CN114329881A - Position calibration method, device and computer readable storage medium - Google Patents
Position calibration method, device and computer readable storage medium Download PDFInfo
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- CN114329881A CN114329881A CN202011073599.3A CN202011073599A CN114329881A CN 114329881 A CN114329881 A CN 114329881A CN 202011073599 A CN202011073599 A CN 202011073599A CN 114329881 A CN114329881 A CN 114329881A
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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
Technical Field
The present application relates to the field of robotics, and in particular, to a position calibration method, apparatus, and computer-readable storage medium.
Background
Generally, before offline programming is performed on the robot offline programming software, calibration of a tool and a workpiece needs to be performed first, so that the position relationship between the workpiece and the tool relative to the robot is consistent with that in a real environment in a simulation environment, and only in this way, it can be ensured that a program generated on the offline programming software can be used in the real environment; at present, when workpiece calibration is performed, workpiece calibration is performed by using three tips of a workpiece, and workpiece calibration is performed by pointing a Tool Center Point (TCP) of a robot to the three tips of the workpiece in a real environment; however, when the tip of the workpiece is used for workpiece calibration, it is necessary to ensure that the workpiece has three tips, otherwise, the accuracy of the acquired position data cannot be ensured in a real environment or a simulation environment, so that the difference between the position of the workpiece relative to the robot in the simulation environment and the real environment is large, and finally, the operation error of a program generated in the offline programming software is large in the real environment.
Disclosure of Invention
The application provides a position calibration method, a position calibration device and a computer-readable storage medium, which can accurately finish workpiece calibration.
In order to solve the above technical problem, a technical solution adopted by the present application is to provide a position calibration method, including: 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 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 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.
In order to solve the above technical problem, another technical solution adopted by the present application is to provide a position calibration apparatus, which includes a memory and a processor connected to each other, wherein the memory is used for storing a computer program, and the computer program is used for implementing the position calibration method when being executed by the processor.
In order to solve the above technical problem, a further technical solution adopted by the present application is to provide a computer-readable storage medium for storing a computer program, which is used for implementing the above position calibration method when the computer program is executed by a processor.
Through the scheme, the beneficial effects of the application are that: 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 simulation sampling points to obtain at least one simulation closest point, and processing all real sampling points to obtain at least one real closest 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 updating points, and adjusting the position of the simulation workpiece according to the updating points to ensure that the positions of the simulation sampling points are the same as the positions of the corresponding updating points, so that the workpiece in the simulation environment keeps consistent with the position of the workpiece in the real environment; the method and the device finish the position calibration of the simulation workpiece by taking the sampling point on the surface of the workpiece as a reference, update the simulation sampling point by taking the simulation closest point and the real closest point as references, calibrate the workpiece by utilizing the sampling point, can finish the workpiece calibration accurately under the condition that no tip exists on the surface of the workpiece, and are favorable for improving the accuracy of off-line programming.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts. Wherein:
FIG. 1 is a schematic flow chart diagram illustrating an embodiment of a position calibration method provided herein;
FIG. 2(a) is a schematic diagram of the structure of the sampling point and the closest point in the embodiment shown in FIG. 1;
FIG. 2(b) is another schematic diagram of the sampling point and the closest point in the embodiment shown in FIG. 1;
FIG. 2(c) is a schematic diagram of another structure of the sampling point and the closest point in the embodiment shown in FIG. 1;
FIG. 3 is a schematic flow chart diagram illustrating another embodiment of a position calibration method provided herein;
FIG. 4(a) is a schematic structural diagram of a simulated workpiece and sampling points on the simulated workpiece in the embodiment shown in FIG. 3;
FIG. 4(b) is a schematic structural diagram of the real workpiece and the sampling points on the real workpiece in the embodiment shown in FIG. 3;
FIG. 5(a) is a schematic diagram of the structure of a sampling point on a simulated workpiece in the embodiment shown in FIG. 3;
FIG. 5(b) is a schematic structural diagram of a sampling point on the real workpiece in the embodiment shown in FIG. 3;
FIG. 6 is a schematic structural diagram of an embodiment of a position calibration apparatus provided herein;
FIG. 7 is a schematic structural diagram of an embodiment of a computer-readable storage medium provided in the present application.
Detailed Description
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, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
Referring to fig. 1, fig. 1 is a schematic flow chart of an embodiment of a position calibration method provided in the present application, the method including:
step 11: the method comprises the steps of sampling the surface of a simulation workpiece in offline simulation software and the surface of a real workpiece in a real environment respectively to obtain a plurality of simulation sampling points and a plurality of real sampling points.
The off-line simulation software is software for processing a simulation workpiece by a simulation robot, the simulation workpiece and a real workpiece have the same shape and size, and the simulation sampling points correspond to the real sampling points one by one, namely the edges where the simulation sampling points are located are consistent with the edges where the real sampling points are located; for example, the shapes of the simulated workpiece and the real workpiece are triangular pyramids, the edge on the simulated workpiece is denoted as AB, the edge at the same position on the real workpiece is denoted as a ' B ', the AB is sampled to obtain a simulated sampling point C, the a ' B ' is sampled to obtain a real sampling point C ', and the specific positions of C and C ' can be different, but the line segments where the C and C ' are located are the same.
Further, the number of the simulated sampling points is consistent with that of the real sampling points, the number of the sampling points (including the simulated sampling points and the real sampling points) can be four, eight, twelve or more, the specific number can be selected according to the regularity of the specific workpiece shape, and the more irregular the workpiece shape is, the more the number of the selected simulated sampling points and the real sampling points is.
Step 12: and processing all the simulation sampling points and the real sampling points respectively to obtain at least one simulation closest point and at least one real closest point.
After acquiring a plurality of simulation sampling points and a plurality of real sampling points, determining corresponding simulation sampling points and real closest points by utilizing line segments where the simulation sampling points and the real sampling points are located, wherein the simulation closest points are points with the shortest distance sum to each simulation line segment, and the real closest points are points with the shortest distance sum to each real line segment; or taking a point which is closest to the sum of the distances between at least part of the simulation sampling points as a simulation closest point, and taking a point which is closest to the sum of the distances between at least part of the real sampling points as a real closest point; or the simulated closest point and the real closest point can be obtained in some other reasonable way.
In a specific embodiment, taking a sampling point and a closest point (including a simulated closest point and a real closest point) as spatial points, and each line segment has two sampling points as an example for explanation, the number of the closest points may be fixed and unchanged, for example, 1, assuming that the number of the real sampling points is 4, and two real line segments where four real sampling points are located intersect, then the closest point is an intersection point of the two real line segments; if the two real line segments do not intersect at one point, calculating a point which is closest to the sum of the distances of the two real line segments, and taking the point as a real closest point; if the number of the real sampling points is 6, as shown in fig. 2(a), C is a real sampling point, 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 an intersection point E, and the number is still one; it can be understood that the real line segments formed for more real sampling points intersect at one point, and the number of the real closest points is still one.
The number of the true closest points can be changed along with the number of the true sampling points, generally, the greater the number of the true sampling points, the greater the number of the true closest points, as shown in fig. 2(b), three true line segments L1, L2, and L3 formed by six true sampling points are not parallel and intersect at one point, and at this time, there is a point where the sum of the distances from the two true line segments is the minimum, and a point E1 where the sum of the distances from the line segments L1 and L2 is the minimum and a point E2 where the sum of the distances from the line segments L2 and L3 is the minimum are calculated respectively; similarly, if the four real line segments formed by the eight real sampling points are not intersected, there are three real closest points, and so on.
In addition, there is a special case where, as shown in fig. 2(c), the number of true closest points is determined by the number of intersections of the true line segments and the remaining true line segments that are not intersected; taking eight real sampling points to form four real line segments L1, L2, L3 and L4 as an example, line segments L1, L2 and L3 intersect at a point E1, line segment L4 is not parallel to line segments L1, L2 and L3 and there is no intersection point, the number of the real closest points at this time is two, one is an intersection point E1 of line segments L1, L2 and L3, and the other is a point E2 where the sum of the distances of any one of the distance line segment L4 and the line segments L1-L3 obtained by calculation is the smallest.
It is understood that the simulation sampling point is similar to the real sampling point, and will not be described herein.
Step 13: and 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 calculating related coordinate positions according to the position coordinate relations of the simulation closest point, the real closest point, the simulation sampling point and the real sampling point, calculating an update point corresponding to the simulation sampling point, and then updating the simulation sampling point in the simulation environment through the update point.
Step 14: 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.
The position of the simulation workpiece is adjusted by assigning the position coordinates of the update points obtained by calculation to the simulation sampling points, so that the position of the simulation workpiece is updated, the positions of the simulation sampling points correspond to the positions of the corresponding update points, and accurate workpiece calibration is realized.
The embodiment provides a position calibration method, which includes 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 simulation sampling points to obtain at least one simulation closest point, and processing all real sampling points to obtain at least one real closest point; then, 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; finally, assigning the position coordinates of the calculated updating points to the simulation sampling points to update the positions of the simulation workpieces, so that the positions of the simulation sampling points are the same as the positions of the corresponding updating points, and the positions of the workpieces in the simulation environment are consistent relative to the positions of the workpieces in the real environment; the workpiece is calibrated by utilizing the sampling points, the simulation closest point and the real closest point are calculated through the sampling points, and then the updating points are calculated through the simulation closest point and the real closest point, so that the simulation sampling points are updated, the workpiece calibration can be accurately finished under the condition that no tip exists on the surface of the workpiece, and the accuracy of offline programming is improved.
Referring to fig. 3, fig. 3 is a schematic flowchart illustrating another embodiment of a position calibration method provided in the present application, the method including:
step 31: the method comprises the steps of sampling the surface of a simulation workpiece in offline simulation software and the surface of a real workpiece in a real environment respectively to obtain a plurality of simulation sampling points and a plurality of real sampling points.
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 plurality of simulation line segments are not parallel; the number of the real sampling points is a preset number, the real sampling points form a plurality of real line segments, and the real line segments are not parallel.
Furthermore, a preset number of sampling points can be set and obtained before sampling, sampling is carried out according to the preset number, the preset number is determined by the shape regularity of the workpiece, and the sampled sampling points form a plurality of line segments (including simulation 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 frustum, if only four simulation sampling points and four real sampling points are selected, and two simulation line segments and two real line segments are used for calibration in the simulation environment and the real environment respectively, so that the position relationship between the sampling points and the line segments cannot be made to correspond to each other, and the shape of the frustum cannot be determined, more sampling points need to be selected to form more line segments to correspond the simulation workpiece to the shape of the real workpiece, for example, twelve simulation sampling points, twelve real sampling points, six simulation line segments and six real line segments are selected.
In this embodiment, the workpiece is illustrated as a regular rectangle, and the preset number of the simulation sampling points and the real sampling points is four, the plurality of simulation sampling points includes four simulation sampling points, two of the simulation sampling points are taken as a first simulation sampling point and a second simulation sampling point, and a simulation line segment where the first simulation sampling point is located intersects a simulation line segment where the second simulation sampling point is located; the plurality of real sampling points comprise four real sampling points, wherein two real sampling points are marked as 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.
As shown in fig. 4(a) -4 (B) and 5(a) -5(B), fig. 4(a) is a schematic structural diagram of the sampling points on the simulated workpiece, fig. 4(B) is a schematic structural diagram of the sampling points on the real workpiece, fig. 5(a) is a schematic structural diagram of the sampling points under the simulated environment, fig. 5(B) is a schematic structural diagram of the sampling points under the real environment, four sampling points are respectively taken in the simulated environment and the real environment, and spatial point coordinates of the four sampling points under the simulated environment and the real environment relative to a robot base coordinate system are respectively acquired, the four simulated sampling points are respectively marked as a-D, the four real sampling points are respectively marked as a-D, two points determine a straight line, the simulated sampling point a and the simulated sampling point B form a first simulated line segment L1, the simulated sampling point C and the simulated sampling point D form a second simulated line segment L2, the first simulated line segment L1 and the second simulated line segment L2 are not parallel; similarly, the true sample points a and B form a first true line segment L1, the true sample points C and D form a second true line segment L2, and the first true line segment L1 is not parallel to the second true line segment L2.
In the embodiment, the simulation sampling point a is taken as a first simulation sampling point, the simulation sampling point D is taken as a second simulation sampling point, the simulation sampling point B is taken as a third simulation sampling point, and the simulation sampling point C is taken as a fourth simulation sampling point; marking real sampling points A as first real sampling points, marking real sampling points D as second real sampling points, marking real sampling points B as third real sampling points, and marking real sampling points C as fourth real sampling points; the first simulation sampling point A and the third simulation sampling point B form a first simulation line segment L1, and the second simulation sampling point D and the fourth simulation sampling point C form a second simulation line segment L2; the first real sampling point a and the third real sampling point B form a first real line segment L1, and the second real sampling point D and the fourth real sampling point C form a second real line segment L2; the first simulation line segment L1 where the first simulation sampling point A is located 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 is not parallel to the second real line segment L2 where the second real sampling point D is located; it can be understood that the first simulation sampling point may also be selected as B, the second simulation sampling point may also be selected as C, the first real sampling point may also be selected as B, and the second real sampling point may also be selected as C, so that the line segments where the two sampling points are located are not parallel.
Step 32: and processing all the simulation sampling points and the real sampling points respectively to obtain at least one simulation closest point and at least one real closest point.
The simulation closest point is a point with the minimum sum of the distances from the simulation line segments, and the real closest point is a point with the minimum sum of the distances from the simulation line segments; generally, because the line segments where the sampling points are located are not parallel and can be intersected theoretically, the simulation closest point is the intersection point of all simulation line segments, and the real closest point is the intersection point of all real line segments; however, under the actual acquisition condition, the position data of the acquired sampling points may have accidental errors, so that two straight lines are not intersected, and at the moment, a point with the minimum sum of distances to a plurality of simulation line segments can be calculated in the simulation environment and is taken as a simulation closest point; similarly, the point with the minimum sum of the distances to the plurality of real line segments is calculated in the real environment and is taken as the real closest point, so that the acquisition error is reduced, and the calibration accuracy is improved.
In this embodiment, as shown in fig. 4(a) -4 (b) and 5(a) -5(b), the shape of the sampled workpiece is a regular rectangle, four sampling points are respectively taken in the simulation environment and the real environment, and the simulation line segment and the real line segment are respectively two, so that there is only one simulation closest point and only one real closest point, and the first simulation line segment L1 and the second simulation line segment L2 intersect at the point E.
Updating the position of the first simulation sampling point A by using the coordinate value of the first real sampling point A and the coordinate value of the real closest point E to obtain a first updated point; and updating the position of the second simulation sampling point D by using the coordinate value of the second real sampling point D and the coordinate value of the real closest point E to obtain a second updated point.
Step 33: 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; and 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.
As shown in fig. 5(a), according to a distance formula between two points, calculating a distance between a simulation closest point E and a first simulation sampling point a to obtain a first simulation distance EA, and calculating a distance between the simulation closest point E and a second simulation sampling point D to obtain a second simulation distance ED; as shown in fig. 5(b), the distance between the true closest point E and the first true sampling point a is calculated to obtain the first true distance E × a, and the distance between the true closest point E and the second true sampling point D is calculated to obtain the second true distance E × D.
Step 34: and 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.
In this embodiment, the length ratio of the first simulated distance EA to the first real distance E × a is EA/E × a and is denoted as a first ratio S1, and the length ratio of the second simulated distance ED to the second real distance E × D is ED/E × D and is denoted as a second ratio S2.
Step 35: recording a coordinate difference value between the first real sampling point and the real closest point as a first coordinate difference value; and recording the coordinate difference value between the second real sampling point and the real closest point as a second coordinate difference value.
In this embodiment, let the coordinates of the first real sampling point a be (x1, y1), the coordinates of the second real sampling point D be (x2, y2), and the coordinates of the real closest point E be (x0, y 0).
Recording the coordinate difference Y1, and the coordinate difference Y1 between the first real sampling point A and the real closest point E (x1-x0, Y1-Y0); let the second coordinate difference be Y2, and the coordinate difference between the second true sample point D and the true closest point E be Y2 (x2-x0, Y2-Y0).
Step 36: superposing the product of the first coordinate difference value 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 value and the second ratio with the coordinate value of the second real sampling point to obtain the coordinate value of the second updating point.
In this embodiment, the first update point is denoted as a ', and the 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 ═ so that a' ═ Y1 × S1+ a ═ x1-x0, Y1-Y0) × S1+ a ═ x (x1-x0, Y1-Y0) × EA/E ++ (x1, Y1); let the second updated point be D ', which is calculated by adding the coordinate value of the second real sampling point D to the product of the second coordinate difference Y2 and the second ratio S2, then D' ═ Y2 × S2+ D ═ S2+ D ═ x2-x0, Y2-Y0 (x2-x0, Y2-Y0) × ED/E × (x2, Y2).
Further, the position coordinates of the first real sampling point a are multiplied by the first coordinate difference Y1 and the first ratio S1, and the position coordinates corresponding to the first simulated sampling point a in the real environment in the same coordinate system are obtained; 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 position coordinates corresponding to the second simulated sampling point D in the real environment in the same coordinate system.
Step 37: 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.
Assigning the coordinate value of the real closest point E to the simulation closest point E, assigning the coordinate value of the first updating point A 'to the first simulation sampling point A, and assigning the coordinate value of the second updating 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)
the position coordinates of the first updating point A 'and the second updating point D' are calculated, and the position coordinates are assigned to the corresponding first simulation sampling point A and the second simulation sampling point D in the simulation environment, so that the position relation between the workpiece and the robot in the simulation environment and the position coordinates of the workpiece and the robot in the real environment are unified, and the position calibration of the workpiece is completed.
In this embodiment, the surface of a simulated workpiece in offline software and the surface of a real workpiece in a real environment are respectively sampled to obtain four simulated sampling points and four real sampling points; then, respectively obtaining a first simulation distance and a second simulation distance and a first real distance and a second real distance through calculation; then, 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; then, by utilizing 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, the coordinate value of the first updating point and the coordinate value of the second updating point can be obtained; finally, assigning the coordinate value of the real closest point to the simulation closest point, assigning the coordinate value of the first updating point to the first simulation sampling point, assigning the coordinate value of the second updating point to the second simulation sampling point, and realizing the adjustment of 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; the present embodiment can reduce the acquisition error in the actual operation by adopting four sampling points on the workpiece and calculating the coordinates of the update points using the sampling points, and can accurately complete the workpiece calibration without any tip on the surface of the workpiece.
Referring to fig. 6, fig. 6 is a schematic structural diagram of an embodiment of a position calibration apparatus 60 provided in the present application, in which the position calibration apparatus 60 includes a memory 61 and a processor 62 connected to each other, the memory 61 is used for storing a computer program, and the computer program is used for implementing the position calibration method in the above embodiment when being executed by the processor 62.
Referring to fig. 7, fig. 7 is a schematic structural diagram of an embodiment of a computer-readable storage medium 70 provided in the present application, where the computer-readable storage medium 70 is used for storing a computer program 71, and the computer program 71 is used for implementing the position calibration method in the foregoing embodiment when being executed by a processor.
The computer readable storage medium 70 may be a server, a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and various media capable of storing program codes.
In the several embodiments provided in the present application, it should be understood that the disclosed method and apparatus may be implemented in other manners. For example, the above-described apparatus embodiments are merely illustrative, and for example, a division of modules or units is merely a logical division, and an actual implementation may have another division, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed.
Units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the embodiment.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units may be integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The above description is only an example of the present application and is 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, or which are directly or indirectly applied to other related technical fields, are intended to be included within the scope of the present 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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