CN116442225B - Robot tail end positioning method, positioning device and electronic equipment - Google Patents

Robot tail end positioning method, positioning device and electronic equipment Download PDF

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Publication number
CN116442225B
CN116442225B CN202310416522.9A CN202310416522A CN116442225B CN 116442225 B CN116442225 B CN 116442225B CN 202310416522 A CN202310416522 A CN 202310416522A CN 116442225 B CN116442225 B CN 116442225B
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coordinate system
robot
station
reference object
coordinate value
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CN116442225A (en
Inventor
闫以勋
王争
陈兆芃
李英立
黎田
罗金荣
赵志强
郭大伟
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Beijing Siling Robot Technology Co ltd
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Beijing Siling Robot Technology Co ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

The invention provides a robot tail end positioning method, a positioning device and electronic equipment, wherein the method comprises the following steps: acquiring a first coordinate value of a first station in a base coordinate system, a second coordinate value of a second station in a reference object coordinate system and a third coordinate value of a robot tail end in the base coordinate system; if the first platform is located at a preset stop site and the tail end of the robot is located at a preset measuring area near the reference object, controlling the ranging component to sense the first 6D pose state of the reference object in the tool coordinate system; and controlling the tail end of the robot to take and place the workpiece between the first station and the second station according to the first coordinate value, the second coordinate value, the third coordinate value and the first 6D pose state. The positioning method provided by the invention can be used for stable and accurate positioning.

Description

Robot tail end positioning method, positioning device and electronic equipment
Technical Field
The present invention relates to the field of industrial automation technologies, and in particular, to a robot terminal positioning method, a robot terminal positioning device, and an electronic device.
Background
At present, the application of robot scenes is more and more extensive, most of robot navigation modes are laser radar or hybrid navigation modes in industrial application, the requirement of the industrial scenes on the positioning precision of a reference object cannot be met, and the reference object needs to be subjected to secondary precise positioning.
The secondary fine positioning generally identifies the pose state of the spatial object relative to the robot through a vision system. When the light changes greatly in the environment or the environment of the identified object has more water mist and cutting fluid impurities, the environment has great influence on the traditional vision system. In this environment, the vision lens is extremely prone to be erroneously entered by water droplets. When any part of the reference object, the characteristic points and the like in the visual recognition range is mistaken by water drops and impurities, the system cannot accurately judge the pose state of the reference object relative to the robot; in some use scenarios, such as the machine tool industry, the conventional vision system is restricted in terms of secondary fine positioning, and positioning accuracy is very unstable during use.
Disclosure of Invention
The invention solves the problem that the positioning precision of the traditional positioning scheme is unstable.
In order to solve the problems, the invention provides a robot tail end positioning method which is applied to a workpiece picking and placing system, wherein the picking and placing system comprises a first platform and a second platform, the first platform is provided with a robot and a first station, the tail end of the robot is provided with a distance measuring component, and the second platform is provided with a reference object and a second station; the method comprises the following steps:
acquiring a first coordinate value of the first station in a base coordinate system, a second coordinate value of the second station in a reference object coordinate system and a third coordinate value of the tail end of the robot in the base coordinate system;
if the first platform is located at a preset stop site and the tail end of the robot is located at a preset measuring area near the reference object, controlling the ranging component to sense a first 6D pose state of the reference object in a tool coordinate system;
according to the first coordinate value, the second coordinate value, the third coordinate value and the first 6D pose state, controlling the tail end of the robot to take and place workpieces between the first station and the second station;
wherein the base coordinate system is established based on a robot base, the reference object coordinate system is established based on the reference object, and the tool coordinate system is established based on a robot tip center of motion point.
Optionally, the ranging component comprises a first ranging sensor, a second ranging sensor and a third ranging sensor which are arranged at the tail end of the robot; the reference object comprises a first face, a second face and a third face which are mutually perpendicular and intersected at a common intersection point; the controlling the ranging assembly to sense a first 6D pose state of the reference object in a tool coordinate system includes:
acquiring a fifth coordinate value of the first ranging sensor in the tool coordinate system, a sixth coordinate value of the second ranging sensor in the tool coordinate system, and a seventh coordinate value of the third ranging sensor in the tool coordinate system; according to the fifth coordinate value, the sixth coordinate value and the seventh coordinate value, a first transformation relation between a first ranging sensor coordinate system and the tool coordinate system, a second transformation relation between a second ranging sensor coordinate system and the tool coordinate system and a third transformation relation between a third ranging sensor coordinate system and the tool coordinate system are respectively calculated;
controlling the first ranging sensor to sense the first surface to obtain a first measured value, the second ranging sensor to sense the first surface to obtain a second measured value, and the third ranging sensor to sense the third surface to obtain a third measured value; the distance measuring assembly is controlled to rotate around a preset axis by 120 degrees, the first distance measuring sensor senses the second surface to obtain a fourth measured value, the second distance measuring sensor senses the second surface to obtain a fifth measured value, and the third distance measuring sensor senses the first surface to obtain a sixth measured value;
calculating to obtain a first 6D pose state of the reference object in the tool coordinate system according to the first measured value, the second measured value, the third measured value, the fourth measured value, the fifth measured value, the sixth measured value, the first transformation relation, the second transformation relation and the third transformation relation;
wherein the first ranging sensor coordinate system is established based on the first ranging sensor, the second ranging sensor coordinate system is established based on the second ranging sensor, and the third ranging sensor coordinate system is established based on the third ranging sensor.
Optionally, the first ranging sensor, the second ranging sensor and the third ranging sensor are all laser ranging sensors.
Optionally, the controlling the robot terminal to take and place the workpiece between the first station and the second station according to the first coordinate value, the second coordinate value, the third coordinate value and the first 6D pose state includes:
according to the third coordinate value, calculating to obtain a fourth transformation relation between the tool coordinate system and the base coordinate system;
according to the first 6D pose state, calculating to obtain a fifth transformation relation between a reference object coordinate system and a tool coordinate system;
according to the second coordinate value, the fourth transformation relation and the fifth transformation relation, a second 6D pose state of the second station in the base coordinate system is calculated;
and controlling the tail end of the robot to pick and place a piece between the first station and the second station according to the second 6D pose state and the first coordinate value.
Optionally, the method further comprises:
if the positioning instruction is received, judging whether the first platform is located at a preset stop station, and if yes, controlling the tail end of the robot to be located in a preset measuring area near the reference object.
Optionally, the second platform has a plurality of preset docking stations, and the preset docking stations are arranged in the vicinity of the second platform and correspond to the second platform; the method further comprises the steps of:
and controlling the first platform to stop at the preset stop station.
Optionally, the first coordinate value is obtained by a robot teaching mode; and/or the second coordinate value is obtained by a robot teaching mode; and/or the third coordinate value is obtained by a robot teaching mode.
Compared with the prior art, the robot tail end positioning method provided by the invention has the beneficial effects that: in the robot terminal positioning method provided by the invention, if the first platform is positioned at the preset stop site and the robot terminal is positioned in the preset measuring area near the reference object, the first 6D pose state of the reference object in the tool coordinate system is sensed through the ranging component, the first relative pose state of the second station in the tool coordinate system can be obtained through the second coordinate value of the second station in the reference object coordinate system and the first 6D pose state, and the tool coordinate system is established based on the movement center of the robot terminal, so that the second 6D pose state of the second station in the base coordinate system can be further obtained through the first relative pose state and the third coordinate value of the robot terminal in the base coordinate system, and the first coordinate value is the coordinate value of the first station in the base coordinate system, namely: the first coordinate value, the third coordinate value and the second 6D pose state are all based on the position parameters of the same coordinate system (base coordinate system), at this time, the tail end of the robot can accurately acquire the relative position relationship between the first station and the second station, stable and accurate positioning is realized, and the workpiece taking and placing work between the first station and the second station is realized stably and accurately.
The invention provides a robot tail end positioning device which is applied to a workpiece picking and placing system, wherein the picking and placing system comprises a first platform and a second platform, the first platform is provided with a robot and a first station, the tail end of the robot is provided with a distance measuring component, and the second platform is provided with a reference object and a second station; the device comprises:
the acquisition module is used for acquiring a first coordinate value of the first station in a base coordinate system, a second coordinate value of the second station in a reference object coordinate system and a third coordinate value of the tail end of the robot in the base coordinate system;
the control module is used for controlling the ranging component to sense a first 6D pose state of the reference object in a tool coordinate system if the first platform is positioned at a preset stop site and the tail end of the robot is positioned at a preset measuring area near the reference object; according to the first coordinate value, the second coordinate value, the third coordinate value and the first 6D pose state, controlling the tail end of the robot to take and place workpieces between the first station and the second station;
wherein the base coordinate system is established based on a robot base, the reference object coordinate system is established based on the reference object, and the tool coordinate system is established based on a robot tip center of motion point.
Compared with the prior art, the robot tail end positioning device provided by the invention has the beneficial effects that: the same technical effects as those of the robot terminal positioning method can be achieved, and in order to avoid repetition, the description is omitted here.
The invention provides an electronic device, which comprises a memory and a processor, wherein the memory stores a computer program, and the processor realizes the robot tail end positioning method when executing the computer program.
Compared with the prior art, the electronic equipment provided by the invention has the beneficial effects that: the same technical effects as those of the robot terminal positioning method can be achieved, and in order to avoid repetition, the description is omitted here.
The invention provides a computer readable storage medium storing a computer program which, when read and run by a processor, implements the robot end positioning method described above.
Compared with the prior art, the computer readable storage medium provided by the invention is characterized in that: the same technical effects as those of the robot terminal positioning method can be achieved, and in order to avoid repetition, the description is omitted here.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required to be used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only embodiments of the present invention, and that other drawings can be obtained according to the provided drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic perspective view of a workpiece picking and placing system according to an embodiment of the invention;
FIG. 2 is a schematic diagram of a front view of a workpiece pick-and-place system according to an embodiment of the invention;
FIG. 3 is a schematic top view of a workpiece handling system according to an embodiment of the invention;
FIG. 4 is a schematic flow chart of a robot end positioning method in an embodiment of the invention;
FIG. 5 is a schematic flow chart of another robot end positioning method in an embodiment of the invention;
FIG. 6 is a schematic diagram of a tool coordinate system and a first ranging sensor coordinate system according to an embodiment of the present invention;
FIG. 7 is a schematic diagram of a tool coordinate system, a second ranging sensor coordinate system, and a third ranging sensor coordinate system according to an embodiment of the present invention;
FIG. 8 is a schematic diagram of sensed points of a reference object according to an embodiment of the present invention;
fig. 9 is a schematic structural diagram of a robot end positioning device according to an embodiment of the present invention.
Reference numerals illustrate:
101-a first platform; 102-a second platform; 103-reference; 104-a first station; 105-a second station; 106-a ranging assembly; 107-robot tip; 108-a robot base; 109-robotic arm; 110-a robot chassis;
1031-a first side; 1032-a second side; 1033-a third face;
1061-a first ranging sensor;
1062-a second ranging sensor;
1063-a third ranging sensor;
901-an acquisition module;
902-a control module.
Detailed Description
In order that the above objects, features and advantages of the invention will be readily understood, a more particular description of the invention will be rendered by reference to specific embodiments thereof which are illustrated in the appended drawings. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
The embodiment of the invention provides a robot tail end positioning method which is applied to a workpiece picking and placing system, as shown in fig. 1-3, wherein the picking and placing system comprises a first platform 101 and a second platform 102, the first platform 101 is provided with a robot and a first station 104, the robot tail end 107 is provided with a distance measuring component 106, and the second platform 102 is provided with a reference object 103 and a second station 105; as shown in fig. 4, the robot end positioning method includes the steps of:
s410, a first coordinate value of the first station 104 in the base coordinate system, a second coordinate value of the second station 105 in the reference object coordinate system and a third coordinate value of the robot end 107 in the base coordinate system are obtained.
Wherein the base coordinate system is established based on the robot base 108, the reference object coordinate system is established based on the reference object 103 and the tool coordinate system is established based on the center point of motion of the robot tip. The first coordinate value is acquired in a robot teaching mode; the second coordinate value is obtained by a robot teaching mode; the third coordinate value is obtained by a robot teaching mode; in addition, the first coordinate value, the second coordinate value, and the third coordinate value may be obtained in other manners, for example, the first coordinate value and the second coordinate value are preset fixed measurement values, which are not limited herein.
S420, if the first platform 101 is located at the preset docking station and the robot tip 107 is located at the preset measurement area near the reference object 103, the ranging component 106 is controlled to sense the first 6D pose state of the reference object 103 in the tool coordinate system. In the embodiment of the present invention, the ranging component 106 includes a first ranging sensor 1061, a second ranging sensor 1062, and a third ranging sensor 1063 disposed at the end 107 of the robot, where the first ranging sensor 1061, the second ranging sensor 1062, and the third ranging sensor 1063 may be selected as laser ranging sensors; the reference object 103 includes a first face 1031, a second face 1032, and a third face 1033 intersecting perpendicularly to each other at a common intersection point a. The method comprises the following substeps:
s4202, obtaining a fifth coordinate value of the first ranging sensor 1061 in the tool coordinate system, a sixth coordinate value of the second ranging sensor 1062 in the tool coordinate system, and a seventh coordinate value of the third ranging sensor 1063 in the tool coordinate system; and according to the fifth coordinate value, the sixth coordinate value and the seventh coordinate value, respectively calculating to obtain a first transformation relation between the first ranging sensor coordinate system and the tool coordinate system, a second transformation relation between the second ranging sensor coordinate system and the tool coordinate system and a third transformation relation between the third ranging sensor coordinate system and the tool coordinate system.
S4204 controls the first ranging sensor 1061 to sense the first surface 1031 to obtain a first measured value, the second ranging sensor 1062 to sense the first surface 1031 to obtain a second measured value, and the third ranging sensor 1063 to sense the third surface 1033 to obtain a third measured value; the ranging assembly 106 is controlled to rotate about a predetermined axis by 120 °, the first ranging sensor 1061 senses the second face 1032 to obtain a fourth measurement, the second ranging sensor 1062 senses the second face 1032 to obtain a fifth measurement, and the third ranging sensor 1063 senses the first face 1031 to obtain a sixth measurement.
S4206 calculates a first 6D pose state of the reference object 103 in the tool coordinate system according to the first measurement value, the second measurement value, the third measurement value, the fourth measurement value, the fifth measurement value, the sixth measurement value, and the first transformation relationship, the second transformation relationship, and the third transformation relationship.
Wherein a first range sensor coordinate system is established based on the first range sensor 1061, a second range sensor coordinate system is established based on the second range sensor 1062, and a third range sensor coordinate system is established based on the third range sensor 1063.
It should be noted that, when the number of the laser ranging sensors installed at the robot end 107 is more than six, it is not necessary to rotate the robot end 107, but the method has a high cost and a large occupied space in practical application, which is not an optimal solution.
S430, controlling the robot tail end 107 to take and place the workpiece between the first station 104 and the second station 105 according to the first coordinate value, the second coordinate value, the third coordinate value and the first 6D pose state. The method comprises the following substeps:
s4302, calculating to obtain a fourth transformation relation between the tool coordinate system and the base coordinate system according to the third coordinate value;
s4304, calculating a fifth transformation relation between the reference object coordinate system and the tool coordinate system according to the first 6D pose state;
s4306, calculating to obtain a second 6D pose state of the second station 105 in the base coordinate system according to the second coordinate value, the fourth transformation relation and the fifth transformation relation;
s4308, controlling the robot tail end 107 to take and put a piece between the first station 104 and the second station 105 according to the second 6D pose state and the first coordinate value.
In the embodiment of the invention, the number of the second platforms 102 is multiple, the number of the preset stop sites is multiple and corresponds to the number of the second platforms 102, and the stop sites are arranged in the vicinity of the second platforms 102; the method further comprises the steps of:
s412, controlling the first platform 101 to stop at the preset stop station.
S414, if the positioning instruction is received, it is determined whether the first platform 101 is located at the preset docking station, and if yes, the robot end 107 is controlled to be located at the preset measurement area near the reference object 103.
In summary, in the robot end positioning method provided in the embodiment of the present invention, if the first platform 101 is located at the preset docking station and the robot end 107 is located at the preset measurement area near the reference object 103, the ranging component 106 senses the first 6D pose state of the reference object 103 in the tool coordinate system, the second coordinate value of the second station 105 in the reference object coordinate system and the first 6D pose state can obtain the first relative 6D pose state of the second station 105 in the tool coordinate system, and the tool coordinate system is established based on the center of motion of the robot end, so further the second 6D pose state of the second station 105 in the base coordinate system can be obtained through the first relative 6D pose state and the third coordinate value of the robot end 107 in the base coordinate system, where the first coordinate value is the coordinate value of the first station 104 in the base coordinate system, that is: the first coordinate value, the third coordinate value and the second 6D pose state are all based on the position parameters of the same coordinate system (base coordinate system), at this time, the robot end 107 can accurately acquire the relative position relationship between the first station 104 and the second station 105, so as to realize stable and accurate positioning, and realize stable and accurate workpiece picking and placing between the first station 104 and the second station 105.
In the process of controlling the ranging component 106 to sense the first 6D pose state of the reference object 103 in the tool coordinate system, the first 6D pose state of the reference object 103 in the tool coordinate system is obtained, so that the unification of all coordinate systems in the picking and placing system can be realized, and the accurate positioning of the workpiece can be obtained. And in the process of controlling the ranging component 106 to sense the first 6D pose state of the reference object 103 in the tool coordinate system, the robot tail end 107 only needs to rotate once, so that the influence of the robot positioning action on the positioning precision is reduced. The positioning method is simple and convenient to operate, saves cost, and is stable and reliable. The positioning device also has the advantage of convenient deployment, installation and debugging.
Fig. 5 is a schematic flow chart of another robot tip positioning method in one embodiment of the present invention, the robot tip positioning method comprising the steps of:
s502, measured by a three-coordinate measuring machine: three single-point laser ranging sensors are positioned in relation to the robot tip 107 and mounted to the robot tip 107.
S504, measured by a measuring instrument: positional relationship of the first station 104 and the robot base 108, and positional relationship of the robot tip 107 and the robot base 108.
S506, the fixed reference object 103 is located on the second platform 102, and the positional relationship between the second station 105 and the reference object 103 is measured by the robot teaching method.
It should be noted that the reference object 103 is fixedly mounted at a position, which may be inside the machine tool, on a platform, or the like.
S508, the first platform 101 is controlled to be located at a preset stop station, and the first fine positioning is completed.
S510, calculating the 6D pose state of the reference object 103 in the base coordinate system.
Wherein the base coordinate system is established based on the robot base 108. The robot tip 107 reaches above the reference object 103 by teaching, reads a measurement value once, rotates the tip joint, and reads a measurement value for the second time; the 6D pose state of the reference object 103 with respect to the base coordinate system is determined by calculation from the two measurements read.
S512, calculating to obtain the 6D pose states of the first station 104 and the second station 105 in the base coordinate system, and finishing the second precise positioning.
According to the 6D pose state of the reference object 103 relative to the base coordinate system, the position relation between the first station 104 and the robot base 108 and the position relation between the second station 105 and the reference object 103, the 6D pose state of the workpiece to be fetched and placed relative to the base coordinate system is further calculated.
S514, the robot tail end 107 is controlled to take and put between the first station 104 and the second station 105.
Optionally, the specific calculation process of the 6D pose state of the reference object in the base coordinate system in S510 is as follows:
the coordinate system OXYZ shown in FIG. 6 is the tool coordinate system, coordinate system O 1 X 1 Y 1 Z 1 A first ranging sensor coordinate system; the coordinate system OXYZ shown in FIG. 7 is the tool coordinate system, coordinate system O 2 X 2 Y 2 Z 2 For the second distance measuring sensor coordinate system, coordinate system O 3 X 3 Y 3 Z 3 Is a third ranging sensor coordinate system.
According to the coordinate values of the three single-point laser ranging sensors in the OXYZ coordinate system, calculating the relation between the coordinate system established by the three single-point laser ranging sensors and the OXYZ coordinate system; obtaining respective rotation matrix relation R and translation matrix relation T:
O 1 X 1 Y 1 Z 1 relationship between coordinate system and xyz coordinate system: rotation matrix relation R 1 Translation matrix relationship T 1 ；
O 2 X 2 Y 2 Z 2 Relationship between coordinate system and xyz coordinate system: rotation matrix relation R 2 Translation matrix relationshipT 2 ；
O 3 X 3 Y 3 Z 3 Relationship between coordinate system and xyz coordinate system: rotation matrix relation R 3 Translation matrix relationship T 3 ；
The 6 points of the reference object 103 were measured by rotating the robot end joint 120 ° around the rotation axis.
As shown in fig. 6 and 8, the following are obtained:
O 1 X 1 Y 1 Z 1 s in a coordinate system 1 Distance to obtain S 1 Coordinates (0, S) 1 )；
O 2 X 2 Y 2 Z 2 S in a coordinate system 2 Distance to obtain S 2 Coordinates (0, S) 2 )；
O 3 X 3 Y 3 Z 3 S in a coordinate system 3 Distance to obtain S 3 Coordinates (0, S) 3 )；
The robot end joint was once rotated by 120 °, and as shown in fig. 7 and 8, it was obtained:
O 1 X 1 Y 1 Z 1 s in a coordinate system 4 Distance to obtain S 4 Coordinates (0, S) 4 )；
O 2 X 2 Y 2 Z 2 S in a coordinate system 5 Distance to obtain S 5 Coordinates (0, S) 5 )；
O 3 X 3 Y 3 Z 3 S in a coordinate system 6 Distance to obtain S 6 Coordinates (0, S) 6 )；
By the above rotation matrix relation R 1 、R 2 、R 3 Translation matrix relationship T 1 、T 2 、T 3 Can calculate and obtain a point S 1 、S 2 、S 3 、S 4 、S 5 、S 6 Coordinate values in an ozz coordinate system.
Illustratively, the planes ACD, ABC and ABD are perpendicular to each other, which can be ensured by machining. According to the space plane and its equation calculation methodBy the method of S 1 、S 2 、S 6 Three points can determine the planar ACD equation in the ozz coordinate system; taking the vector S 1 S 2 Vector S 1 S 6 Obtaining a normal vector M of the plane ACD; vector M is parallel to plane ABD, plane ABC; taking the vector S 4 S 5 Vector product with vector M, get normal vector N of plane ABC; vector N is parallel to plane ABD; known S 4 The coordinate values in the OXYZ coordinate system and the normal vector N of the plane ABC are used for obtaining the equation of the plane ABC through the dot French equation of the plane. Taking the vector products of the vector M and the vector N to obtain the normal vector P of the ABD plane according to S 3 The coordinate values in the OXYZ coordinate system and the normal vector P of the plane ABD are used for obtaining the equation of the plane ABD through the dot French equation of the plane. The plane ABC, ABD, ACD has three plane equations perpendicular to each other, and the intersection point is unique, so that the coordinate value of the intersection point A in the OXYZ coordinate system can be obtained. From the a point coordinates, vector M, vector N, and vector P, the 6D pose state of the reference object 103 in the ozz coordinate system can be obtained. From the positional relationship between the robot tip 107 and the robot base 108, a matrix transformation between the tool coordinate system and the base coordinate system is obtained, and the 6D pose state of the reference object 103 in the base coordinate system is further calculated. It will be appreciated that the robot end joints described above may be rotated in other directions, which is not limited in this embodiment.
According to the robot tail end positioning method provided by the embodiment, the position relationship of each component of the first platform 101 and the position relationship of each component of the second platform 102 are known, the position relationship of the reference object 103 and the robot tail end 107 is obtained by controlling the robot tail end 107, so that the position relationship of each component of the whole picking and placing system can be obtained, and the picking and placing action of the robot tail end 107 on a workpiece is realized. The positional relationship between the reference object 103 and the robot tip 107 is acquired by only one rotation of the robot tip 107, so that the positioning accuracy is greatly improved. The positioning method is simple and convenient to operate, saves cost, and is stable and reliable. The positioning device also has the advantage of convenient deployment, installation and debugging.
The embodiment of the invention also provides a robot tail end positioning device which is applied to a workpiece picking and placing system, as shown in fig. 1-3, wherein the picking and placing system comprises a first platform 101 and a second platform 102, the first platform 101 is provided with a robot and a first station 104, the robot tail end 107 is provided with a distance measuring component 106, and the second platform is provided with a reference object 103 and a second station 105; as shown in fig. 9, the robot tip positioning device includes:
the acquisition module 901 acquires a first coordinate value of the first station 104 in the base coordinate system, a second coordinate value of the second station 105 in the reference object coordinate system, and a third coordinate value of the robot end 107 in the base coordinate system;
the control module 902, if the first platform 101 is located at a preset docking station and the robot end 107 is located at a preset measurement zone near the reference object 103, controls the ranging component 106 to sense a first 6D pose state of the reference object 103 in the tool coordinate system; according to the first coordinate value, the second coordinate value, the third coordinate value and the first 6D pose state, the tail end 107 of the robot is controlled to take and put workpieces between the first station 104 and the second station 105;
wherein the base coordinate system is established based on the robot base 108, the reference object coordinate system is established based on the reference object 103 and the tool coordinate system is established based on the center point of motion of the robot tip.
The embodiment of the invention also provides electronic equipment, which comprises a memory and a processor, wherein the memory stores a computer program, and the processor realizes the robot tail end positioning method when executing the computer program.
The embodiment of the invention also provides a computer readable storage medium, which stores a computer program, and when the computer program is read and run by a processor, the robot tail end positioning method can be realized, and the same technical effect can be achieved, so that repetition is avoided, and the description is omitted. Among them, a computer-readable storage medium such as Read-Only Memory (ROM), random access Memory (Random Access Memory RAM), magnetic disk or optical disk, and the like.
Of course, it will be appreciated by those skilled in the art that implementing all or part of the above-described methods in the embodiments may be implemented by a computer program for instructing a control device, where the computer program may be stored in a computer readable storage medium, where the computer program may include the above-described methods in the embodiments when executed, where the storage medium may be a memory, a magnetic disk, an optical disk, or the like.
Although the present invention is disclosed above, the present invention is not limited thereto. Various changes and modifications may be made by one skilled in the art without departing from the spirit and scope of the invention, and the scope of the invention should be assessed accordingly to that of the appended claims.
Finally, it is further noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, 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 one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
In the present specification, each embodiment is described in a progressive manner, and each embodiment is mainly described in a different point from other embodiments, and identical and similar parts between the embodiments are all enough to refer to each other. The workpiece picking and placing system device disclosed by the embodiment corresponds to the robot positioning method disclosed by the embodiment, so that the description is simpler, and relevant parts only need to be referred to the description of the method part.
Although the present invention is disclosed above, the present invention is not limited thereto. Various changes and modifications may be made by one skilled in the art without departing from the spirit and scope of the invention, and the scope of the invention should be assessed accordingly to that of the appended claims.

Claims (9)

1. The robot tail end positioning method is characterized by being applied to a workpiece picking and placing system, wherein the workpiece picking and placing system comprises a first platform and a second platform, the first platform is provided with a robot and a first station, the tail end of the robot is provided with a distance measuring component, and the second platform is provided with a reference object and a second station; the method comprises the following steps:
acquiring a first coordinate value of the first station in a base coordinate system, a second coordinate value of the second station in a reference object coordinate system and a third coordinate value of the tail end of the robot in the base coordinate system;
if the first platform is located at a preset stop site and the tail end of the robot is located at a preset measuring area near the reference object, controlling the ranging component to sense a first 6D pose state of the reference object in a tool coordinate system;
the ranging assembly comprises a first ranging sensor, a second ranging sensor and a third ranging sensor which are arranged at the tail end of the robot; the reference object comprises a first face, a second face and a third face which are mutually perpendicular and intersected at a common intersection point; the controlling the ranging assembly to sense a first 6D pose state of the reference object in a tool coordinate system includes:
acquiring a fifth coordinate value of the first ranging sensor in the tool coordinate system, a sixth coordinate value of the second ranging sensor in the tool coordinate system, and a seventh coordinate value of the third ranging sensor in the tool coordinate system; according to the fifth coordinate value, the sixth coordinate value and the seventh coordinate value, a first transformation relation between a first ranging sensor coordinate system and the tool coordinate system, a second transformation relation between a second ranging sensor coordinate system and the tool coordinate system and a third transformation relation between a third ranging sensor coordinate system and the tool coordinate system are respectively calculated;
controlling the first ranging sensor to sense the first surface to obtain a first measured value, the second ranging sensor to sense the first surface to obtain a second measured value, and the third ranging sensor to sense the third surface to obtain a third measured value; the distance measuring assembly is controlled to rotate around a preset axis by 120 degrees, the first distance measuring sensor senses the second surface to obtain a fourth measured value, the second distance measuring sensor senses the second surface to obtain a fifth measured value, and the third distance measuring sensor senses the first surface to obtain a sixth measured value;
calculating to obtain a first 6D pose state of the reference object in the tool coordinate system according to the first measured value, the second measured value, the third measured value, the fourth measured value, the fifth measured value, the sixth measured value, the first transformation relation, the second transformation relation and the third transformation relation;
wherein the first ranging sensor coordinate system is established based on the first ranging sensor, the second ranging sensor coordinate system is established based on the second ranging sensor, and the third ranging sensor coordinate system is established based on the third ranging sensor;
according to the first coordinate value, the second coordinate value, the third coordinate value and the first 6D pose state, controlling the tail end of the robot to take and place workpieces between the first station and the second station;
wherein the base coordinate system is established based on a robot base, the reference object coordinate system is established based on the reference object, and the tool coordinate system is established based on a robot tip center of motion point.
2. The robot tip positioning method of claim 1, wherein the first ranging sensor, the second ranging sensor, and the third ranging sensor are all laser ranging sensors.
3. The method of claim 1, wherein controlling the robot tip to take and place the workpiece between the first station and the second station according to the first coordinate value, the second coordinate value, the third coordinate value, and the first 6D pose state comprises:
according to the third coordinate value, calculating to obtain a fourth transformation relation between the tool coordinate system and the base coordinate system;
according to the first 6D pose state, calculating to obtain a fifth transformation relation between a reference object coordinate system and a tool coordinate system;
according to the second coordinate value, the fourth transformation relation and the fifth transformation relation, a second 6D pose state of the second station in the base coordinate system is calculated;
and controlling the tail end of the robot to pick and place a piece between the first station and the second station according to the second 6D pose state and the first coordinate value.
4. The robotic end positioning method of claim 1, wherein the method further comprises:
if the positioning instruction is received, judging whether the first platform is located at a preset stop station, and if yes, controlling the tail end of the robot to be located in a preset measuring area near the reference object.
5. The robot end positioning method according to claim 1, wherein the second stage has a plurality of the preset docking stations, the docking stations being provided in a vicinity of the second stage, and corresponding to the second stage; the method further comprises the steps of:
and controlling the first platform to stop at the preset stop station.
6. The robot tip positioning method according to claim 1, wherein the first coordinate value is acquired by means of robot teaching; and/or the second coordinate value is obtained by a robot teaching mode; and/or the third coordinate value is obtained by a robot teaching mode.
7. A robot end positioning device, characterized in that the robot end positioning device is applied to the robot end positioning method according to any one of claims 1-6 and is applied to a workpiece picking and placing system, wherein the picking and placing system comprises a first platform and a second platform, the first platform is provided with a robot and a first station, the robot end is provided with a ranging component, and the second platform is provided with a reference object and a second station; the device comprises:
the acquisition module is used for acquiring a first coordinate value of the first station in a base coordinate system, a second coordinate value of the second station in a reference object coordinate system and a third coordinate value of the tail end of the robot in the base coordinate system;
the control module is used for controlling the ranging component to sense a first 6D pose state of the reference object in a tool coordinate system if the first platform is positioned at a preset stop site and the tail end of the robot is positioned at a preset measuring area near the reference object; according to the first coordinate value, the second coordinate value, the third coordinate value and the first 6D pose state, controlling the tail end of the robot to take and place workpieces between the first station and the second station;
wherein the base coordinate system is established based on a robot base, the reference object coordinate system is established based on the reference object, and the tool coordinate system is established based on a robot tip center of motion point.
8. An electronic device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor, when executing the computer program, implements the method of any of claims 1-6.
9. A computer readable storage medium, characterized in that the computer readable storage medium stores a computer program which, when read and run by a processor, implements the method of any of claims 1-6.
CN202310416522.9A 2023-04-18 2023-04-18 Robot tail end positioning method, positioning device and electronic equipment Active CN116442225B (en)

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