CN116551665A - Method and device for calibrating calibration sensor coordinate system of robot - Google Patents

Abstract

This paper discloses a method and apparatus for calibrating a calibration sensor coordinate system of a robot, wherein a method according to an aspect of the present disclosure includes: an X-axis ray and a Y-ray intersecting the calibration sensor based on an adapter of the robot during motion Axis rays are touched to determine the poses of the X-axis rays and the Y-axis rays in the robot base coordinate system, wherein the calibration sensor is used to calibrate the pose of the adapter, and the X The intersection point of the axis ray and the Y-axis ray is the coordinate origin of the calibration sensor coordinate system; and based on the touch of the adapter with the X-axis ray and the Y-axis ray during motion, determine the X The position of the intersection of the axis ray and the Y-axis ray in the coordinate system of the robot base.

Description

Method and device for calibrating a calibration sensor coordinate system of a robot

technical field

The present disclosure relates generally to robotics, and more particularly to methods and apparatus for calibrating a calibration sensor coordinate system of a robot.

Background technique

With the rapid development of robot technology, industrial robots are more and more widely used in various industrial fields, such as welding, assembly and so on.

In the field of industrial production, depending on the actual requirements of the production task, it is necessary to fix an adapter (or tool) on the end of the industrial robot (usually a flange), for example, a welding torch for a welding robot. In order for the robot to accurately complete the specified tasks, an essential link is to calibrate the end point of the robot adapter (that is, the tool center point (TCP), for example, the tip of the welding needle) to clarify its relative Based on the position and orientation of the robot base (RB) coordinate system as the basis, such calibration can be performed with the help of specially set calibration sensors. However, methods for automatic calibration of calibration sensors are lacking.

Contents of the invention

In the Summary section, a selection of concepts are introduced in a simplified form that are further described below in the Detailed Description section. This Summary is not intended to identify any key features or essential features of the claimed subject matter, nor is it intended to be used as an aid in determining the scope of the claimed subject matter.

According to one aspect of the present disclosure, there is provided a method for calibrating a calibration sensor coordinate system of a robot, the method comprising: an X-axis ray and a Y-axis based on an adapter of the robot intersecting the calibration sensor during motion The touch of the light rays determines the poses of the X-axis rays and the Y-axis rays in the robot base coordinate system, wherein the calibration sensor is used to calibrate the pose of the adapter, and the X-axis The intersection point of the ray and the Y-axis ray is the coordinate origin of the calibration sensor coordinate system; and the X-axis is determined based on the touch of the adapter with the X-axis ray and the Y-axis ray during motion The position of the intersection of the ray and the Y-axis ray in the coordinate system of the robot base.

According to another aspect of the present disclosure, there is provided a computing device comprising: at least one processor; and a memory coupled to the at least one processor and configured to store instructions, wherein the instructions are executed by When the at least one processor is executed, the at least one processor: based on the touch of the X-axis ray and the Y-axis ray intersecting the calibration sensor during the movement of the adapter of the robot, determine the X-axis ray and the Y-axis ray. The posture of the Y-axis ray in the robot base coordinate system, wherein the calibration sensor is used to calibrate the posture of the adapter, and the intersection of the X-axis ray and the Y-axis ray is the calibration The coordinate origin of the sensor coordinate system; and based on the touch of the adapter with the X-axis light and the Y-axis light during the movement, determine the intersection point of the X-axis light and the Y-axis light in the robot The position in the coordinate system of the base.

According to still another aspect of the present disclosure, there is provided an apparatus for calibrating a calibration sensor coordinate system of a robot, the apparatus comprising: an X-axis ray used for intersecting the calibration sensor based on an adapter of the robot during motion Touching with the Y-axis light, a module for determining the attitude of the X-axis light and the Y-axis light in the robot base coordinate system, wherein the calibration sensor is used to calibrate the pose of the adapter , the intersection of the X-axis light and the Y-axis light is the coordinate origin of the calibration sensor coordinate system; touch, a module for determining the position of the intersection of the X-axis ray and the Y-axis ray in the coordinate system of the robot base.

According to yet another aspect of the present disclosure, there is provided a computer-readable storage medium having stored thereon instructions which, when executed by at least one processor, cause the at least one processor to perform the methods described herein.

According to another aspect of the present disclosure, there is provided a computer program product comprising instructions which, when executed by at least one processor, cause the at least one processor to perform the methods described herein.

Description of drawings

Implementations of the present disclosure are illustrated by way of example and not limitation in the accompanying drawings, in which like reference numerals indicate the same or similar parts, wherein:

Figure 1 shows a schematic diagram of an industrial robotic system according to some implementations of the present disclosure;

Figure 2A shows a flowchart of an example method according to some implementations of the present disclosure;

FIG. 2B illustrates example operations according to some implementations of the present disclosure;

Fig. 3A shows a schematic diagram of the projection of the light rays of the calibration sensor on the XOY plane of the robot base coordinate system along the main axis direction of the adapter according to some implementations of the present disclosure;

3B shows a schematic diagram of the projection of the light rays of the calibration sensor on the XOY plane of the robot base coordinate system along the main axis direction of the adapter according to some implementations of the present disclosure;

Fig. 4A shows a schematic diagram of the relative positional relationship of different circular motion adapters according to some implementations of the present disclosure;

Figure 4B shows a schematic diagram of circular motion of an adapter according to some implementations of the present disclosure;

Figure 5 shows a block diagram of an example apparatus according to some implementations of the present disclosure; and

6 shows a block diagram of an example computing device according to some implementations of the disclosure.

List of reference signs

110: robot 120: base 130: manipulator arm

140: end 150: adapter 160: calibration sensor

210: Determine the posture of the X-axis light and Y-axis light of the calibration sensor in the robot base coordinate system

212: Determine the slope k _x1 and k _y1 of the projection of the X-axis ray and the Y-axis ray along the main axis direction of the adapter on the XOY plane of the robot base coordinate system

214: Determine the initial pose of the adapter in the robot base coordinate system

216: Determine the slope k _x2 and k _y2 of the projection of the X-axis ray and the Y-axis ray along the main axis direction of the adapter after the first attitude adjustment on the XOY plane

218: Determine the posture of the X-axis light and the Y-axis light in the coordinate system of the robot base

220: Determine the position of the intersection of the X-axis ray and the Y-axis ray in the coordinate system of the robot base

510: first module 520: second module

610: Processor 620: Memory

Detailed ways

In the following description, for purposes of explanation, numerous specific details are set forth. However, it is understood that practice of the present disclosure may be practiced without these specific details. In other instances, well-known circuits, structures and techniques have not been shown in detail in order not to obscure the understanding of this description.

References throughout the specification to "one implementation," "an implementation," "example implementation," "some implementations," "various implementations," etc. mean that the described implementations of the present disclosure may include a particular feature, structure, or characteristic , however, does not mean that every implementation must contain these particular features, structures, or characteristics. Furthermore, some implementations may have some, all, or none of the features described for other implementations.

Various operations may be described as multiple discrete acts or operations, in sequence, in a manner that is most helpful in understanding the claimed subject matter. However, the order of description should not be construed as to imply that these operations are necessarily order-dependent. In particular, these operations may be performed out of the order presented. In some other implementations, various additional operations may also be performed, and/or various operations already described may be omitted.

In the specification and claims, the phrase "A and/or B" may appear to indicate one of the following: (A), (B), (A and B). Similarly, the phrase "A, B, and/or C" may appear to indicate one of the following: (A), (B), (C), (A and B), (A and C), (B and C), (A and B and C).

In the specification and claims, the terms "coupled" and "connected", along with their derivatives, may be used. It should be understood that these terms are not intended as synonyms for each other. In contrast, within a particular implementation, "connected" is used to indicate that two or more components are in direct physical or electrical contact with each other, and "coupled" is used to indicate that two or more components co-operate or interact with each other, but they may, There may also be no direct physical or electrical contact.

For industrial robot applications, the pose of the adapter (or tool) fixed at the end of the robot needs to be calibrated first, so as to ensure that the adapter can correctly complete the required complex movements. Such calibration can be carried out by means of specially provided calibration sensors. The calibration sensor may include two through-beam photoelectric sensors arranged on the same horizontal plane, wherein each through-beam photoelectric sensor includes an emitting part for emitting light, and a sensor for sensing the pair The receiving part of the light emitted by the emitting part of the radiation photoelectric sensor, the two emitted light rays are on the same plane and intersect. The adapter of the robot performs various types of motion in the working space of the calibration sensor according to the control command, including linear motion, circular motion, etc. When the adapter in motion touches the light, it will trigger the photoelectric sensor to generate a corresponding signal, which can be based on This algorithm determines the relative relationship between the adapter and the calibration sensor coordinate system, thereby achieving calibration.

When designing an industrial robot system, the relative positional relationship between the calibration sensor and the robot base is clear. In other words, whether it is the position of the coordinate origin of the calibration sensor coordinate system in the robot base coordinate system, or the posture of the calibration sensor coordinate system in the robot base coordinate system, it is clear at the time of design. However, in actual application scenarios, depending on various reasons such as installation accuracy and disassembly times, the accurate pose of the calibration sensor may deviate from its design value. Such offsets, even small ones, can adversely affect the results of what is being done to calibrate the sensor (eg, calibrating the adapter), and thus may cause the adapter to function incorrectly.

To calibrate the calibration sensor coordinate system itself, one possible way is to control the robot to do certain actions through manual operation, so that the robot can know the origin and attitude of the offset calibration sensor coordinate system. However, the accuracy of the manual calibration method still has certain problems. Another possible way is to introduce other external devices, such as laser trackers, high-precision mechanical parts, etc., to realize the calibration of the calibration sensor coordinate system. However, the additional high cost brought by this method is also a disadvantage that cannot be ignored.

The present disclosure presents an efficient mechanism for calibrating a robot's calibration sensor coordinate system.

Reference is first made below to FIG. 1 , which shows a schematic diagram of an industrial robot system 100 according to some implementations of the present disclosure. The system 100 as shown includes a robot 110 . Typically, the robot 110 includes a base 120, a manipulation arm 130, and an adapter (or tool) 150 secured to a distal end 140 (typically a flange) of the manipulation arm. For a welding robot, the adapter 150 is the welding torch. Under the control of the control device (not shown) of the robot 110, the manipulator 130 and the adapter 150 make desired movements, so as to complete the designated tasks.

The industrial robotic system 100 also includes a calibration sensor 160 . Typically, the calibration sensor 160 includes two through-beam photoelectric sensors arranged on the same horizontal plane, wherein each through-beam photoelectric sensor includes an emitting part for emitting light, and a sensor for sensing Measure the receiving part of the light emitted by the emitting part, and the two rays are on the same plane and are perpendicular to each other (as shown by the dotted line in Figure 1). During the calibration operation, when the adapter 150 moves within the working space of the calibration sensor 160 (within the coverage of the two rays), it will touch the rays, and its main axis will cut the rays, and this contact will be detected by the adapter 160. The light is detected by the receiving portion, and the calibration of the adapter 150 is performed based on such detection results.

The base coordinate system of the robot 110 , hereinafter referred to simply as RB-xyz, is a reference coordinate system for other coordinate systems. The adapter 150 has its own coordinate system, that is, the tool coordinate system, hereinafter referred to as AE-xyz for short. Likewise, the calibration sensor 160 also has its own coordinate system, hereinafter referred to as PS-xyz for short. PS-xyz uses two mutually orthogonal rays as the X-axis and Y-axis of the coordinate system respectively, so the intersection of the X-axis rays and the Y-axis rays is the coordinate origin of the coordinate system, and the Z-axis of the coordinate system can be determined according to the right-hand rule.

As mentioned above, in actual application scenarios, the exact pose of the calibration sensor 160 may have a certain offset relative to its original design value, so it is necessary to calibrate the calibration sensor coordinate system PS-xyz.

The process of calibrating PS-xyz is based on the robot base coordinate system RB-xyz. In some implementations according to the present disclosure, a translated robot base coordinate system can also be set and calculated based on this. The translated coordinate system is obtained by translating RB-xyz. The amount of translation can satisfy the coordinate origin of the translated coordinate system as close as possible to the coordinate origin of PS-xyz. For example, the coordinates of the translated coordinate system can be The origin is set to the design value of the coordinate origin of PS-xyz. Therefore, the relative positional relationship between the translated coordinate system and RB-xyz is clear. It should be understood that the robot base coordinate system RB-xyz referred to herein may refer to either the initial robot base coordinate system or the translated robot base coordinate system.

FIG. 2A shows a flowchart of an example method 200 according to some implementations of the disclosure. Method 200 may be used to calibrate a robot's calibration sensor coordinate system PS-xyz. The method 200 may be implemented by a computing device. A typical computing device may include a processor and a memory. Examples of such a computing device may include a computer, a workstation, a server, etc., but the present disclosure is not limited thereto. In some implementations according to the present disclosure, the computing device may be a control device dedicated to calibrating the calibration sensor coordinate system of the robot, which can communicate with the calibration sensor (such as the calibration sensor 160 shown in FIG. 1 ) to receive The detection signal transmitted by the sensor 160 is calibrated. In some implementations, the computing device may communicate with a control device of a robot (such as robot 110 shown in FIG. 1 ), eg, robot 110 may be commanded to perform desired motions to interact with calibration sensors 160 . In some implementations, the computing device may be a control device for robot 110 .

Referring to FIG. 2A, the method 200 starts at step 210. In this step, the X-axis light and the Y-axis light of the calibration sensor are determined based on the touching of the adapter of the robot with the intersecting X-axis light and the Y-axis light of the calibration sensor during motion. The attitude of the Y-axis ray in the coordinate system of the robot base. The intersecting X-axis rays and Y-axis rays of the calibration sensor in the embodiment of the present invention may be mutually orthogonal.

Turning first to FIG. 2B , which illustrates example operations according to some implementations of the present disclosure. The exemplary operations shown in FIG. 2B may correspond to an implementation of step 210 . As shown in FIG. 2B , first, operation 212 can be performed, in which the slope k _x1 of the projection of the X-axis ray and Y-axis ray of the calibration sensor along the main axis direction of the adapter on the XOY plane of the robot base coordinate system can be determined and k _y1 .

Referring to FIG. 3A , which shows that, according to some implementations of the present disclosure, light from a calibration sensor (such as calibration sensor 160 as shown in FIG. 1 ) passes through the robot base in the direction of the main axis of an adapter (such as adapter 150 as shown in FIG. 1 ). Schematic illustration of the projection on the XOY plane of the coordinate system (ie RB-xyz). In FIG. 3A , the two intersecting solid lines represent the X-axis light and the Y-axis light of the calibration sensor 160 . The line with the arrow indicates the adapter 150, or more specifically, may indicate the main axis direction of the adapter 150 (for a welding gun, it is the axial direction of its welding pin). When the adapter 150 moves within the working space of the calibration sensor 160 , such as linear or circular motion, the spindle will cut the X-axis light and the Y-axis light of the calibration sensor 160 , as shown in the figure.

The dotted lines in FIG. 3A respectively represent the projections of the X-axis light and the Y-axis light of the calibration sensor 160 on the XOY plane of RB-xyz along the main axis direction of the adapter 150 . Here, for the X-axis ray, its projection on the XOY plane of RB-xyz can be regarded as the plane formed by the main axis of the adapter 150 (when cutting the X-axis ray) and the X-axis ray and RB-xyz. The intersection line of the XOY plane of xyz. Likewise, the projection of the Y-axis ray can be regarded as the intersection of the plane formed by the main axis of the adapter 150 (when cutting the Y-axis ray) and the Y-axis ray and the XOY plane of RB-xyz. Depending on the orientation of the adapter 150 (eg, its main axis may be perpendicular, or not, to the XOY plane of RB-xyz), such projection may be orthographic or oblique.

Now turn to FIG. 3B , which also shows a schematic diagram of the projection of the light rays of the calibration sensor on the XOY plane of RB-xyz along the main axis direction of the adapter according to some implementations of the present disclosure. Compared to Figure 3A, Figure 3B depicts the situation on the XOY plane of RB-xyz, where x_RB and y_RB represent the X-axis and Y-axis of RB-xyz, respectively, while x_LS and y_LS represent the X-axis of the calibration sensor, respectively Projection of rays and Y-axis rays on the XOY plane of RB-xyz. It can be understood that the relative positional relationship between the two projection lines shown in FIG. 3 and the X-axis and Y-axis of RB-xyz is only schematic.

In addition, it should be noted that although the X-axis rays and Y-axis rays of the calibration sensor are orthogonal to each other, their projection lines are not perpendicular to each other, because the pose of the calibration sensor is offset relative to its design value. Therefore, in operation 212, the slope k _x1 of x_LS and the slope k _y1 of y_LS are determined, respectively.

According to some implementations of the present disclosure, the determination of the slopes k _x1 and _ky1 may include, based on the adapter 150 doing at least the X-axis ray contact with the calibration sensor 160 at a specified speed on a plane parallel to the XOY plane of RB-xyz. The slope k _x1 of x_LS is determined from the touch results of two straight-line movements, wherein the trajectories of the at least two straight-line movements are not on the same straight line; On the plane of the XOY plane, the touch result of at least two linear movements touching the Y-axis light of the calibration sensor 160 is used to determine the slope k _y1 of y_LS, wherein the trajectories of the at least two linear movements are not on the same straight line superior.

Taking the slope k _x1 of x_LS as an example, FIG. 3B shows a slope determination method according to some implementations of the present disclosure. As shown in the figure, starting from P1, the adapter 150 can make a linear motion parallel to y_RB at a specified speed v to P2, during which it will touch/cut the X-axis light and thus be detected by the calibration sensor 160 . According to the detected touch result, the time from the movement start point P1 to the touch point and the time from the touch point to the end point P2 can be obtained respectively. Correspondingly, the lengths of these two segments, _j1 and _j2, can be calculated. Then, relative to P1, the distance d can be translated to point P3, so that the adapter 150 can make a straight line of the same length parallel to y_RB with P3 as the starting point and the specified speed v to the end point P4. Similarly, j ₃ and j ₄ can be calculated according to the touch result. In this way, the slope of x_LS on the XOY plane of RB-xyz can be expressed as:

In a similar manner, the slope k _y1 of y_LS can be calculated according to the touch result by making the adapter 150 make a linear movement in touch with the Y-axis light. The specific operation will not be repeated here.

It should be noted that, regarding the determination of the slope, other implementations are also possible, and the present disclosure is not limited to the specific examples given above.

Continuing to refer to FIG. 2B , proceeding next to operation 214 , in which an initial pose of the adapter in the robot base coordinate system is determined. After determining the slopes of the projections of the X-axis ray and the Y-axis ray on the XOY plane of RB-xyz, the initial position of the adapter 150 can be determined by making the adapter 150 perform a specified movement in the working space of the calibration sensor 160. attitude.

More specifically, according to some implementations of the present disclosure, the X-axis ray and the Y-axis ray of the calibration sensor 160 can be contacted by the adapter 150 at a specified speed and a specified radius on a plane parallel to the XOY plane of RB-xyz. According to the three circular movements of the touch, the initial posture of the adapter 150 is determined through calculation according to the touch result.

FIG. 4A illustrates relative positional relationships for different circular motion adapters, according to some implementations of the present disclosure. Two intersecting lines in FIG. 4A represent the X-axis ray and the Y-axis ray of the calibration sensor 160; the line with the arrow represents the adapter 150, and the tip of the arrow represents the end point of the adapter 150 (also commonly referred to as the tool center point, TCP); The bottom horizontal line represents the XOY plane of RB-xyz. First of all, the end point of the adapter 150 can be placed at a certain position in the working space of the calibration sensor 160, and the adapter 150 can make the first circular motion on a plane parallel to the XOY plane of RB-xyz with this as the center. The circular motion touches the X-axis light and the Y-axis light of the calibration sensor 160 twice respectively (later, the center position (x _A , y _A ) of the first circular motion can be calculated according to the touch result). Then, make the adapter 150 move a vertical distance h along the direction perpendicular to the XOY plane of RB-xyz (shown as moving downwards here), and do the alignment with the calibration sensor 160 on the XOY plane parallel to RB-xyz respectively. The second circular motion in which the X-axis light and the Y-axis light touch each twice (the center position (x _B , y _B ) of the second circular motion can be calculated later based on the touch result); similarly, the adapter can be 150 moves a horizontal displacement l along the direction parallel to the XOY plane of RB-xyz, and makes the first contact twice with the X-axis light and the Y-axis light of the calibration sensor 160 respectively on the XOY plane parallel to RB-xyz Three circular motions (the center position (x _C , y _C ) of the third circular motion can be calculated later based on the touch result).

Reference is now made to FIG. 4B , which shows a schematic diagram of circular motion of an adapter according to some implementations of the present disclosure. The adapter 150 makes a circular motion (e.g., here the first circular motion described above) on a plane parallel to the XOY plane of RB-xyz at a specified speed and a specified radius, with the X and Y axes of the calibration sensor 160, respectively Touching twice, in FIG. 4B , it is shown as a circle and x_LS and y_LS on the XOY plane of RB-xyz (that is, the X-axis light and the Y-axis light of the calibration sensor 160 are along the main axis direction of the adapter 150 in the direction of the RB-xyz projection on the XOY plane) intersect twice respectively.

Taking the two touches with x_LS (shown as P_x1 and P_x2 in the figure) as an example, the moving speed and moving radius of the adapter 150 are known, and the arc length of the arc from P_x1 to P_x2 can be calculated, and then can be obtained The distance from the center of the circular movement to x_LS is denoted here as d _x . In the same manner, the distance d _y from the center of the circular motion to y_LS can also be obtained, which will not be repeated here.

The slope k _x1 of x_LS and the slope k _y1 of y_LS have been determined in the previous operation 212. On this basis, the coordinates (x, y) of the center of the circular motion can be expressed as:

From this, the center position (x _A , y _A ) of the first circular motion is calculated. In the same way, for the second circular motion and the third circular motion, their center positions (x _B , y _B ), (x _C , y _C ) can also be calculated.

After the center positions of the three circular motions of the adapter 150 have been respectively determined, in the next step, the relative offset between the positions of the circle centers can be calculated. Specifically, the first offset _Δ 1 of the center position (x _B , y _B ) of the second circular motion relative to the center position (x _A , y _A ) of the first circular motion can be expressed as:

Δ ₁ =(Δx ₁ ,Δy ₁ )=(x _B -x _A ,y _B -y _A )

The second lateral offset Δx ₂ of the center position (x _C , y _C ) of the third circular motion relative to the center position (x _A , y _A ) of the first circular motion can be expressed as:

Δx ₂ =(x _C -x _A )

According to the vertical distance h, the horizontal displacement l, the first displacement Δ ₁ and the second lateral displacement Δx ₂ obtained in the above calculation, the initial position of the adapter 150 in RB-xyz can be further obtained attitude. The initial posture can be the angle θ _{y between the projection of the main axis of the adapter 150 on the YOZ plane of RB-xyz and the Z axis, and the angle θ x between} the projection on the XOZ plane of RB-xyz and the Z axis. To represent.

More specifically, the included angle θ _y and the included angle θ _x can be expressed as:

in, l _x is the component of the horizontal displacement l in the X-axis direction.

If it is represented by Euler angles, the initial posture of the adapter 150 can be expressed as:

It should be noted that, regarding the determination of the initial pose of the adapter, other implementations are also possible, and the present disclosure is not limited to the specific example given above.

Continuing to refer to FIG. 2B , proceed to operation 216. In this operation, it is determined that the X-axis ray and the Y-axis ray are on the XOY plane along the main axis direction of the adapter after the first attitude adjustment. The slopes k _x2 and _ky2 of the projections of , wherein, through the first attitude adjustment, the attitude of the adapter is adjusted to be different from the initial attitude.

Continuing with the previous example, in the case that the initial posture of the adapter 150 in RB-xyz has been determined through operation 214, according to some implementations of the present disclosure, the robot 110 can be made to perform the first posture adjustment operation, and the posture of the adapter 150 Adjust from its initial pose to a different pose. Since the initial posture of the adapter 150 has been determined, the adjusted posture is correspondingly unambiguous. In some implementations according to the present disclosure, when the determined initial posture of the adapter 150 is not perpendicular to the XOY plane of RB-xyz, the posture of the adapter 150 can be adjusted from the initial posture to XOY plane perpendicular to RB-xyz. Specifically, the direction of the main axis of the adapter 150 may be adjusted to be perpendicular to the XOY plane of RB-xyz. In this case, the included angle θ _y between the projection of the main axis of the adapter 150 on the YOZ plane of RB-xyz and the Z axis becomes 0 degrees, and the angle θ _x between the projection on the XOZ plane of RB-xyz and the Z axis also becomes 0 degrees. In other implementations according to the present disclosure, when the determined initial posture of the adapter 150 is perpendicular to the XOY plane of RB-xyz, the posture of the adapter 150 can be adjusted from the initial posture to XOY plane not perpendicular to RB-xyz. Specifically, the main axis direction of the adapter 150 may be adjusted to be non-perpendicular to the XOY plane of RB-xyz.

According to some implementations of the present disclosure, after the first attitude adjustment is completed, it can be determined that the X-axis light and the Y-axis light of the calibration sensor 160 are on the XOY plane of RB-xyz along the main axis direction of the adapter after the first attitude adjustment. The slopes k _x2 and k _y2 of the projection on . More specifically, according to some implementations of the present disclosure, the determination of the slope may include: based on the first attitude adjustment, the adapter 150 performs an alignment with the calibration sensor 160 on a plane parallel to the XOY plane of RB-xyz at a specified speed. The slope k _x2 is determined from the touch results of at least two linear movements touched by the X-axis light rays, wherein the trajectories of the at least two linear movements are not on the same straight line; and the adapter adjusted based on the first attitude 150 determines the slope _ky2 from the touch result of at least two linear motions of the Y-axis light touch with the calibration sensor 160 on a plane parallel to the XOY plane of RB-xyz at a specified speed, wherein the at least The trajectories of two linear movements are not on the same straight line.

Here, the determination of the slopes k _x2 and _ky2 can be performed in the same manner as the specific exemplary determination of the slopes k _x1 and _ky1 described above, which will not be repeated here. On the other hand, regarding the determination of the slope, other implementations are also possible, and the present disclosure is not limited to the specific example given above.

Then, in operation 218, based on the slopes k _x1 and _ky1 , the slopes k _x2 and _ky2 , the initial pose of the adapter, and the pose of the adapter after the first pose adjustment, the The attitude of the X-axis ray and the Y-axis ray in the coordinate system of the robot base.

According to some implementations of the present disclosure, determining the posture of the X-axis ray of the calibration sensor 160 in RB-xyz may include: according to the slope k _x1 , the slope k _x2 , the initial posture of the adapter 150 and the adjusted posture of the adapter 150 after the first posture Attitude, obtain the intersection of the first plane and the second plane in RB-xyz, wherein, the first plane is represented by the X-axis light of the calibration sensor 160 along the main axis direction of the adapter 150 in the initial attitude in RB - xyz on the XOY plane defined by both the vector representing the pose of the adapter 150 in RB-xyz and the vector representing the initial pose of the adapter 150, the second plane being defined by the X-axis ray representing the calibration sensor 160 along the first The projection of the main axis direction of the adapter 150 after the secondary posture adjustment on the XOY plane of RB-xyz defines the posture vector in RB-xyz and the vector representing the posture of the adapter 150 after the first posture adjustment.

Here, the first plane is parallel to and possibly coincident with the plane where both the X-axis ray of the calibration sensor 160 and the main axis of the adapter 150 in the initial posture (when the main axis cuts the X-axis ray) lie.

According to some implementations of the present disclosure, the initial pose of the adapter 150 may be represented by the following vector:

(tanθ _y ,tanθ _x ,1)

The projection of the X-axis light of the calibration sensor 160 along the main axis direction of the adapter 150 in the initial posture on the XOY plane of RB-xyz (that is, x_LS shown in FIG. 3B ) in RB-xyz can be represented by the following vector To represent:

(1,k _x1 ,0)

Therefore, the first plane can be expressed as:

Likewise, the second plane is parallel to and possibly coincident with the plane where both the X-axis ray of the calibration sensor 160 and the main axis of the adapter 150 after the first attitude adjustment (when the main axis cuts the X-axis ray) that plane.

Similarly, here is an example where the attitude of the adapter 150 is adjusted from its initial attitude to the XOY plane perpendicular to RB-xyz through the first attitude adjustment, and the vector representation of the attitude of the adapter 150 after the first attitude adjustment (0 , 0, 1), and the vector representation of the attitude in RB-xyz of the projection of the X-axis light of the calibration sensor 160 along the main axis direction of the adapter 150 after the first attitude adjustment on the XOY plane of RB-xyz (1 ,k _x2 ,0), the second plane can be expressed as:

Thus, the line of intersection between the first plane and the second plane is actually a line parallel to or even coincident with the X-axis ray of the calibration sensor 160 in RB-xyz, which can be expressed as:

According to some implementations of the present disclosure, determining the posture of the Y-axis ray of the calibration sensor 160 in RB-xyz may include: adjusting the posture of the adapter 150 according to the slope k _y1 , the slope k _y2 , the initial posture of the adapter 150 and the first posture Attitude, obtain the intersection of the third plane and the fourth plane in RB-xyz, wherein, the third plane is represented by the Y-axis light of the calibration sensor 160 along the main axis direction of the adapter 150 in the initial attitude in RB - xyz on the XOY plane defined by both the vector representing the pose in RB-xyz and the vector representing the initial pose of the adapter 150, the fourth plane being defined by the Y-axis ray representing the calibration sensor 160 along the first The projection of the main axis direction of the adapter 150 after the secondary posture adjustment on the XOY plane of RB-xyz defines the posture vector in RB-xyz and the vector representing the posture of the adapter 150 after the first posture adjustment.

Here, the third plane is parallel to and possibly coincident with the plane where both the Y-axis ray of the calibration sensor 160 and the main axis of the adapter 150 in the initial posture (when the main axis cuts the Y-axis ray) lie.

The projection of the Y-axis ray of the calibration sensor 160 along the main axis direction of the adapter 150 in the initial posture on the XOY plane of RB-xyz (ie y_LS shown in FIG. 3B ) in RB-xyz can be represented by the following vector To represent:

(1,k _y1 ,0)

Therefore, the third plane can be expressed as:

Likewise, the fourth plane is parallel to and may even coincide with the plane where the Y-axis ray of the calibration sensor 160 and the main axis of the adapter 150 after the first attitude adjustment (when the main axis cuts the Y-axis ray) both lie. that plane.

Similarly, still taking the example of adjusting the posture of the adapter 150 from its initial posture to the XOY plane perpendicular to RB-xyz through the first posture adjustment, the fourth plane can be expressed as:

Therefore, the line of intersection between the third plane and the fourth plane is actually a line parallel to or even coincident with the Y-axis ray of the calibration sensor 160 in RB-xyz, which can be expressed as:

It should be noted that the above-mentioned adjustment of the posture of the adapter 150 to be perpendicular to the XOY plane of RB-xyz through the first posture adjustment is only an example, and it is also feasible to adjust to other postures different from the initial posture. It suffices to replace (0,0,1) in the above example equation with a corresponding vector representing the posture of the adapter 150 after adjustment.

As mentioned above, the intersection line of the first plane and the second plane is parallel to the X-axis ray of the calibration sensor 160 and may even coincide, and the intersection line of the third plane and the fourth plane is parallel to the X-axis ray of the calibration sensor 160 The Y-axis rays of the Y-axis rays are parallel and may even overlap. Using the above equation to obtain the two intersection lines, the directions of the X-axis rays and Y-axis rays of the calibration sensor 160 in RB-xyz are obtained, that is, the direction of the calibration sensor 160 is determined. The attitude of the X-axis ray and Y-axis ray.

In addition, as mentioned above, the two rays of the calibration sensor 160 serve as the X-axis and the Y-axis of the calibration sensor coordinate system PS-xyz respectively, and its Z-axis can be determined by the right-hand rule. Therefore, the attitude of the X-axis ray and the Y-axis ray of the calibration sensor 160 is determined in RB-xyz, then the attitude of PS-xyz in RB-xyz, in other words, the rotation matrix of PS-xyz relative to RB-xyz It was determined.

Returning to FIG. 2A, the method 200 further includes step 220, in which step, the coordinate origin of PS-xyz is determined, that is, the intersection point of the X-axis ray and the Y-axis ray, in the robot base coordinate system RB - position in xyz.

According to some implementations of the present disclosure, based on the determined pose of PS-xyz, the robot 110 can be made to perform a second pose adjustment operation to adjust the pose of the adapter 150 to be perpendicular to the XOY plane of PS-xyz. Specifically, the main axis direction of the adapter 150 can be adjusted to be perpendicular to the X-axis light and the Y-axis light of the calibration sensor 160 .

Then, according to some implementations of the present disclosure, the adapter 150 after the second attitude adjustment can be made to make the X-axis ray and the X-axis ray of the calibration sensor 160 on a plane parallel to the XOY plane of PS-xyz at a specified speed and a specified radius. The circular motion touched by the Y-axis ray (for example, the center of the circular motion can be made to fall on the Z-axis of RB-xyz, but the present disclosure is not limited thereto), the circular motion is on the X-axis ray and the Y-axis ray respectively. There are two touching points (cutting points). Correspondingly, the arc length of each arc defined by these touch points can also be calculated, thus, the intersection point of the X-axis light and the Y-axis light of the calibration sensor 160 can be accurately determined in RB-xyz Horizontal position, that is, the x and y coordinate values of the intersection point.

Now, the vertical position of the coordinate origin of PS-xyz, that is, the intersection of X-axis rays and Y-axis rays, in RB-xyz has not yet been determined. Therefore, according to some implementations of the present disclosure, step 220 may also include, based on the linear movement of the adapter 150 on the Z-axis of PS-xyz at a specified speed after moving to the horizontal position, and the X-axis light and Y axis of the calibration sensor. The touch result of the axis ray is used to determine the vertical position of the intersection point in RB-xyz, that is, the z coordinate value of the intersection point.

According to some implementations of the present disclosure, the adapter 150 can be moved to the determined horizontal position of the intersection point in RB-xyz (thus the main axis of the adapter 150 has moved to the Z axis of PS-xyz), and then from PS-xyz Take any point on the Z axis as the starting point, and make a tentative linear motion along the Z axis. For example, if the adapter 150 is already touching the X-axis light and the Y-axis light of the calibration sensor 160 at the starting position, which indicates that the end point of the adapter 150 is too low, then the end point of the adapter 150 can be moved linearly in the opposite direction, Until the end point of the adapter 150 just does not touch the X-axis light and the Y-axis light of the calibration sensor 160 (this critical point is the coordinate origin of PS-xyz). On the other hand, if the adapter 150 does not touch the X-axis light and the Y-axis light of the calibration sensor 160 at the starting position, which indicates that the end point of the adapter 150 is too high, the end point of the adapter 150 can be moved linearly in the opposite direction. , until the end point of the adapter 150 just touches the X-axis light and the Y-axis light of the calibration sensor 160 (similarly, this critical point is the coordinate origin of PS-xyz). Thus, the z coordinate value of the coordinate origin of PS-xyz in RB-xyz can be determined.

Therefore, through step 220, the exact position of the coordinate origin of PS-xyz in RB-xyz can be determined, It should be noted that, regarding the determination of the coordinate origin of PS-xyz, other implementations are also possible, and the present disclosure is not limited to the specific example given above.

According to the results of the preceding operations, the transformation matrix of PS-xyz relative to RB-xyz can now be obtained, which can be expressed as:

Thus, the calibration of the calibration sensor coordinate system of the robot 110 is completed.

The method 200 according to some implementations of the present disclosure is described above with reference to FIGS. 2A and 2B . Those skilled in the art can understand that the method 200 described here is only exemplary and not limiting. In some other implementations, the method 200 may also include other operations described in the specification. Furthermore, it is to be understood that the various operations of exemplary method 200 may be implemented in software, hardware, firmware, or any combination thereof.

Thus, according to some implementations of the present disclosure, an efficient mechanism for calibrating a robot's calibration sensor coordinate system is provided. With the help of this mechanism, even if the exact pose of the calibration sensor deviates from its design value due to some reasons in the actual application scenario, the adapter can be used to communicate with the calibration sensor during its movement in the working space of the calibration sensor. The touch of the light rays realizes automatic and high-precision calibration of the calibration sensor coordinate system relative to the robot base coordinate system without introducing other external devices.

Reference is now made to FIG. 5 , which shows a block diagram of an exemplary apparatus 500 according to some implementations of the present disclosure. The device 500 is adapted to calibrate a calibration sensor coordinate system of a robot.

As shown in FIG. 5 , the device 500 may include a first module 510, which is used to determine the X-axis light and the Y-axis light that intersect the X-axis light and the Y-axis light of the calibration sensor based on the touch of the adapter of the robot during the movement. The pose of the Y-axis light in the robot base coordinate system, wherein the calibration sensor is used to calibrate the pose of the adapter, and the intersection of the X-axis light and the Y-axis light is the The coordinate origin of the calibration sensor coordinate system. The device 500 may further include a second module 520, which is configured to determine the distance between the X-axis light and the Y-axis light based on the contact between the adapter and the X-axis light and the Y-axis light during the movement. The position of the intersection point in the coordinate system of the robot base.

In some implementations according to the present disclosure, one or more of the above-mentioned modules of the device 500 may further include further modules, and/or the device 500 may also include additional modules for performing other operations already described in the specification .

For example, in some implementations according to the present disclosure, the first module 510 of the device 500 may include: a first submodule, which is used to determine the X-axis light and the Y-axis light along the main axis direction of the adapter. The slopes k _x1 and k _y1 of the projection on the XOY plane of the robot base coordinate system; the second submodule, which is used to determine the initial posture of the adapter in the robot base coordinate system; the third submodule , which is used to determine the slopes k _x2 and _ky2 of the projections of the X-axis ray and the Y-axis ray on the XOY plane along the main axis direction of the adapter after the first attitude adjustment, wherein, by The first posture adjustment, the posture of the adapter is adjusted to be different from the initial posture; and a fourth sub-module, which is used to adjust the posture based on the slopes k _x1 and _ky1 , the slopes k _x2 and _ky2 , the initial posture of the adapter and the posture of the adapter after the first posture adjustment, and determine the postures of the X-axis ray and the Y-axis ray in the robot base coordinate system.

In addition, in some implementations, various modules of the apparatus 500 may also be combined or disassembled depending on actual requirements, which also falls within the scope of the present disclosure.

Those skilled in the art can understand that the exemplary device 500 can be implemented by software, hardware, firmware, or any combination thereof.

FIG. 6 shows a block diagram of an example computing device 600 according to some implementations of the disclosure. As shown in FIG. 6 , computing device 600 may include at least one processor 610 . Processor 610 may include any type of general purpose processing unit (eg, CPU, GPU, etc.), special purpose processing unit, core, circuit, controller, etc. Additionally, computing device 600 may also include memory 620 . Memory 620 may include any type of media that may be used to store data. In some implementations, memory 620 is configured to store instructions that, when executed, cause at least one processor 610 to perform the operations described herein, eg, as described in connection with the flowchart of example method 200 of FIG. 2A .

Additionally, in some implementations, computing device 600 may also be coupled to or equipped with one or more peripheral components, which may include, but are not limited to, a display, speakers, mouse, keyboard, and the like. In addition, in some implementations, the computing device 600 may also be equipped with a communication interface, which may support various types of wired/wireless communication protocols to communicate with a communication network. Examples of communication networks may include, but are not limited to: Local Area Network (LAN), Metropolitan Area Network (MAN), Wide Area Network (WAN), Public Telephone Network, Internet, Intranet, Internet of Things, Infrared Network, Bluetooth Network, Near Field Communication (NFC ) network, ZigBee network, and so on.

Additionally, in some implementations, the above and other components may communicate with each other via one or more buses/interconnects that may support any suitable bus/interconnect protocol, including peripheral component interconnect (PCI), PCI Express, Universal Serial Bus (USB), Serial Attached SCSI (SAS), Serial ATA (SATA), Fiber Channel (FC), System Management Bus (SMBus), or other suitable protocol .

Those skilled in the art can understand that the above description of the structure of the computing device 600 is only exemplary and not restrictive, and devices with other structures are also feasible, as long as they can be used to implement the functions described herein.

Various implementations of the disclosure can be realized using hardware elements, software elements or a combination thereof. Examples of hardware elements may include devices, components, processors, microprocessors, circuits, circuit elements (e.g., transistors, resistors, capacitors, inductors, etc.), integrated circuits, application specific integrated circuits (ASICs), programmable Logic devices (PLDs), digital signal processors (DSPs), field programmable gate arrays (FPGAs), memory cells, logic gates, registers, semiconductor devices, chips, microchips, chipsets, and more. Examples of software elements may include software components, programs, applications, computer programs, application programs, system programs, machine programs, operating system software, middleware, firmware, software modules, routines, subroutines, functions, methods, procedures, A software interface, application programming interface (API), instruction set, computational code, computer code, code segment, computer code segment, word, value, symbol, or any combination thereof. Determining whether an implementation is implemented using hardware elements and/or software elements may vary depending on factors such as desired computation rate, power level, thermal tolerance, processing cycle budget, input data rate, output data rate, memory resources, data bus speed, and other design or performance constraints, as desired for a given implementation.

Some implementations of the disclosure may include articles of manufacture. An article of manufacture may include a storage medium for storing logic. Examples of storage media may include one or more types of computer-readable storage media capable of storing electronic data, including volatile or nonvolatile memory, removable or non-removable, erasable or non-erasable memory, writable or rewritable memory, etc. Examples of logic may include various software elements such as software components, programs, applications, computer programs, application programs, system programs, machine programs, operating system software, middleware, firmware, software modules, routines, subroutines, functions , method, procedure, software interface, application programming interface (API), instruction set, computational code, computer code, code segment, computer code segment, word, value, symbol, or any combination thereof. In some implementations, for example, an article of manufacture may store executable computer program instructions that, when executed by a processor, cause the processor to perform the methods and/or operations described herein. Executable computer program instructions may comprise any suitable type of code, eg, source code, compiled code, interpreted code, executable code, static code, dynamic code, etc. Executable computer program instructions may be implemented according to a predefined computer language, manner or syntax for instructing a computer to perform specific functions. The instructions may be implemented using any suitable high-level, low-level, object-oriented, visual, compiled and/or interpreted programming language.

Some exemplary implementations of the present disclosure are described below:

Example 1 describes a method for calibrating the calibration sensor coordinate system of a robot, the method comprising: touching the X-axis light and the Y-axis light intersecting the calibration sensor based on the adapter of the robot during motion, determining the poses of the X-axis rays and the Y-axis rays in the robot base coordinate system, wherein the calibration sensor is used to calibrate the pose of the adapter, and the X-axis rays and the Y-axis rays The intersection point of the axis rays is the coordinate origin of the calibration sensor coordinate system; and based on the touch of the adapter with the X-axis rays and the Y-axis rays during the movement, determine the X-axis rays and the Y-axis rays The position of the intersection point of the axis rays in the coordinate system of the robot base.

Example 2 may include the subject matter of Example 1, wherein determining the pose of the X-axis ray and the Y-axis ray in the robot base coordinate system includes: determining the X-axis ray and the Y-axis ray The slope k _x1 and k _y1 of the projection along the main axis direction of the adapter on the XOY plane of the robot base coordinate system; determine the initial posture of the adapter in the robot base coordinate system; determine the The slopes k _x2 and _ky2 of the projections of the X-axis ray and the Y-axis ray along the main axis direction of the adapter on the XOY plane after the first attitude adjustment, wherein, through the first attitude adjustment , the posture of the adapter is adjusted to be different from the initial posture; and based on the slopes k _x1 and _ky1 , the slopes k _x2 and _ky2 , the initial posture of the adapter, and the first posture adjustment After the pose of the adapter, the poses of the X-axis ray and the Y-axis ray in the coordinate system of the robot base are determined.

Example 3 may include the subject matter of Example 2, wherein determining slopes k _x1 and k _y1 comprises: ray contact with the X-axis based on the adapter at a specified velocity on a plane parallel to the XOY plane The touch results of at least two linear movements to determine the slope k _x1 of the projection of the X-axis ray along the main axis direction of the adapter on the XOY plane; and based on the adapter moving at a specified speed parallel to The touch result of at least two linear movements touching the Y-axis light on the plane of the XOY plane to determine the projection of the Y-axis light on the XOY plane along the main axis direction of the adapter The slope of k _y1 .

Example 4 may include the subject matter of any one of Examples 2-3, wherein determining an initial pose of the adapter in the robot base coordinate system includes: The touch result of three circular motions touching the X-axis ray and the Y-axis ray on the plane of the XOY plane, and determining the three circular motions based on the slopes k _x1 and k _y1 The respective center positions (x _A ,y _A ), (x _B ,y _B ) and (x _C ,y _C ), where, for the second circular movement, the end points of the adapter are relative to the first circular movement The vertical distance h is moved along the direction perpendicular to the XOY plane, and for the third circular motion, the end point of the adapter is moved in a direction parallel to the XOY plane relative to the first circular motion Horizontal displacement l; calculate the first offset Δ 1 of the center position (x _B , y _B ) _of the second circular motion relative to the center position (x _A , y _A ) of the first circular motion =( Δx ₁ , Δy ₁ )=(x _B -x _A , y _B -y _A ), and the position of the center of circle (x _C , y _C ) of the third circular motion relative to the center of circle of the first circular motion The second lateral offset Δx ₂ of position (x _A , y _A ) = (x _C -x _A ); and according to the vertical distance h, the horizontal displacement l, the first offset Δ ₁ and the For the second lateral offset Δx ₂ , obtain the angle θ _y between the projection of the main axis of the adapter on the YOZ plane of the robot base coordinate system and the Z axis, and the XOZ plane of the robot base coordinate system The angle θ _x between the projection on and the Z axis.

Example 5 may include the subject matter of one of Example 4, wherein said angle θ _y and said angle θ _x are:

in, l _x is the component of the horizontal displacement l in the X-axis direction.

Example 6 may include the subject matter of any one of Examples 2-5, wherein, by the first attitude adjustment, the adapter's attitude is adjusted from the initial attitude to be perpendicular to the XOY plane.

Example 7 may include the subject matter of any one of Examples 2-6, wherein determining slopes k _x2 and ky ₂ comprises: adjusting the adapter based on the first attitude at a specified speed parallel to the XOY The contact result of at least two linear movements touching the X-axis ray on the plane of the plane is determined to determine that the X-axis ray is in the direction of the main axis of the adapter after the first attitude adjustment. the slope k _x2 of the projection on the XOY plane; and the adapter adjusted based on the first attitude at a specified speed on a plane parallel to the XOY plane at least touches the Y-axis ray The touch result of the two linear movements is used to determine the slope k _y2 of the projection of the Y-axis ray along the main axis direction of the adapter after the first attitude adjustment on the XOY plane.

Example 8 may include the subject matter of any one of Examples 2-7, wherein determining the poses of the X-axis ray and the Y-axis ray in the robot base coordinate system includes: according to the slope k _x1 , The slope k _x2 , the initial posture of the adapter and the posture of the adapter after the first posture adjustment are obtained to obtain the intersection line of the first plane and the second plane in the coordinate system of the robot base, Wherein, the first plane is a vector representing the posture of the projection of the X-axis ray along the main axis direction of the adapter in the initial posture on the XOY plane in the robot base coordinate system and a vector representing the initial posture of the adapter, the second plane is defined by the XOY plane on the XOY plane represented by the X-axis ray along the main axis direction of the adapter after the first posture adjustment defined by the vector of the posture projected in the robot base coordinate system and the vector representing the posture of the adapter after the first posture adjustment; and according to the slope k _y1 , the slope k _y2 , the The initial posture of the adapter and the posture of the adapter after the first posture adjustment, obtain the intersection of the third plane and the fourth plane in the robot base coordinate system, wherein the third plane is the vector representing the posture of the projection of the Y-axis ray along the main axis direction of the adapter in the initial posture on the XOY plane in the robot base coordinate system and represents the initial position of the adapter The vector of attitude is defined, and the fourth plane is projected on the robot base by the projection of the Y-axis light along the main axis direction of the adapter after the first attitude adjustment on the XOY plane The pose vector in the coordinate system is defined by the vector representing the pose of the adapter after the first pose adjustment.

Example 9 may include the subject matter of any one of Examples 2-8, wherein determining a position of an intersection point of the X-axis ray and the Y-axis ray in the robot base coordinate system includes: based on a second pose The adjusted adapter touches the X-axis ray and the Y-axis ray in a circular motion on a plane parallel to the XOY plane of the calibration sensor coordinate system at a specified speed and a specified radius As a result, the horizontal position of the intersection point in the robot base coordinate system is determined, wherein, through the second attitude adjustment, the attitude of the adapter is adjusted to be perpendicular to the XOY plane of the calibration sensor coordinate system and based on the contact result of the adapter moving linearly on the Z-axis of the calibration sensor coordinate system at a specified speed with the X-axis light and the Y-axis light after moving to the horizontal position, to A vertical position of the intersection point in the robot base coordinate system is determined.

Example 10 describes a computing device comprising: at least one processor; and a memory coupled to the at least one processor and configured to store instructions, wherein the instructions are executed by the at least one processor When executed, the at least one processor is made to execute the method according to any one of the preceding Examples 1-9.

Example 11 describes an apparatus for calibrating a calibration sensor coordinate system of a robot, the apparatus comprising means for performing the method according to any one of the preceding examples 1-9.

Example 12 describes a computer-readable storage medium having stored thereon instructions that, when executed by at least one processor, cause the at least one processor to perform any of the preceding Examples 1-9. described method.

Example 13 describes a computer program product comprising instructions which, when executed by at least one processor, cause the at least one processor to perform the method according to any one of the preceding Examples 1-9.

What has been described above includes examples of the disclosed architecture. It is, of course, not possible to describe every conceivable combination of components and/or methodologies, but those skilled in the art will appreciate that many other combinations and permutations are possible. Accordingly, the novel architecture is intended to embrace all such alternatives, modifications and variations that fall within the spirit and scope of the appended claims.

Claims (13)

1. A method for calibrating a calibration sensor coordinate system of a robot, the method comprising:

Determining (210) the pose of an X-axis ray and a Y-axis ray in a robot base coordinate system based on the touching of the X-axis ray and the Y-axis ray of an adapter of the robot intersecting a calibration sensor during movement, wherein the calibration sensor is used to calibrate the pose of the adapter, and the intersection of the X-axis ray and the Y-axis ray is the origin of coordinates of the calibration sensor coordinate system; and

based on the adapter touching the X-axis ray and the Y-axis ray during movement, a position of an intersection of the X-axis ray and the Y-axis ray in the robot base coordinate system is determined (220).

2. The method of claim 1, wherein determining the pose of the X-axis ray and the Y-axis ray in the robot base coordinate system comprises:

determining (212) a slope k of a projection of the X-axis ray and the Y-axis ray along a major axis direction of the adapter onto an XOY plane of the robot base coordinate system _x1 and k_y1 ；

Determining (214) an initial pose of the adapter in the robot base coordinate system;

determining (216) a slope k of a projection of the X-axis ray and the Y-axis ray onto the XOY plane along a major axis direction of the adapter after the first pose adjustment _x2 and k_y2 Wherein, by the first attitude adjustment, the attitude of the adapter is adjusted to be different from the initial attitude; and

based on the slope k _x1 and k_y1 The slope k _x2 and k_y2 The initial pose of the adapter and the pose of the adapter after the first pose adjustment determine (218) the pose of the X-axis ray and the Y-axis ray in the robot base coordinate system.

3. The method of claim 2, wherein a slope k is determined _x1 and k_y1 Comprising the following steps:

determining a slope k of a projection of the X-axis ray on the XOY plane along a main axis direction of the adapter based on a touch result of the adapter making at least two rectilinear motions of the X-axis ray on a plane parallel to the XOY plane at a specified speed _x1； and

determining that the Y-axis ray is in the XOY plane along the main axis direction of the adapter based on the touch result of the adapter making at least two rectilinear motions of the Y-axis ray on a plane parallel to the XOY plane at a specified speedSlope k of projection on _y1 。

4. The method of claim 2, wherein determining an initial pose of the adapter in the robot base coordinate system comprises:

Making a touch result of three circular motions of the adapter on a plane parallel to the XOY plane at a specified speed and a specified radius, the three circular motions being touched with the X-axis ray and the Y-axis ray, and based on the slope k _x1 and k_y1 To determine the respective center positions (x _A ，y _A )、(x _B ，y _B) and (x_C ，y _C ) Wherein for a second circular movement the end point of the adapter is moved a vertical distance h in a direction perpendicular to the XOY plane with respect to a first circular movement and for a third circular movement the end point of the adapter is moved a horizontal displacement l in a direction parallel to the XOY plane with respect to the first circular movement;

calculating the center position (x _B ，y _B ) Relative to the centre position (x _A ，y _A ) Is a first offset delta of (1) ₁ ＝(Δx ₁ ，Δy ₁ )＝(x _B -x _A ，y _B -y _A ) And the center position (x _C ，y _C ) Relative to the centre position (x _A ，y _A ) Is a second lateral offset deltax of (2) ₂ ＝(x _C -x _A)； and

according to the vertical distance h, the horizontal displacement l and the first offset delta ₁ And the second lateral offset Deltax ₂ Obtaining an included angle theta between the projection of the main shaft of the adapter on the YOZ plane of the robot base coordinate system and the Z axis _y And an angle θ between the projection on the XOZ plane of the robot base coordinate system and the Z axis _x 。

5. According to claimThe method of 4, wherein the included angle θ _y And the included angle theta _x The method comprises the following steps:

wherein ,l _x is the component of the horizontal displacement l in the X-axis direction.

6. The method of claim 2, wherein the pose of the adapter is adjusted from the initial pose to be perpendicular to the XOY plane by the first pose adjustment.

7. The method of claim 2, wherein a slope k is determined _x2 and k_y2 Comprising the following steps:

determining a slope k of projection of the X-axis ray on the XOY plane along the main axis direction of the adapter after the first posture adjustment based on a touch result of the adapter after the first posture adjustment making at least two linear motions of touching the X-axis ray on a plane parallel to the XOY plane at a specified speed _x2； and

determining a slope k of projection of the Y-axis ray on the XOY plane along the main axis direction of the adapter after the first posture adjustment based on a touch result of the adapter after the first posture adjustment making at least two linear motions of touching the Y-axis ray on a plane parallel to the XOY plane at a specified speed _y2 。

8. The method of claim 2, wherein determining the pose of the X-axis ray and the Y-axis ray in the robot base coordinate system comprises:

according to the slope k _x1 The slope k _x2 Obtaining an intersection line of a first plane and a second plane in the robot base coordinate system, wherein the first plane is defined by a vector representing a posture of the X-axis ray in the robot base coordinate system projected on the XOY plane along a main axis direction of the adapter in the initial posture and a vector representing the initial posture of the adapter, and the second plane is defined by a vector representing a posture of the X-axis ray in the robot base coordinate system projected on the XOY plane along the main axis direction of the adapter after the first posture adjustment and a vector representing a posture of the adapter after the first posture adjustment; and

according to the slope k _y1 The slope k _y2 And obtaining an intersection line of a third plane and a fourth plane in the robot base coordinate system, wherein the third plane is defined by a vector representing a posture of the Y-axis ray projected on the XOY plane along a main axis direction of the adapter in the initial posture in the robot base coordinate system and a vector representing the initial posture of the adapter, and the fourth plane is defined by a vector representing a posture of the Y-axis ray projected on the XOY plane along a main axis direction of the adapter in the first posture adjustment in the robot base coordinate system and a vector representing a posture of the adapter in the first posture adjustment.

9. The method of claim 2, wherein determining the location of the intersection of the X-axis ray and the Y-axis ray in the robot base coordinate system comprises:

determining a horizontal position of the intersection point in the robot base coordinate system based on a touching result of the adapter after the second posture adjustment by making a circular motion touching the X-axis ray and the Y-axis ray on a plane parallel to the XOY plane of the calibration sensor coordinate system at a specified speed and a specified radius, wherein the posture of the adapter is adjusted to be perpendicular to the XOY plane of the calibration sensor coordinate system by the second posture adjustment; and

and determining the vertical position of the intersection point in the robot base coordinate system based on the touch result of the adapter, which moves to the horizontal position and then makes linear motion on the Z axis of the calibration sensor coordinate system at a specified speed, and the X axis ray and the Y axis ray.

10. A computing device, the computing device comprising:

at least one processor (610); and

a memory (620) coupled to the at least one processor and configured to store instructions, wherein the instructions, when executed by the at least one processor, cause the at least one processor to perform the method of any of claims 1-9.

11. An apparatus for calibrating a calibration sensor coordinate system of a robot, the apparatus comprising means for performing the method of any of claims 1-9.

12. A computer-readable storage medium having instructions stored thereon, which when executed by at least one processor, cause the at least one processor to perform the method of any of claims 1-9.

13. A computer program product comprising instructions which, when executed by at least one processor, cause the at least one processor to perform the method of any of claims 1-9.