling point and the closest point (including the simulated closest point and the real closest point) are used as spatial points, and each line segment has two sampling points as an example, and the number of the closest points can be fixed and variable. If the number of real sampling points is 4, and the two real line segments where the four real sampling points are located intersect, then the closest point at this time is the intersection of the two real line segments; if the two real line segments do not intersect When it is at one point, a point closest to the sum of the distances of the two real line segments is calculated and used as the real closest point; if the number of real sampling points is 6, as shown in Figure 2(a), C is the real sampling point. point, the three real line segments L1, L2 and L3 formed by the six real sampling points are not parallel to each other and intersect at a point E, the real closest point at this time is the intersection point E, and the number is still one; understandably, it can also be more The real line segments formed by the real sampling points of , intersect at one point. At this time, the number of real closest points remains unchanged and is still one.

The number of real closest points can follow the number of real sampling points. Generally speaking, the more real sampling points, the more real closest points. As shown in Figure 2(b), six real sampling points form The three real line segments L1, L2 and L3 are not parallel and do not intersect at one point. At this time, there are two points with the smallest sum of distances from the real line segments. Calculate the point E1 and the distance with the smallest sum of distances from the line segments L1 and L2 respectively. The point E2 where the sum of the line segments L2 and L3 is the smallest; similarly, if the four real line segments formed by the eight real sampling points do not intersect, then there are three real closest points, and so on.

In addition, there is a special case, as shown in Figure 2(c), the number of real closest points is determined by the intersection of real line segments and the number of remaining real line segments that do not intersect; eight real sampling points form four real line segments Take L1, L2, L3 and L4 as an example, the line segments L1, L2 and L3 intersect at a point E1, the line segment L4 is not parallel to the line segments L1, L2 and L3 and there is no intersection point, the number of real closest points at this time is two, One is the intersection E1 of the line segments L1, L2 and L3, and the other is the point E2 with the smallest sum of distances from the line segment L4 and any one of the line segments L1-L3 obtained by calculation.

Understandably, the simulated sampling point is similar to the real sampling point, and details are not described herein again.

Step 13: Using at least one simulated closest point, at least one real closest point, multiple simulated sampling points, and multiple real sampling points to update the multiple simulated sampling points to obtain corresponding update points.

The relative coordinate position calculation is carried out through the position coordinate relationship of the simulation closest point, the real closest point, the simulation sampling point and the real sampling point, and the update point corresponding to the simulation sampling point can be calculated. to update.

Step 14: Adjust the position of the simulation workpiece, so that the position of the simulation sampling point is the same as the position of the corresponding update point.

The adjustment of the position of the simulation workpiece is to update the position of the simulation workpiece by assigning the position coordinates of the update point obtained by calculation to the simulation sampling point, so that the position of the simulation sampling point corresponds to the position of the corresponding update point. Precise workpiece alignment.

This embodiment provides a position calibration method. By sampling the surface of the simulated workpiece in the offline simulation software and the surface of the real workpiece in the real environment, multiple simulated sampling points and multiple real sampling points are obtained; and then all the simulated samples are sampled. point to obtain at least one simulated closest point, and process all real sampling points to obtain at least one true closest point; then use at least one simulated closest point, at least one real closest point, multiple simulated sampling points, and multiple real sampling points , update multiple simulation sampling points to obtain the corresponding update points; finally, assign the position coordinates of the calculated update points to the simulation sampling points to update the position of the simulation workpiece, so that the position of the simulation sampling points is the same as The positions of the corresponding update points are the same, so that the position of the workpiece in the simulation environment is consistent with that in the real environment; the workpiece is calibrated with the sampling points, and the simulation closest point and the real closest point are calculated through the sampling points, and then through the simulation The closest point and the real closest point calculate the update point, so as to update the simulation sampling point, which can accurately complete the workpiece calibration without any sharp point on the workpiece surface and improve the accuracy of offline programming.

Please refer to FIG. 3. FIG. 3 is a schematic flowchart of another embodiment of a position calibration method provided by the present application. The method includes:

Step 31: Sampling the surface of the simulated workpiece in the offline simulation software and the surface of the real workpiece in the real environment, respectively, to obtain multiple simulated sampling points and multiple real sampling points.

The number of multiple simulation sampling points is a preset number, and multiple simulation sampling points form multiple simulation line segments, and the multiple simulation line segments are not parallel; the number of multiple real sampling points is a preset number, and multiple real sampling points form multiple simulation line segments. true line segments, and multiple true line segments are not parallel.

Further, before sampling, a preset number of sampling points can be set to be acquired, and sampling is performed according to the preset number. The preset number is determined by the regularity of the shape of the workpiece, and the multiple sampling points sampled form multiple Line segments (including simulated line segments and real line segments), and the line segments are not parallel to each other.

In a specific embodiment, assuming that the workpiece is an irregular prism, if only four simulation sampling points and four real sampling points are selected, two simulation line segments and two real sampling points are used in the simulation environment and the real environment respectively. The line segment is used for calibration, so that the positional relationship between the sampling point and the line segment cannot be made to correspond to each other, so that the shape of the prism cannot be determined, then it is necessary to select more sampling points to form more line segments to correspond the simulated workpiece to the real workpiece shape. , for example, select twelve simulated sample points, twelve real sample points, six simulated line segments, and six real line segments.

In this embodiment, the shape of the workpiece is a regular rectangle and the preset number of simulated sampling points and real sampling points is four as an example for description. The multiple simulated sampling points include four simulated sampling points, two of which are simulated. The sampling points are recorded as the first simulation sampling point and the second simulation sampling point, and the simulation line segment where the first simulation sampling point is located intersects with the simulation line segment where the second simulation sampling point is located; the multiple real sampling points include four real sampling points, Two of the real sampling points are recorded as the first real sampling point and the second real sampling point, and the simulated line segment where the first real sampling point is located intersects with the simulated line segment where the second real sampling point is located.

As shown in Figure 4(a)-Figure 4(b) and Figure 5(a)-5(b), Figure 4(a) is a schematic diagram of the sampling point on the simulated workpiece, and Figure 4(b) is the real workpiece Figure 5(a) is a schematic diagram of the structure of the sampling points in the simulation environment, and Figure 5(b) is a schematic diagram of the structure of the sampling points in the real environment. and the coordinates of the four sampling points in the simulation environment and the real environment relative to the robot base coordinate system are collected respectively. The four simulation sampling points are respectively recorded as A-D, and the four real sampling points are respectively recorded as A* -D*, two points determine a straight line, the simulation sampling point A and the simulation sampling point B form the first simulation line segment L1, the simulation sampling point C and the simulation sampling point D form the second simulation line segment L2, the first simulation line segment L1 and the second simulation line segment L2 The simulated line segment L2 is not parallel; similarly, the real sampling point A* and the real sampling point B* form the first real line segment L1*, the real sampling point C* and the real sampling point D* form the second real line segment L2*, and the first The real line segment L1* is not parallel to the second real line segment L2*.

In this embodiment, the simulation sampling point A is denoted as the first simulation sampling point, the simulation sampling point D is denoted as the second simulation sampling point, the simulation sampling point B is denoted as the third simulation sampling point, and the simulation sampling point C is denoted as the fourth simulation sampling point Simulation sampling point; denote the real sampling point A* as the first real sampling point, denote the real sampling point D* as the second real sampling point, denote the real sampling point B* as the third real sampling point, and denote the real sampling point C* as the The fourth real sampling point; the first simulation sampling point A and the third simulation sampling point B form the first simulation line segment L1, and the second simulation sampling point D and the fourth simulation sampling point C form the second simulation line segment L2; the first real sampling point Point A* and the third real sampling point B* form the first real line segment L1*, and the second real sampling point D* and the fourth real sampling point C* form the second real line segment L2*; The first simulation line segment L1 is not parallel to the second simulation line segment L2 where the second simulation sampling point D is located, and the first real line segment L1* where the first real sampling point A* is located and the second real line segment L1* where the second real sampling point D* is located are located. The line segment L2* is not parallel; it can be understood that the first simulation sampling point can also be selected as B, the second simulation sampling point can also be selected as C, the first real sampling point can also be selected as B*, and the second real sampling point can also be selected as B*. It can be selected as C*, if the line segments where the two sampling points are located are not parallel.

Step 32: Process all simulated sampling points and real sampling points respectively to obtain at least one simulated closest point and at least one real closest point.

The simulated closest point is the point with the smallest sum of distances from multiple simulated line segments, and the real closest point is the point with the smallest sum of distances from multiple real line segments; in general, because the line segments where the sampling points are located are not parallel, theoretically It will intersect, so the simulation closest point is the intersection of all simulated line segments, and the real closest point is the intersection of all real line segments; however, in the case of actual collection, the location data of the collected sampling points may have accidental errors, resulting in two The straight lines do not intersect. At this time, the point with the smallest sum of distances to multiple simulated line segments can be calculated in the simulation environment, and it is the closest point of the simulation; similarly, the sum of the distances to multiple real line segments can be calculated in the real environment. And the smallest point, whichever is the true closest point, in order to reduce the acquisition error and improve the calibration accuracy.

In this embodiment, as shown in Fig. 4(a)-Fig. 4(b) and Fig. 5(a)-5(b), the shape of the sampled workpiece is a regular rectangle. There are four sampling points, and there are two simulated line segments and two real line segments, respectively, and there is only one simulated closest point and one real closest point. At this time, the first simulated line segment L1 and the second simulated line segment L2 intersect at point E. In this embodiment , the point E is taken as the closest point of the simulation, the first real line segment L1* and the second real line segment L2* intersect at the point E*, and the point E* is taken as the real closest point.

Use the coordinate value of the first real sampling point A* and the coordinate value of the real closest point E* to update the position of the first simulation sampling point A to obtain the first update point; use the coordinate value of the second real sampling point D* and The coordinate value of the real closest point E* updates the position of the second simulation sampling point D to obtain a second update point.

Step 33: Calculate the distance between the closest simulation point and the first simulation sampling point and the second simulation sampling point respectively to obtain the first simulation distance and the second simulation distance; respectively calculate the real closest point and the first real sampling point and the second simulation distance. The distance between the real sampling points, the first real distance and the second real distance are obtained.

As shown in Figure 5(a), according to the distance formula between the two points, calculate the distance between the closest point E of the simulation and the first simulation sampling point A, obtain the first simulation distance EA, and calculate the closest point E of the simulation and the second simulation point A The distance between the sampling points D, the second simulation distance ED is obtained; as shown in Figure 5(b), the distance between the real closest point E* and the first real sampling point A* is calculated to obtain the first real distance E* A*, calculate the distance between the real closest point E* and the second real sampling point D*, and obtain the second real distance E*D*.

Step 34: Calculate the ratio between the first simulated distance and the first real distance and the ratio between the second simulated distance and the second real distance, respectively, to obtain the first ratio and the second ratio.

In this embodiment, the ratio of the length of the first simulated distance EA to the first real distance E*A* is EA/E*A*, denoted as the first ratio S1, the second simulated distance ED and the second real distance E* The length ratio of D* is ED/E*D*, which is recorded as the second ratio S2.

Step 35: Denote the coordinate difference between the first real sampling point and the real closest point as the first coordinate difference; denote the coordinate difference between the second real sampling point and the real closest point as the second coordinate difference.

In this embodiment, set the coordinates of the first real sampling point A* to be (x1, y1), the coordinates of the second real sampling point D* to be (x2, y2), and the coordinates of the real closest point E* to be (x0, y0).

Note that the first coordinate difference is Y1, the coordinate difference between the first real sampling point A* and the real closest point E* is Y1=(x1-x0, y1-y0); the second coordinate difference is Y2, the second real The coordinate difference Y2=(x2-x0, y2-y0) between the sampling point D* and the real closest point E*.

Step 36: Superimpose the product of the first coordinate difference and the first ratio with the coordinate value of the first real sampling point to obtain the coordinate value of the first update point; multiply the product of the second coordinate difference and the second ratio with the second coordinate value. The coordinate values of the real sampling points are superimposed to obtain the coordinate values of the second update point.

In this embodiment, denote the first update point as A', and its calculation formula is the product of the first coordinate difference Y1 and the first ratio S1 plus the coordinate value of the first real sampling point A*, then A'=Y1 ×S1+A*=(x1-x0, y1-y0)×S1+A*=(x1-x0, y1-y0)×EA/E*A*+(x1, y1); mark the second update point as D', its calculation formula is the product of the second coordinate difference Y2 and the second ratio S2 plus the coordinate value of the second real sampling point D*, then D'=Y2×S2+D*=(x2-x0, y2 -y0)*S2+D*=(x2-x0, y2-y0)*ED/E*D*+(x2, y2).

Further, the first coordinate difference Y1 is multiplied by the first ratio S1 and the position coordinates of the first real sampling point A* are multiplied to obtain the first simulation sampling point A in the real environment corresponding to the same coordinate system. Similarly, the second coordinate difference Y2 is multiplied by the second ratio S2 and the position coordinates of the second real sampling point D* are added to obtain the second simulation in the real environment under the same coordinate system. The position coordinates corresponding to the sampling point D.

Step 37: Adjust the position of the simulated workpiece, so that the position of the simulated sampling point is the same as the position of the corresponding update point.

Assign the coordinate value of the real closest point E* to the simulation closest point E, assign the coordinate value of the first update point A' to the first simulation sampling point A, and assign the coordinate value of the second update point D' to the second simulation Sampling point D, namely:

E=E*=(x0, y0)

A=A'=(x1-x0, y1-y0)×EA/E*A*+(x1, y1)

D=D'=(x2-x0, y2-y0)×ED/E*D*+(x2, y2)

By calculating the position coordinates of the first update point A' and the second update point D', and assigning their position coordinates to the corresponding first simulation sampling point A and the second simulation sampling point D in the simulation environment, the simulation environment The positional relationship between the workpiece and the robot is unified with the position coordinates of the workpiece and the robot in the real environment, so as to complete the position calibration of the workpiece.

In this embodiment, the surface of the simulated workpiece in the offline software and the surface of the real workpiece in the real environment are sampled, respectively, to obtain four simulated sampling points and four real sampling points; 2. The simulation distance and the first real distance and the second real distance; then calculate the ratio between the first simulation distance and the first real distance and the ratio between the second simulation distance and the second real distance, and obtain the first ratio and the second ratio. ; Then use the first ratio, the second ratio, the first real sampling point, the real closest point, the second real sampling point or the real closest point to obtain the coordinate value of the first update point and the coordinate value of the second update point; finally The coordinate value of the real closest point is assigned to the simulation closest point, the coordinate value of the first update point is assigned to the first simulation sampling point, and the coordinate value of the second update point is assigned to the second simulation sampling point, so as to realize the simulation of the workpiece. The position is adjusted so that the position of the simulation sampling point is the same as the position of the corresponding update point; in this embodiment, by taking four sampling points on the workpiece, and using these sampling points to calculate the coordinates of the update point, the collection in actual operation can be reduced. error, and can accurately complete the workpiece calibration without any sharp points on the workpiece surface.

Please refer to FIG. 6. FIG. 6 is a schematic structural diagram of an embodiment of a position calibration device provided by the present application. The position calibration device 60 includes a memory 61 and a processor 62 that are connected to each other. The memory 61 is used for storing computer programs. When the controller 62 is executed, it is used to implement the position calibration method in the above embodiment.

Please refer to FIG. 7. FIG. 7 is a schematic structural diagram of an embodiment of a computer-readable storage medium provided by the present application. The computer-readable storage medium 70 is used for storing a computer program 71, and when the computer program 71 is executed by the processor, it is used to realize The position calibration method in the above embodiment.

The computer-readable storage medium 70 can be a server, a U disk, a mobile hard disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a magnetic disk or an optical disk, etc. medium of program code.

In the several embodiments provided in this application, it should be understood that the disclosed method and device may be implemented in other manners. For example, the device implementations described above are only illustrative. For example, the division of modules or units is only a logical function division. In actual implementation, there may be other divisions, for example, multiple units or components may be combined or Can be integrated into another system, or some features can be ignored, or not implemented.

Units described as separate components may or may not be physically separated, and components shown as units may or may not be physical units, that is, may be located in one place, or may be distributed to multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution in this implementation manner.

In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically alone, or two or more units may be integrated into one unit. The above-mentioned integrated units may be implemented in the form of hardware, or may be implemented in the form of software functional units.

The above are only the embodiments of the present application, and are not intended to limit the scope of the patent of the present application. Any equivalent structure or equivalent process transformation made by using the contents of the description and drawings of the present application, or directly or indirectly applied to other related technologies Fields are similarly included within the scope of patent protection of this application.

Claims (10)

1. A method of position calibration, comprising:

respectively sampling the surface of a simulation workpiece in offline simulation software and the surface of a real workpiece in a real environment to obtain a plurality of simulation sampling points and a plurality of real sampling points;

processing all the simulation sampling points and the real sampling points respectively to obtain at least one simulation nearest point and at least one real nearest point;

updating the plurality of simulation sampling points by utilizing the at least one simulation closest point, the at least one real closest point, the plurality of simulation sampling points and the plurality of real sampling points to obtain corresponding updated points;

and adjusting the position of the simulation workpiece to ensure that the position of the simulation sampling point is the same as the position of the corresponding updating point.

2. The position calibration method according to claim 1,

the number of the plurality of simulation sampling points is a preset number, the plurality of simulation sampling points form a plurality of simulation line segments, and the simulation line segments are not parallel; the number of the real sampling points is the preset number, the real sampling points form a plurality of real line segments, and the real line segments are not parallel; the simulation closest point is a point with the minimum sum of the distances between the simulation closest point and the plurality of simulation line segments, and the real closest point is a point with the minimum sum of the distances between the simulation closest point and the plurality of real line segments.

3. The position calibration method according to claim 2,

the plurality of simulation sampling points comprise a first simulation sampling point and a second simulation sampling point, and a simulation line segment where the first simulation sampling point is located is crossed with a simulation line segment where the second simulation sampling point is located; the plurality of real sampling points comprise a first real sampling point and a second real sampling point, and a simulation line segment where the first real sampling point is located is crossed with a simulation line segment where the second real sampling point is located.

4. The method according to claim 3, wherein the step of updating the plurality of simulated sampling points to obtain corresponding updated points by using the at least one simulated closest point, the at least one real closest point, the plurality of simulated sampling points, and the plurality of real sampling points comprises:

updating the position of the first simulation sampling point by using the coordinate value of the first real sampling point and the coordinate value of the real closest point to obtain a first updated point;

and updating the position of the second simulation sampling point by using the coordinate value of the second real sampling point and the coordinate value of the real closest point to obtain a second updated point.

5. The position calibration method according to claim 4, characterized in that the method further comprises:

respectively calculating the distance between the simulation closest point and the first simulation sampling point and the distance between the simulation closest point and the second simulation sampling point to obtain a first simulation distance and a second simulation distance;

respectively calculating the distances between the real closest point and the first real sampling point and the second real sampling point to obtain a first real distance and a second real distance;

calculating a coordinate value of the first update point by using the first simulation distance, the first real distance, the coordinate value of the first real sampling point, and the coordinate value of the real closest point;

and calculating the coordinate value of the second updating point by using the second simulation distance, the second real distance, the coordinate value of the second real sampling point and the coordinate value of the real closest point.

6. The position calibration method according to claim 5, characterized in that the method further comprises:

respectively calculating the ratio of the first simulation distance to the first real distance and the ratio of the second simulation distance to the second real distance to obtain a first ratio and a second ratio;

generating a coordinate value of the first updating point by using the first ratio, the coordinate value of the first real sampling point and the coordinate value of the real closest point;

and generating the coordinate value of the second updating point by using the second ratio, the coordinate value of the second real sampling point and the coordinate value of the real closest point.

7. The position calibration method according to claim 6, characterized in that the method further comprises:

recording a coordinate difference value between the first real sampling point and the real closest point as a first coordinate difference value;

calculating the coordinate value of the first updating point by using the first coordinate difference value, the first ratio and the coordinate value of the real closest point;

recording the coordinate difference between the second real sampling point and the real closest point as a second coordinate difference;

and calculating the coordinate value of the second updating point by using the second coordinate difference, the second ratio and the coordinate value of the real closest point.

8. The position calibration method according to claim 7, characterized in that the method further comprises:

superposing the product of the first coordinate difference and the first ratio with the coordinate value of the first real sampling point to obtain the coordinate value of the first updating point;

and superposing the product of the second coordinate difference and the second ratio with the coordinate value of the second real sampling point to obtain the coordinate value of the second updating point.

9. A position calibration device, comprising a memory and a processor connected to each other, wherein the memory is configured to store a computer program, which when executed by the processor is configured to implement the position calibration method according to any one of claims 1 to 8.

10. A computer-readable storage medium for storing a computer program, the computer program, when being executed by a processor, is adapted to carry out the position calibration method according to any one of claims 1 to 8.

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