CN114838659A - Manipulator testing device, testing method, calibration method and storage medium - Google Patents

Manipulator testing device, testing method, calibration method and storage medium Download PDF

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Publication number
CN114838659A
CN114838659A CN202210450852.5A CN202210450852A CN114838659A CN 114838659 A CN114838659 A CN 114838659A CN 202210450852 A CN202210450852 A CN 202210450852A CN 114838659 A CN114838659 A CN 114838659A
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test
manipulator
acquisition module
testing
reference image
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CN202210450852.5A
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CN114838659B (en
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朱永球
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Shenzhen Sensetime Technology Co Ltd
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Shenzhen Sensetime Technology Co Ltd
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates

Abstract

The embodiment of the application discloses a manipulator testing device, a testing method, a calibration method and a storage medium, relates to the technical field of intelligent equipment, and solves the problems of low efficiency, poor accuracy and poor consistency of manipulator testing. The manipulator testing device comprises a base, a displacement traction assembly and a vision acquisition module, wherein a mounting seat is fixed on the base and used for mounting a fixed end of a manipulator; the displacement traction assembly comprises a displacement mechanism and a traction piece, the traction piece is connected with the base through the displacement mechanism, the displacement mechanism is used for moving the traction piece in a preset range, and the traction piece is used for fixing a grabbing end of the manipulator; the vision acquisition module is used for acquiring image information when the traction piece moves to the target position. The manipulator testing device is used for testing of a manipulator.

Description

Manipulator testing device, testing method, calibration method and storage medium
Technical Field
The embodiment of the application relates to the technical field of intelligent equipment, in particular to a manipulator testing device, a testing method, a calibration method and a storage medium.
Background
Along with the development of artificial intelligence, the demand for small robots based on manipulator transport and moving object is more and more, and the manipulator of these small robots uses servo motor drive arm motion, and the suction nozzle is installed usually to the arm front end and is got and put the object. After the robot hand part is assembled to the robot body, due to the assembly difference of each part, the hand grasping or suction position coordinates need to be corrected before shipment. The principle of calibration is to move the robot nozzle to several fixed horizontal positions, calculate and measure the coordinates of the nozzle at the fixed positions, and then calculate the assembly deviation based on the coordinates of the fixed positions.
At present, the mechanical arm position calibration based on a small robot uses manual traction to a fixed position of a mechanical arm suction nozzle, and the accuracy of the position is compared manually, so that the method has low efficiency, poor accuracy and poor consistency.
Disclosure of Invention
The embodiment of the application provides a manipulator testing device, a testing method, a calibration method and a storage medium, which can improve the accuracy and efficiency of detection.
In a first aspect, an embodiment of the application provides a manipulator testing device, which includes a base, a displacement traction assembly and a vision acquisition module, wherein a mounting seat is fixed on the base, and the mounting seat is used for mounting a fixed end of a manipulator; the displacement traction assembly comprises a displacement mechanism and a traction piece, the traction piece is connected with the base through the displacement mechanism, the displacement mechanism is used for moving the traction piece in a preset range, and the traction piece is used for fixing a grabbing end of the manipulator; the vision acquisition module is used for acquiring image information when the traction piece moves to the target position.
The manipulator testing arrangement that this application embodiment provided, the stiff end of manipulator can be fixed on the mount pad of base, owing to set up the displacement and pull the subassembly, can be fixed the snatching of manipulator through pulling the piece, can remove the end of snatching of manipulator to the target location through displacement mechanism, and this target location can be the test position that has set up in advance. Like this, when testing, can be earlier through the drive of manipulator self with the end of snatching of manipulator remove to the test position, then return initial position, then, the rethread displacement mechanism removes the end of snatching of manipulator to same test position, and compares twice test position, can realize the test to the manipulator. In order to enable the detection result to be more accurate, the comparison of the test position is acquired twice through the visual acquisition module, the acquired image information can be technically compared, and then the position error of the two times is judged. Compared with the existing manual operation and manual comparison, the test efficiency and the test accuracy can be greatly improved.
In one possible implementation of the present application, a drive member is included for driving the displacement mechanism to move the traction member within a predetermined range. The displacement mechanism can be intelligently driven through the driving piece so as to facilitate the operation of the test and ensure the accuracy of the test.
In one possible implementation of the present application, a reference member is included, the reference member is fixed to the reference, and the displacement mechanism can move the traction member to be aligned with the test reference member. The position of the reference piece can be subjected to benchmark test before the test, and the accuracy of the manipulator test device is ensured.
In one possible implementation of the application, the vision acquisition module is fixed on the traction piece. Therefore, when the traction piece is moved to the target position by the displacement mechanism each time, the visual acquisition module can be moved at the same time, so that the processes are reduced, and the relative position between the visual acquisition module and the traction piece is unchanged, so that the acquired image information is more accurate.
In a possible implementation manner of the application, the displacement mechanism comprises a first linear guide rail and a second linear guide rail, the moving directions of the first linear guide rail and the second linear guide rail are perpendicular, a fixed end of the first linear guide rail is fixedly connected with the base, a fixed end of the second linear guide rail is fixed at a movable end of the first linear guide rail, and the traction piece is fixed at a movable end of the second linear guide rail.
In a possible implementation manner of the application, a clamping part is arranged on the traction piece, and the clamping part is used for clamping a grabbing end of the manipulator. The grabbing end of the manipulator is fixed on the traction piece through clamping.
In a possible implementation manner of the application, the traction member includes a base platform, the clamping portion includes a fixed clamping end fixed on the base platform, and a movable clamping end capable of moving relative to the base platform, and the movable clamping end can move towards or away from the fixed clamping end, so that the movable clamping end and the fixed clamping end clamp the grabbing end of the manipulator.
In one possible implementation manner of the present application, the clamping portion further includes a power member for driving the movable clamping end to move toward or away from the fixed clamping end. The clamping part controls clamping through the power machine, so that the control is convenient, and intelligent linkage is realized.
In a possible implementation of this application, still include control module, the displacement pulls subassembly, vision acquisition module and the manipulator that awaits measuring all with control module electric connection, control module is used for: controlling the displacement traction assembly to displace the grabbing end of the manipulator and the vision acquisition module to a test position; acquiring a first image acquired by a vision acquisition module at a test position to a grabbing end; controlling the mechanical hand to control the grabbing end to move to a test position; controlling the displacement traction assembly to displace the vision acquisition module to a test position; acquiring a second image acquired by the vision acquisition module at the test position for the grabbing end; based on the first image and the second image, a test result is determined.
In a second aspect, an embodiment of the present application provides a testing method for testing a manipulator by using the manipulator testing apparatus of the first aspect, including: controlling the displacement traction assembly to displace the grabbing end of the manipulator and the vision acquisition module to a test position; acquiring a first test image acquired by a vision acquisition module at a test position to a grabbing end; controlling the mechanical hand to control the grabbing end to move to a test position; controlling the displacement traction assembly to displace the vision acquisition module to a test position; acquiring a second test image acquired by the vision acquisition module at the test position for the grabbing end; a test result is determined based on the first test image and the second test image.
According to the testing method provided by the embodiment of the application, the manipulator testing device in any one of the first aspect is adopted for testing the manipulator, the grabbing end and the visual acquisition module of the manipulator are moved to the testing position through the displacement traction assembly, and the first manipulator testing image information and the second manipulator testing image information of the testing position are obtained through the visual acquisition module and then compared. Compared with the existing manual operation and manual comparison, the test efficiency and the test accuracy can be greatly improved.
In one possible implementation manner of the present application, determining a test result based on a first test image and a second test image includes: aligning pixels of the first test image and the second test image; calculating a first distance value for measuring the difference between the pixel values of the first test image and the second test image; and outputting a test qualified instruction when the first distance value is within a first preset range.
In one possible implementation manner of the present application, the test position includes a plurality of test positions, and before the step of controlling the displacement traction assembly to displace the grabbing end of the manipulator and the vision acquisition module to the test position, the method includes: a test position is selected as the current test position in the sequence of test positions.
In a possible implementation manner of the application, the method further comprises the step of calibrating the manipulator testing device, and controlling the displacement traction assembly to displace the grabbing end of the manipulator and the vision acquisition module to the testing position under the condition that the calibration is qualified.
In one possible implementation manner of the present application, calibrating the manipulator testing apparatus includes: controlling the displacement traction assembly to displace the grabbing end and the vision acquisition module to a reference position; acquiring a first reference image acquired by a vision acquisition module at a reference position for a grabbing end; controlling the displacement traction assembly to displace the grabbing end and the vision acquisition module to a test position; controlling the displacement traction assembly to displace the grabbing end and the vision acquisition module to the reference position again; acquiring a second reference image acquired by the vision acquisition module at the reference position for the grabbing end; and determining a calibration result based on the first reference image and the second reference image.
In one possible implementation manner of the present application, determining the calibration result based on the first reference image and the second reference image includes: aligning pixels of the first reference image and the second reference image; calculating a second distance value measuring a difference in pixel values of the first reference image and the second reference image; when the second distance value is within a second preset range, outputting a calibration qualified instruction; and when the second distance value is out of the second preset range, calibrating or repairing the manipulator testing device.
In one possible implementation manner of the present application, after the step of controlling the displacement traction assembly to displace the grasping end and the vision acquisition module to the testing position, the step of acquiring the first test image acquired by the vision acquisition module at the testing position to the grasping end is performed.
In one possible implementation manner of the present application, when the first distance value is within the first preset range, the outputting the test pass instruction includes: when the first distance value is within a first preset range, controlling the displacement traction assembly to displace the grabbing end and the vision acquisition module to a reference position; acquiring a third reference image acquired by the vision acquisition module at the reference position for the grabbing end; determining whether the test result is valid based on the first reference image and the third reference image; and outputting a test qualified instruction when the test result is valid.
In one possible implementation of the present application, determining whether the test result is valid based on the first reference image and the third reference image comprises: aligning pixels of the first reference image and the third reference image; calculating a third distance value measuring a difference in pixel values of the first reference image and the third reference image; when the third distance value is within a second preset range, outputting a test result qualified instruction; and when the third distance value is out of the second preset range, calibrating or repairing the manipulator testing device.
In a third aspect, the present application provides a calibration method for calibrating the manipulator testing apparatus of the first aspect, including: controlling the displacement traction assembly to displace the grabbing end and the vision acquisition module to a reference position; acquiring a first reference image acquired by a vision acquisition module at a reference position for a grabbing end; controlling the displacement traction assembly to displace the grabbing end and the vision acquisition module to a test position; controlling the displacement traction assembly to displace the grabbing end and the vision acquisition module to the reference position again; acquiring a second reference image acquired by the vision acquisition module at the reference position for the grabbing end; and determining a calibration result based on the first reference image and the second reference image.
In one possible implementation manner of the present application, determining the calibration result based on the first reference image and the second reference image includes: aligning pixels of the first reference image and the second reference image; calculating a second distance value measuring a difference in pixel values of the first reference image and the second reference image; when the second distance value is within a second preset range, outputting a calibration qualified instruction; and when the second distance value is out of the second preset range, executing a step of controlling the displacement traction assembly to displace the grabbing end and the vision acquisition module to the reference position or reporting repair.
In a fourth aspect, the present application provides a computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements the steps in the testing method of any one of the second aspects.
In a fifth aspect, the present application provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of the calibration method of any one of the third aspects.
Drawings
Fig. 1 is a schematic perspective view of a manipulator testing device according to an embodiment of the present disclosure;
fig. 2 is a top view of a robot testing device provided in an embodiment of the present application;
fig. 3 is a schematic structural diagram of a manipulator mounted on the manipulator testing device according to an embodiment of the present disclosure;
fig. 4 is a schematic structural diagram of a base of a robot testing device according to an embodiment of the present disclosure;
fig. 5 is a schematic structural diagram of a traction piece and a vision acquisition module of a manipulator testing device according to an embodiment of the present disclosure;
fig. 6 is a schematic structural diagram of a displacement mechanism of a manipulator testing device according to an embodiment of the present disclosure;
fig. 7 is a schematic view of a control system of a robot testing device according to an embodiment of the present disclosure;
FIG. 8 is a control flow chart of a testing method according to an embodiment of the present disclosure;
FIG. 9 is a second control flow chart of the testing method according to the embodiment of the present application;
FIG. 10 is a third control flow chart of the testing method according to the embodiment of the present application;
FIG. 11 is a fourth flowchart illustrating a testing method according to an embodiment of the present disclosure;
FIG. 12 is a fifth flowchart illustrating a testing method according to an embodiment of the present disclosure;
fig. 13 is a control flowchart of a calibration method according to an embodiment of the present application.
Reference numerals:
1-a base; 11-a reference piece; 12-a test position; 13-a connecting seat; 2-displacement of the traction assembly; 21-a displacement mechanism; 211-a first linear guide; 212-a second linear guide; 22-a traction member; 221-a clamping portion; 2211-fixing the clamping end; 2212-moving the gripper ends; 2213-power element; 222-a base station; 23-a drive member; 3-a vision acquisition module; 4, mounting a base; 41-fixing hole.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, specific technical solutions of the present application will be described in further detail below with reference to the accompanying drawings in the embodiments of the present application. The following examples are intended to illustrate the present application but are not intended to limit the scope of the present application.
In the embodiments of the present application, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the embodiments of the present application, "a plurality" means two or more unless otherwise specified.
In the embodiments of the present application, unless otherwise explicitly specified or limited, the term "connected" is to be understood broadly, for example, "connected" may be a fixed connection, a detachable connection, or an integral body; may be directly connected or indirectly connected through an intermediate.
In the embodiments of the present application, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus 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 apparatus. 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 apparatus that comprises the element.
In the embodiments of the present application, words such as "exemplary" or "for example" are used to mean serving as an example, instance, or illustration. Any embodiment or design described herein as "exemplary" or "e.g.," is not necessarily to be construed as preferred or advantageous over other embodiments or designs. Rather, use of the word "exemplary" or "such as" is intended to present concepts related in a concrete fashion.
A manipulator, also called a robot arm, is an automated mechanical device widely used in the field of robotics, and can be seen in the body shadow in the fields of industrial manufacturing, medical treatment, entertainment services, military, semiconductor manufacturing, space exploration, and the like. Although they have different forms, they all have a common feature of being able to receive commands to precisely locate a point in three-dimensional (or two-dimensional) space for work. For example, in our intelligent chess playing robot, a mechanical arm is arranged to grab and place chess pieces.
The grabbing end of the manipulator needs to be capable of accurately grabbing the corresponding object and accurately moving the corresponding object to a specified position. Due to the difference in process and assembly, the positions reached by each robot when receiving the same command have a certain difference. This difference needs to be guaranteed to be within a certain range in order to be considered effective. Thus, in order to be able to determine or debug the manipulator, the manipulator needs to be tested.
Based on this, the embodiment of the application provides a manipulator testing device, referring to fig. 1 and fig. 2, including a base 1, a displacement traction assembly 2 and a vision acquisition module 3, wherein a mounting seat 4 is fixed on the base 1, and the mounting seat 4 is used for mounting a fixed end of a manipulator; the displacement traction assembly 2 comprises a displacement mechanism 21 and a traction piece 22, the traction piece 22 is connected with the base 1 through the displacement mechanism 21, the displacement mechanism 21 is used for moving the traction piece 22 in a preset range, and the traction piece 22 is used for fixing a grabbing end of a manipulator; the vision acquisition module 3 is used for acquiring image information when the traction piece 22 moves to the target position.
The manipulator testing arrangement that this application embodiment provided, refer to fig. 3, the stiff end of manipulator can be fixed on mount pad 4 of base 1, owing to set up displacement and pull subassembly 2, can be fixed the snatching end of manipulator through pulling 22, can remove the snatching end of manipulator to the target location through displacement mechanism 21, and this target location can be preset's test position. Like this, when testing, can be earlier through the drive of manipulator self with the end of snatching of manipulator remove to the test position, then return initial position, then, the rethread displacement mechanism 21 removes the end of snatching of manipulator to same test position, and compares twice test position, can realize the test to the manipulator. In order to make the detection result more accurate, the comparison of the test position is acquired twice through the visual acquisition module 3, the acquired image information can be technically compared, and then the position error of twice is judged. Compared with the existing manual operation and manual comparison, the test efficiency and the test accuracy can be greatly improved.
The displacement mechanism 21 may be operated manually or may be controlled by a drive member. Compared with the prior art, the driving piece can avoid errors caused by manpower and can be controlled accurately through intelligence such as electric signals. Therefore, in some embodiments of the present application, referring to fig. 2, the manipulator test apparatus further comprises a driving member 23, the driving member 23 is used for driving the displacement mechanism 21 to move so as to move the traction member 22 within a predetermined range. Further, the displacement mechanism 21 can be intelligently driven by the driving member 23 to facilitate the operation of the test and to ensure the accuracy of the test.
The driving member 23 may be a stepping motor, a steering gear, or the like.
In the test process of the manipulator, the image information acquired by the visual acquisition module 3 can be compared manually, or the image information can be stored or downloaded firstly and compared by special identification software or program to give a result. However, manual comparison is inefficient and prone to error. The image information is temporarily stored and then is sent to other software for identification, additional cost is required, and the test result is slow to appear. Therefore, in order to increase the efficiency and reduce errors, the testing device further comprises a control module, the control module is electrically connected with the driving part 23 and the vision acquisition module 3, and the control module is used for controlling the operation of the driving rotating shaft and judging the error of the movement position of the grabbing end of the manipulator on the traction part 22 according to the image information acquired by the vision acquisition module 3.
In this way, the whole process of the test can be controlled by the control module, including the action of the displacement mechanism 21, and the processing of the information of the vision acquisition module 3. During testing, the image information collected by the vision collection module 3 can be processed and judged by the control module, so that a test result is directly given, and the efficiency is improved.
It should be noted that the visual acquisition module 3 in the embodiment of the present application may be a camera Device, or a similar image acquisition system, for example, a CCD (Charge-coupled Device) system, where the CCD system performs image acquisition by using a CCD camera, and processes, analyzes, judges, and finally obtains a processed result. The CCD is a charge coupled device, which is a detecting element that uses charge to represent the signal size and transmits the signal in a coupling mode, has a series of advantages of self-scanning, wide sensing spectrum range, small distortion, small volume, light weight, low system noise, low power consumption, long service life, high reliability and the like, and can be made into an assembly with very high integration level.
The vision acquisition module 3 of the embodiment of the application can be realized by a CCD camera, and specifically can comprise a camera, a lens, a light source and software, and is used for shooting images of a test reference and a manipulator suction nozzle, acquiring relative position coordinates of the images, and analyzing position deviation and precision of the images. On this basis, of course, the control module for processing and judging the image information and giving a part of the test result is equivalent to be integrated in the CCD camera.
The test apparatus and the robot may be debugged and calibrated before the robot test apparatus tests the robot, which requires a reference position, and therefore, referring to fig. 4, the robot test apparatus of the embodiment of the present application further includes a reference member 11, the reference member 11 is fixed to the reference, and the displacement mechanism 21 may move the drawing member 22 to be aligned with the reference member 11. Thus, the position of the reference piece 11 can be subjected to benchmark test before the test, and the accuracy of the manipulator testing device is ensured.
In addition, the test sites may be pre-identified on the base 1 and there may be a plurality of test sites, with reference to fig. 4, four test sites 12 being identified on the base 1.
Referring to fig. 2, the mounting seat 4 may be provided with a plurality of fixing holes 41 for mounting and fixing a fixed end of the robot; referring to fig. 5, the clamping contour of the clamping portion 221 during clamping may be matched with the outer contour of the robot, and the inside of the clamping portion has a slip-proof structure. For example, when the grasping end of the manipulator grasps the chess piece, the grasping end of the manipulator is cylindrical, and the grasping contour of the grasping portion 221 when grasping is circular.
The image information of the corresponding position is collected by the vision collection module 3, the vision collection module 3 may be arranged at a fixed position, or the vision collection module 3 may be moved to the corresponding position for collection. In this case, the image of the vision capture module 3 at a fixed position may be unclear, and therefore, the vision capture module 3 is configured to be displaceable to a corresponding position. On the basis, the displacement of the vision acquisition module 3 can be moved together with the grabbing end of the manipulator or can be moved independently. Compared with the prior art, the scheme that the vision acquisition module 3 and the grabbing end of the manipulator move together can reduce the motion components, reduce the cost, has a simple structure, can eliminate the movement error possibly generated by the scheme of independent movement, and ensures the accuracy of image acquisition.
Thus, referring to fig. 5, in some embodiments of the present application, the vision acquisition module 3 is fixed to the traction member 22. In this way, each time the displacement mechanism 21 moves the traction member 22 to the target position, the visual capture module 3 can be moved at the same time, so that the number of processes can be reduced, and the relative position between the visual capture module 3 and the traction member 22 is not changed, so that the captured image information is more accurate.
The displacement mechanism 21 can be implemented in various manners, for example, a manner of using a plurality of linear guide rails, a mechanism using a lead screw nut, a manner using a rope conveyor belt, a manner using a rack-and-pinion combination, etc., as long as the grabbing end of the manipulator can be accurately moved to any position within a predetermined range.
By way of example, an implementation manner of the displacement mechanism 21 using a linear guide is described below, and specifically, referring to fig. 6, the displacement mechanism 21 includes a first linear guide 211 and a second linear guide 212, a moving direction of the first linear guide 211 is perpendicular to a moving direction of the second linear guide 212, a fixed end of the first linear guide 211 is fixedly connected with the base 1, a fixed end of the second linear guide 212 is fixed at a movable end of the first linear guide 211, and the traction member 22 is fixed at a movable end of the second linear guide 212.
In this way, the second linear guide 212 carrying the pulling element 22 can be moved along the extending direction of the first linear guide 211 by means of the first linear guide 211, the pulling element 22 can be moved along the extending direction of the second linear guide by means of the second linear guide 212, and the gripping end of the robot arm is fixed to the pulling element 22 and can move with the pulling element 22, i.e. the gripping end of the robot arm can be moved to any position within the range covered by the first linear guide 211 and the second linear guide 212.
It should be noted that, in some embodiments, referring to fig. 4 and 6, the fixed end of the first linear guide 211 is fixedly connected to the base 1, and may be connected by the connection seat 13 provided on the base 1.
In order to facilitate the fixing of the gripping end of the robot to the tractor 22, referring to fig. 5, the tractor 22 is provided with a clamping portion 221, and the clamping portion 221 is used for clamping the gripping end of the robot. The gripping end of the robot is fixed to the tractor 22 by the gripping action of the gripping portion 221.
Referring to fig. 5, showing one implementation of the clamping portion 221, the drawing member 22 includes a base 222, the clamping portion 221 includes a fixed clamping end 2211 fixed on the base 222, and a movable clamping end 2212 movable relative to the base 222, and the movable clamping end 2212 is movable toward or away from the fixed clamping end 2211, so that the movable clamping end 2212 and the fixed clamping end 2211 clamp the gripping end of the robot.
In some embodiments, the clamping portion 221 can be manually clamped or controlled by a power member. Specifically, referring to fig. 5, the clamping portion 221 further comprises a power member 2213, and the power member 2213 is used for driving the movable clamping end 2212 to move towards or away from the fixed clamping end 2211. The clamping part 221 controls clamping through the power machine, so that control is convenient, and intelligent linkage is realized.
Before the entire test is performed, the manipulator needs to be fixed to the manipulator testing apparatus, specifically, the fixed end of the manipulator may be fixed to the mounting base 4 of the manipulator testing apparatus, and the grasping end of the manipulator may be fixed to the gripping portion 221 of the manipulator testing apparatus.
Referring to fig. 7, a block diagram of a control system of the manipulator test apparatus according to the embodiment of the present application is shown. The control module of the manipulator testing device can interact with the CCD camera to acquire image information shot or processed by the CCD camera; the control module of the manipulator testing device can also interact with a manipulator control board to be tested so as to acquire the action condition information of the manipulator control board for controlling the manipulator; the control module of the manipulator testing device controls the driving part 23 through the displacement traction assembly 2 so as to drive the displacement mechanism 21 to move the corresponding part to the target position; the manipulator control panel is used for controlling the action of the manipulator.
The embodiment of the present application further provides a testing method, which utilizes the manipulator testing apparatus of the above embodiment to test a manipulator, with reference to fig. 8, including:
s1, controlling the displacement traction assembly 2 to displace the grabbing end of the manipulator and the vision acquisition module 3 to the test position 12;
s2, acquiring a first test image acquired by the vision acquisition module 3 at the test position 12 by the grabbing end;
s3, controlling the mechanical hand to control the grabbing end to move to the test position 12;
s4, controlling the displacement traction component 2 to displace the vision acquisition module 3 to the test position 12;
s5, acquiring a second test image acquired by the vision acquisition module 3 at the test position 12 by the grabbing end;
s6, determining a test result based on the first test image and the second test image.
According to the test method provided by the embodiment of the application, the manipulator test device is used for testing the manipulator, the grabbing end of the manipulator and the visual acquisition module 3 are displaced to the test position 12 through the displacement traction assembly 2, and the first manipulator test image information and the second manipulator test image information of the test position 12 are acquired through the visual acquisition module 3 and then compared. Compared with the existing manual operation and manual comparison, the test efficiency and the test accuracy can be greatly improved.
Referring to fig. 10, the determining of the test result based on the first test image and the second test image in the above step S6 includes:
aligning pixels of the first test image and the second test image;
calculating a first distance value for measuring the difference between the pixel values of the first test image and the second test image;
and S7, outputting a test pass instruction when the first distance value is within the first preset range.
Of course, the above-mentioned method is only one implementation way, and there may be multiple reference ways for obtaining the criterion for determining whether the error is found in the comparison between the first test image and the second test image, for example, the difference of pixel values, the difference of actually reflected component sizes, and so on; if necessary, the actual difference distance can also be calculated by using a distance testing device or through software simulation.
In order to make the test result more accurate, the test and comparison of the plurality of test positions 12 may be performed sequentially, that is, the test position 12 includes a plurality of test positions, and the second test images correspond to the plurality of test positions 12 one by one, and in the step of S6, each second test image is respectively different from the first test image information to calculate a difference value, and the test result is respectively determined.
In some embodiments of the present application, where the test position 12 includes a plurality of test positions, before the step of controlling the displacement drawing assembly 2 to displace the grasping end of the manipulator and the vision acquisition module 3 to the test position 12 at step S1, referring to fig. 9, the method includes:
s8, selecting one test position 12 in the sequence of test positions 12 as the current test position 12.
It should be noted that after the step S8 is executed once and the complete test is performed, the step S8 may be executed again to perform the test on the other test locations 12. Furthermore, by performing step S8 a plurality of times, all of the test sites 12 can be tested. Of course, in the solution of the embodiment of the present application, one or more test positions 12 may be tested; the test can be completed completely or only partially, and the specific operation can be flexibly set according to the requirement.
The above method for testing the manipulator by using the manipulator testing device (steps S1 to S8) may be classified into a testing step, and certainly, in order to make the testing result more reliable and accurate, the manipulator testing device may be calibrated, which is hereinafter referred to as a calibration step, so that the testing method in the embodiment of the present application further includes calibrating the manipulator testing device, and in the case that the calibration is qualified, step S1 is further performed to control the displacement traction assembly 2 to displace the grabbing end of the manipulator and the vision acquisition module 3 to the testing position 12.
Specifically, referring to fig. 10, the manipulator testing device is calibrated, that is, the calibration step includes:
sa1, controlling the displacement traction assembly 2 to displace the grabbing end and the vision acquisition module 3 to a reference position;
sa2, acquiring a first reference image acquired by the vision acquisition module 3 at a reference position relative to the grabbing end;
sa3, controlling the displacement traction assembly 2 to displace the grabbing end and the vision acquisition module 3 to the test position 12;
sa4, controlling the displacement traction assembly 2 to displace the grabbing end and the vision acquisition module 3 to the reference position again;
sa5, acquiring a second reference image acquired by the vision acquisition module 3 at the reference position relative to the grabbing end;
sa6, determines a calibration result based on the first reference image and the second reference image.
With reference to fig. 10, in step Sa6, the determining the calibration result based on the first reference image and the second reference image includes:
aligning pixels of the first reference image and the second reference image;
calculating a second distance value that measures a difference in pixel values of the first reference image and the second reference image;
when the second distance value is within a second preset range, outputting a calibration qualified instruction;
and when the second distance value is out of the second preset range, calibrating or repairing the manipulator testing device.
By comparing and calibrating the image information of the two reference positions, the initial position can be determined, and the testing device is ensured to be in a testable working state, so that the testing reliability and accuracy of the testing result are improved.
It should be noted that the calibration step is generally performed before the testing step, so as to ensure that the manipulator testing apparatus is in a normal working state, and the testing step can be performed. That is, in principle, the calibration step is completed, and the test step can be performed if the calibration is qualified. Since the control of the displacement pulling assembly 2 to displace the grasping end and the vision collecting module 3 to the test position 12 in the Sa3 step included in the calibration step is the same action as the control of the displacement pulling assembly 2 to displace the grasping end of the manipulator and the vision collecting module 3 to the test position 12 in the S1 step of the test step, two actions can be regarded as one functional action to save steps. That is, referring to fig. 10, in the calibration step, after the step of controlling the displacement pulling assembly 2 to displace the grasping end and the vision collecting module 3 to the test position 12 in the step of Sa3, the step of S2 is executed to acquire a first test image collected by the vision collecting module 3 at the test position 12 with respect to the grasping end.
After the testing step is completed, a verification step may be added to verify whether the testing result is true or valid, specifically, referring to fig. 11, step S7, when the first distance value is within the first preset range, the outputting the test-qualified instruction includes:
s71, when the first distance value is within a first preset range, controlling the displacement traction assembly 2 to displace the grabbing end and the vision acquisition module 3 to a reference position;
s72, acquiring a third reference image acquired by the vision acquisition module 3 at the reference position relative to the grabbing end;
s73, determining whether the test result is valid based on the first reference image and the third reference image;
and S74, outputting a test qualified instruction when the test result is valid.
Wherein, S73, determining whether the test result is valid based on the first reference image and the third reference image comprises:
aligning pixels of the first reference image and the third reference image;
calculating a third distance value measuring a difference in pixel values of the first reference image and the third reference image;
when the third distance value is within a second preset range, outputting a test result qualified instruction;
and when the third distance value is out of the second preset range, calibrating or repairing the manipulator testing device.
After the verification step is added, the reference position is verified again after the test, so that the true and effective test result can be ensured.
Referring to fig. 11 and 12, there are two overall control flowcharts of the testing method of the embodiment of the present application, wherein when there are a plurality of testing positions 12, step S8 needs to be added, and step S8 may be added before the calibration step, or after the calibration step and before the testing step;
specifically, referring to fig. 11, step S8 is added before the calibration step, i.e., step S8 before the step S1. In this control flow, only the calibration is performed for the first time, and the subsequent step S2 is performed in the test step.
The present application further provides a calibration method, for calibrating a manipulator testing apparatus, with reference to fig. 13, including:
sa1, controlling the displacement traction assembly 2 to displace the grabbing end and the vision acquisition module 3 to a reference position;
sa2, acquiring a first reference image acquired by the vision acquisition module 3 at a reference position relative to the grabbing end;
sa3, controlling the displacement traction assembly 2 to displace the grabbing end and the vision acquisition module 3 to the test position 12;
sa4, controlling the displacement traction assembly 2 to displace the grabbing end and the vision acquisition module 3 to the reference position again;
sa5, acquiring a second reference image acquired by the vision acquisition module 3 at the reference position relative to the grabbing end;
sa6, determines a calibration result based on the first reference image and the second reference image.
Wherein determining the calibration result based on the first reference image and the second reference image comprises:
aligning pixels of the first reference image and the second reference image;
calculating a second distance value measuring a difference in pixel values of the first reference image and the second reference image;
when the second distance value is within a second preset range, outputting a calibration qualified instruction;
and when the second distance value is out of the second preset range, calibrating or repairing the manipulator testing device.
If the testing method and the calibration method are implemented in the form of software functional modules and sold or used as independent products, the software functional modules can also be stored in a computer readable storage medium. Based on such understanding, the technical solutions of the embodiments of the present application may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a manipulator testing device to perform all or part of the methods according to the embodiments of the present application. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read Only Memory (ROM), a magnetic disk, or an optical disk. Thus, embodiments of the present application are not limited to any specific combination of hardware and software.
Correspondingly, the present application provides a computer-readable storage medium, on which a computer program is stored, which, when executed by a processor, implements the steps in the testing method provided in the above-mentioned embodiments.
In addition, correspondingly, the present application provides a computer-readable storage medium, on which a computer program is stored, and the computer program, when executed by a processor, implements the steps in the calibration method provided in the foregoing embodiments.
Here, it should be noted that: the above description of the storage medium and device embodiments is similar to the description of the method embodiments above, with similar advantageous effects as the method embodiments. For technical details not disclosed in the embodiments of the storage medium and apparatus of the present application, reference is made to the description of the embodiments of the method of the present application for understanding.
Those of ordinary skill in the art will understand that: all or part of the steps of implementing the method embodiments may be implemented by hardware related to program instructions, and the program may be stored in a computer-readable storage medium, and when executed, executes the steps including the method embodiments; and the aforementioned storage medium includes: various media that can store program codes, such as a removable Memory device, a Read Only Memory (ROM), a magnetic disk, or an optical disk. Alternatively, the integrated units described above in the present application may be stored in a computer-readable storage medium if they are implemented in the form of software functional modules and sold or used as independent products. Based on such understanding, the technical solutions of the embodiments of the present application may be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for causing a cooking apparatus to perform all or part of the methods described in the embodiments of the present application. And the aforementioned storage medium includes: a removable storage device, a ROM, a magnetic or optical disk, or other various media that can store program code. Taking the chess playing robot as an example, when the mechanical arm of the chess playing robot is tested, the mechanical arm testing device can be arranged on a production line of the chess playing robot, and the testing method can be applied to the production line.
Specifically, the method comprises the following steps: the chess playing robot assembled on the chess playing robot production line is placed on the manipulator testing device of the embodiment of the application to calibrate and test the manipulator, wherein the number of the testing positions 12 is four.
The chess playing robot to be tested is placed on the mounting base 4, and then the following actions are executed:
the suction nozzle of the manipulator of the chess playing robot is pulled into the clamping part 221 of the traction piece 22, the equipment start button is started, the power piece 2213 drives the movable clamping end 2212 to move towards the fixed clamping end 2211, and the movable clamping end 2212 and the fixed clamping end 2211 clamp the suction nozzle of the manipulator;
then, the displacement traction assembly 2 displaces the suction nozzle and the CCD camera of the manipulator to a reference position, and the initial position coordinates of the displacement mechanism 21 of the displacement traction assembly 2 can be obtained at the reference position through image information;
then, the displacement traction assembly 2 displaces the suction nozzle and the CCD camera of the manipulator to the first test position 12, and the calibration position coordinates of the first test position 12 can be obtained through image information; then, the test device is moved to a second test position 12, a third test position 12 and a fourth test position 12 in sequence, and the coordinates of the second calibration position, the third calibration position and the fourth calibration position can be obtained through image information;
continuing, the displacement traction assembly 2 displaces the CCD camera to the reference position, and the CCD camera tests whether the test reference position is within a set offset range (i.e., a second preset range), which is required to be within +/-0.05 MM. If the deviation range is within the set deviation range, the next step can be carried out, if the deviation range is not within the set deviation range, the calibration result is unqualified, and the calibration action is repeated;
and (3) testing, controlling the motion of the mechanical arm by the chess playing robot, moving the suction nozzle of the mechanical arm to a first test position 12 which is calibrated, controlling the CCD camera to move to the first test position 12 by the displacement traction assembly 2, checking whether the position of the suction nozzle of the mechanical arm of the robot deviates within a specified range (namely a first preset range) +/-0.1MM by the CCD camera, and if the deviation is not within the specified range, reporting an error by a system to wait for analysis processing by an engineer. If the deviation is smaller than the designated range, continuing the test, controlling the motion of the manipulator of the chess playing robot by the chess playing robot, moving a suction nozzle of the manipulator to the second, third and fourth test positions 12 which are calibrated, controlling the CCD camera to correspondingly move to the second, third and fourth test positions 12 along with the motion by the displacement traction component 2, and checking whether the position of the suction nozzle of the manipulator of the robot deviates in the designated range by the CCD camera;
after the test is finished, the displacement traction assembly 2 controls the CCD camera to move to the reference position, and whether the offset of the photographing test reference position and the theoretical position is within +/-0.05MM of a second preset range or not is judged. If yes, the detection deviation of the tested CCD is controlled within +/-0.05MM of a second preset range, the testing system is accurate and reliable, the testing result is reliable, and the testing result of the system is qualified. The round of testing is complete.
Finally, the tested chess playing robot can be taken down, and the test of the next chess playing robot is continued.
The above embodiments are only used to illustrate the technical solutions of the present application, and not to limit the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions in the embodiments of the present application.

Claims (22)

1. A manipulator testing device comprising:
the manipulator comprises a base, wherein a mounting seat is fixed on the base and used for mounting a fixed end of a manipulator;
the displacement traction assembly comprises a displacement mechanism and a traction piece, the traction piece is connected with the base through the displacement mechanism, the displacement mechanism is used for moving the traction piece in a preset range, and the traction piece is used for fixing a grabbing end of the manipulator;
and the vision acquisition module is used for acquiring the image information of the position where the traction piece moves to the target position.
2. The manipulator test device according to claim 1, comprising a drive member for driving the displacement mechanism to move the traction member within a predetermined range.
3. The manipulator test device according to claim 1, comprising a reference member fixed to the reference, wherein the displacement mechanism is configured to move the pulling member into alignment with the test reference.
4. The manipulator testing device according to claim 1, wherein the vision acquisition module is fixed to the tractor.
5. The manipulator testing device according to claim 1, wherein the displacement mechanism includes a first linear guide and a second linear guide, the first linear guide and the second linear guide move in a vertical direction, a fixed end of the first linear guide is fixedly connected to the base, a fixed end of the second linear guide is fixed to a movable end of the first linear guide, and the traction member is fixed to a movable end of the second linear guide.
6. The manipulator test device according to claim 1, wherein the pulling member is provided with a clamping portion for clamping a gripping end of the manipulator.
7. The manipulator testing apparatus according to claim 6, wherein the drawing member includes a base, the clamping portion includes a fixed clamping end fixed to the base, and a movable clamping end movable relative to the base, the movable clamping end being movable toward or away from the fixed clamping end such that the movable clamping end and the fixed clamping end clamp a gripping end of the manipulator.
8. The manipulator testing device according to claim 7, wherein the gripping portion further comprises a power member for driving the moving gripping end to move towards or away from the fixed gripping end.
9. The manipulator testing device according to any one of claims 1 to 8, further comprising a control module, wherein the displacement traction assembly, the vision acquisition module and the manipulator to be measured are electrically coupled to the control module, and the control module is configured to:
controlling the displacement traction assembly to displace the grabbing end of the manipulator and the vision acquisition module to a test position;
acquiring a first image acquired by the vision acquisition module at the test position for the grabbing end;
controlling the manipulator to control the grabbing end to move to the testing position;
controlling the displacement traction assembly to displace the vision acquisition module to the test position;
acquiring a second image acquired by the vision acquisition module at the test position for the grabbing end;
determining a test result based on the first image and the second image.
10. A test method for testing a manipulator by using the manipulator test apparatus according to any one of claims 1 to 9, comprising:
controlling the displacement traction assembly to displace the grabbing end of the manipulator and the vision acquisition module to a test position;
acquiring a first test image acquired by the vision acquisition module at the test position for the grabbing end;
controlling the manipulator to control the grabbing end to move to the testing position;
controlling the displacement traction assembly to displace the vision acquisition module to the test position;
acquiring a second test image acquired by the vision acquisition module at the test position for the grabbing end;
determining a test result based on the first test image and the second test image.
11. The method of claim 10, wherein determining a test result based on the first test image and the second test image comprises:
aligning pixels of the first test image and the second test image;
calculating a first distance value measuring a difference in pixel values of the first test image and the second test image;
and outputting a test qualified instruction when the first distance value is within a first preset range.
12. The method of testing of claim 10 or 11, wherein said testing position comprises a plurality, and wherein prior to said step of controlling the displacement traction assembly to displace the grasping end of the robot and the vision acquisition module to the testing position, said method comprises:
selecting one of the test locations in the sequence of the plurality of test locations as the current test location.
13. The method of claim 11, further comprising calibrating the robot testing device and, if the calibration is acceptable, controlling the displacement traction assembly to displace the grasping end of the robot and the vision acquisition module to the testing position.
14. The method of claim 13, wherein the calibrating the robotic testing device comprises:
controlling a displacement traction assembly to displace the grabbing end and the vision acquisition module to a reference position;
acquiring a first reference image acquired by the vision acquisition module on the grabbing end at the reference position;
controlling a displacement traction assembly to displace the grabbing end and the vision acquisition module to the testing position;
controlling a displacement traction assembly to displace the grabbing end and the vision acquisition module to the reference position again;
acquiring a second reference image acquired by the vision acquisition module at the reference position for the grabbing end;
and determining a calibration result based on the first reference image and the second reference image.
15. The testing method of claim 14, wherein said determining calibration results based on said first reference image and said second reference image comprises:
aligning pixels of the first reference image and the second reference image;
calculating a second distance value measuring a difference in pixel values of the first reference image and the second reference image;
when the second distance value is within a second preset range, outputting a calibration qualified instruction;
and when the second distance value is out of a second preset range, calibrating or repairing the manipulator testing device.
16. The method for testing of claim 14, wherein said step of acquiring a first test image captured by said vision acquisition module of said grasping end at said testing position is performed after said step of controlling a displacement traction assembly to displace said grasping end and said vision acquisition module to said testing position.
17. The test method according to any one of claims 14 to 16, wherein the outputting a test pass instruction when the first distance value is within a first preset range comprises:
when the first distance value is within the first preset range, controlling a displacement traction assembly to displace the grabbing end and the vision acquisition module to a reference position;
acquiring a third reference image acquired by the vision acquisition module at the reference position for the grabbing end;
determining whether a test result is valid based on the first reference image and the third reference image;
and outputting the test qualified instruction when the test result is valid.
18. The method of claim 17, wherein determining whether a test result is valid based on the first reference image and the third reference image comprises:
aligning pixels of the first reference image and the third reference image;
calculating a third distance value that measures a difference in pixel values of the first reference image and the third reference image;
when the third distance value is within a second preset range, outputting a test result qualified instruction;
and when the third distance value is out of a second preset range, calibrating or repairing the manipulator testing device.
19. A calibration method for calibrating the manipulator testing apparatus according to any one of claims 1 to 9, comprising:
controlling a displacement traction assembly to displace the grabbing end and the vision acquisition module to a reference position;
acquiring a first reference image acquired by the vision acquisition module on the grabbing end at the reference position;
controlling a displacement traction assembly to displace the grabbing end and the vision acquisition module to the testing position;
controlling a displacement traction assembly to displace the grabbing end and the vision acquisition module to the reference position again;
acquiring a second reference image acquired by the vision acquisition module at the reference position for the grabbing end;
and determining a calibration result based on the first reference image and the second reference image.
20. A calibration method according to claim 19, wherein said determining a calibration result based on said first reference image and said second reference image comprises:
aligning pixels of the first reference image and the second reference image;
calculating a second distance value measuring a difference in pixel values of the first reference image and the second reference image;
when the second distance value is within a second preset range, outputting a calibration qualified instruction;
and when the second distance value is out of a second preset range, executing a step of controlling the displacement traction assembly to displace the grabbing end and the vision acquisition module to a reference position or reporting repair.
21. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the testing method according to any one of claims 10 to 18.
22. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the calibration method as claimed in claim 19 or 20.
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