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CN-116276910-B - Relative pose calibration method and system of robot and workbench and robot

CN116276910BCN 116276910 BCN116276910 BCN 116276910BCN-116276910-B

Abstract

The invention relates to a relative pose calibration method and system of a robot and a workbench and the robot. The robot and workbench relative pose calibration method comprises the steps of controlling a mechanical arm to drive a first calibration piece to be matched with a second calibration piece arranged on a workbench so that the pose of the first calibration piece relative to the second calibration piece is constrained to a preset pose, obtaining a first mapping relation between a coordinate system of the first calibration piece and a coordinate system of a base, and determining a target mapping relation between the coordinate system of the workbench and the coordinate system of the base according to the first mapping relation, the second preset mapping relation and the third preset mapping relation. The relative pose calibration method and system of the robot and the workbench provided by the invention have the advantages that the calibration accuracy of the robot is higher, and the operation accuracy of the robot is greatly improved.

Inventors

  • Ni Feijian
  • CHEN WEN

Assignees

  • 佛山非夕机器人科技有限公司
  • 非夕科技有限公司

Dates

Publication Date
20260505
Application Date
20230317

Claims (16)

  1. 1. The utility model provides a relative position appearance calibration method of robot and workstation, its characterized in that, the robot includes the base and connect to the arm on the base, be equipped with first calibration piece on the arm, the method includes: controlling the mechanical arm to drive the first calibration piece to be matched with a second calibration piece arranged on the workbench, so that the position of the first calibration piece relative to the second calibration piece is restrained to a preset position; acquiring a first mapping relation between the coordinate system of the first calibration piece and the coordinate system of the base; Determining a target mapping relation between the coordinate system of the workbench and the coordinate system of the base according to the first mapping relation, the second preset mapping relation and the third preset mapping relation; the second preset mapping relationship is a mapping relationship between the coordinate system of the first calibration member and the coordinate system of the second calibration member when the first calibration member is in the preset pose, and the third preset mapping relationship is a mapping relationship between the coordinate system of the second calibration member and the coordinate system of the workbench.
  2. 2. The method for calibrating the relative pose of a robot and a workbench according to claim 1, wherein the second calibration member comprises a calibration hole with an inner contour matched with an outer contour of the first calibration member, and the step of controlling the mechanical arm to drive the first calibration member to cooperate with the second calibration member arranged on the workbench so that the pose of the first calibration member relative to the second calibration member is constrained to a preset pose comprises: And controlling the mechanical arm to drive the first calibration piece to be inserted into the calibration hole, so that the pose of the first calibration piece relative to the second calibration piece is constrained to the preset pose by the mechanical arm and the calibration hole.
  3. 3. The robot-table relative pose calibration method according to claim 2, wherein the first calibration member is configured with a projection on a side surface in the insertion direction, and a hole edge of the calibration hole is configured with a clamping groove communicating with the calibration hole and extending in the hole depth direction.
  4. 4. A method for calibrating a relative pose of a robot and a table according to claim 3, wherein the step of controlling the mechanical arm to drive the first calibration member to cooperate with a second calibration member provided on the table so that the pose of the first calibration member relative to the second calibration member is constrained to a preset pose comprises: Controlling the mechanical arm to drive the first calibration piece to move until the free end of the first calibration piece is positioned in the opening range of the calibration hole; controlling the mechanical arm to adjust the pose of the first calibration piece to the position that the Z-axis direction of the first calibration piece coincides with the axis of the calibration hole, and controlling the mechanical arm to drive the first calibration piece to be partially inserted into the calibration hole; controlling the mechanical arm to drive the first calibration piece to rotate around the Z-axis direction of the first calibration piece until the protruding part of the first calibration piece rotates to be aligned with the clamping groove; And controlling the mechanical arm to drive the first calibration piece to be inserted into the bottom of the calibration hole along the depth direction of the hole.
  5. 5. The method of calibrating a relative pose of a robot and a table according to claim 4, wherein the aperture edge of the calibration hole is further configured with a guide surface.
  6. 6. The method of calibrating a relative pose of a robot and a table according to claim 5, wherein the step of controlling the mechanical arm to drive the first calibration member to be partially inserted into the calibration hole and controlling the mechanical arm to drive the first calibration member to rotate around the Z-axis direction of the first calibration member until the protrusion of the first calibration member rotates to be aligned with the detent groove comprises: Controlling the mechanical arm to drive the first calibration piece to be inserted into the calibration hole, and enabling the protruding part to be abutted to the guide surface; Acquiring a first torque applied by the guide surface to the protruding part along the Z-axis direction of the first calibration piece; And controlling admittance of the first calibration piece in the Z-axis direction based on the first torque until the first torque reaches a first preset torque range, or controlling the mechanical arm to drive the first calibration piece to reciprocally rotate around the Z-axis direction until the first torque reaches the first preset torque range.
  7. 7. The method of calibrating a relative pose of a robot and a table according to claim 4, wherein the step of controlling the mechanical arm to drive the first calibration member to move until a free end of the first calibration member is located within an opening range of the calibration hole comprises: Controlling the mechanical arm to drive the first calibration piece to move until the free end of the first calibration piece contacts with the guide surface; And controlling the mechanical arm to drive the first calibration piece to slide along the guide surface until the free end part of the first calibration piece is positioned in the opening range of the calibration hole.
  8. 8. The method for calibrating relative pose of robot and workbench according to claim 7, wherein, The step of controlling the mechanical arm to drive the first calibration piece to slide along the guide surface until the free end of the first calibration piece is positioned in the opening range of the calibration hole comprises the following steps: Acquiring a first acting force applied to the free end part of the first calibration piece along the X axis of the first calibration piece and a second acting force applied to the free end part of the first calibration piece along the Y axis of the first calibration piece; And controlling admittance of the first calibration piece in the X-axis direction and the Y-axis direction based on the first acting force and the second acting force until the first acting force and the second acting force are lower than a first acting force threshold value.
  9. 9. The method of calibrating a pose of a robot and a table according to claim 4, wherein the step of controlling the mechanical arm to adjust the pose of the first calibration member to a position where the Z-axis direction of the first calibration member coincides with the axis of the calibration hole comprises: Acquiring a second torque applied to the free end of the first calibration member along the X-axis direction of the first calibration member and a third torque applied to the free end of the first calibration member along the Y-axis direction of the first calibration member; and controlling the mechanical arm to drive the first calibration piece to swing reciprocally around the X-axis direction and swing reciprocally around the Y-axis direction in sequence based on the second torque and the third torque until the second torque reaches a second preset torque range and the third torque reaches a third preset torque range.
  10. 10. The method of calibrating a relative pose of a robot and a table according to any of claims 4-9, further comprising, after the step of controlling the mechanical arm to drive the first calibration piece to move to a position where the free end of the first calibration piece is within the opening range of the calibration hole; acquiring acting force applied to the free end of the first calibration piece; And if the acting force is smaller than a second acting force threshold value, controlling the mechanical arm to drive the first calibration piece to be inserted into the calibration hole along the depth direction of the hole.
  11. 11. The utility model provides a relative position appearance calibration system of robot and workstation which characterized in that includes: the robot comprises a base and a mechanical arm connected to the base, wherein a first calibration piece is arranged on the mechanical arm; a workbench provided with a second calibration part and The processor is used for controlling the mechanical arm to drive the first calibration piece to be matched with the second calibration piece so as to enable the pose of the first calibration piece relative to the second calibration piece to be restrained to a preset pose; acquiring a first mapping relation between the coordinate system of the first calibration piece and the coordinate system of the base; determining a target mapping relation between the coordinate system of the workbench and the coordinate system of the base according to the first mapping relation, the second preset mapping relation and the third preset mapping relation; the second preset mapping relationship is a mapping relationship between the coordinate system of the first calibration member and the coordinate system of the second calibration member when the first calibration member is in the preset pose, and the third preset mapping relationship is a mapping relationship between the coordinate system of the second calibration member and the coordinate system of the workbench.
  12. 12. The robot and table relative pose calibration system according to claim 11, wherein said second calibration member comprises a calibration hole having an inner contour matching an outer contour of said first calibration member.
  13. 13. The robot-to-table relative pose calibration system according to claim 12, wherein the first calibration member is configured with a projection on a side surface in the insertion direction, and the orifice edge of the calibration hole is configured with a detent groove communicating with the calibration hole and extending in the hole depth direction.
  14. 14. The robot and table relative pose calibration system according to claim 12, wherein the aperture edge of the calibration aperture is further configured with a guide surface.
  15. 15. A robot comprising a memory and a processor, the memory storing a computer program, characterized in that the processor, when executing the computer program, performs the steps of the robot-to-table pose calibration method according to any of claims 1 to 10.
  16. 16. A computer readable storage medium having stored thereon a computer program, wherein the computer program when executed by a processor performs the steps of the robot-to-table pose calibration method according to any of claims 1 to 10.

Description

Relative pose calibration method and system of robot and workbench and robot Technical Field The invention relates to the technical field of robot equipment, in particular to a relative pose calibration method and system of a robot and a workbench and the robot. Background Robots are an important way to implement industrial automation. In the industrial application, the robot performs work gripping, assembling and the like, and it is necessary to obtain the accurate position of the work, i.e., the table, in advance. This precise position is typically obtained by manual entry or robotic teaching. The method of manual input requires high measurement accuracy, and the teaching method requires that the relative position of the robot and the workbench where the workpiece is located is kept unchanged in the subsequent whole operation flow, otherwise, the method cannot be applied. Typically, in some intelligent production, a robot is installed on a mobile chassis (e.g., an AGV), and the robot can switch between different stations and perform corresponding operations through the mobile chassis, so that the efficiency and the economy of the production line are greatly improved. However, the positioning accuracy of the mobile chassis is low, so that a certain random error exists in the relative position between the robot and the workbench after the robot is switched to the next station, and the subsequent operation is difficult to perform. To solve this problem, the related art generally performs calibration by means of visual calibration. When the robot is in specific implementation, after the robot moves to the corresponding station, the camera is used for calibrating the relative position of a specific object on the workbench and the robot. However, the method has high requirements on the calibration environment, for example, when the intensity of light does not meet the requirements, or other interference objects exist, the calibration accuracy can be greatly influenced, and the operation accuracy of the robot cannot be ensured. Disclosure of Invention Based on the above, it is necessary to provide a method and a system for calibrating the relative pose of a robot and a workbench with high calibration accuracy, and the robot. An embodiment of the present application provides a method for calibrating relative pose of a robot and a workbench, the robot includes a base and a mechanical arm connected to the base, the mechanical arm is provided with a first calibration piece, the method includes: the control mechanical arm drives the first calibration piece to be matched with a second calibration piece arranged on the workbench, so that the position of the first calibration piece relative to the second calibration piece is restrained to a preset position; acquiring a first mapping relation between a coordinate system of a first calibration piece and a coordinate system of a base; Determining a target mapping relation between a coordinate system of the workbench and a coordinate system of the base according to the first mapping relation, the second preset mapping relation and the third preset mapping relation; the second preset mapping relation is a mapping relation between the coordinate system of the first calibration piece and the coordinate system of the second calibration piece when the first calibration piece is in a preset pose, and the third preset mapping relation is a mapping relation between the coordinate system of the second calibration piece and the coordinate system of the workbench. In the above scheme, the mechanical arm is controlled to drive the first calibration piece to be matched with the second calibration piece arranged on the workbench, so that the pose of the first calibration piece relative to the second calibration piece is restrained to a preset pose, when the pose is preset, a second preset mapping relation (a preset fixed amount) exists between the relative poses of the first calibration piece and the second calibration piece, a third preset mapping relation (a preset fixed amount) exists between the relative poses of the second calibration piece and the workbench, and therefore the relative fixed pose relation between the first calibration piece and the workbench when the pose is preset can be known. Therefore, as long as the relative pose relation between the first calibration piece and the base of the robot in the preset pose, namely the first mapping relation, the relative position relation between the workbench and the base of the robot, namely the target mapping relation between the coordinate system of the workbench and the coordinate system of the base, can be determined according to the first mapping relation, the second preset mapping relation and the third preset mapping relation. The calibration process is not influenced by factors such as light rays and interference objects in an external calibration environment, the calibration accuracy is high, and the operation accuracy of