CN115556109B - Positioning method and device for mechanical arm in test system - Google Patents
Positioning method and device for mechanical arm in test system Download PDFInfo
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- 238000012360 testing method Methods 0.000 title claims abstract description 87
- 238000000034 method Methods 0.000 title claims abstract description 33
- 238000001514 detection method Methods 0.000 claims abstract description 19
- 238000005070 sampling Methods 0.000 claims abstract description 10
- 238000004364 calculation method Methods 0.000 claims description 11
- 238000004590 computer program Methods 0.000 claims description 6
- 238000004891 communication Methods 0.000 description 9
- 238000005259 measurement Methods 0.000 description 8
- 238000012545 processing Methods 0.000 description 5
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
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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
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
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Abstract
The invention provides a positioning method and a device of a mechanical arm in a test system, which relate to the technical field of equipment positioning and comprise the following steps: the method comprises the steps that the tail end of a mechanical arm or a detection device arranged at the tail end of the mechanical arm is controlled to contact with a preset calibration point, and the preset calibration point is at least three non-collinear points; acquiring target coordinate information, wherein the target coordinate information is coordinate information of the tail end of the mechanical arm in a base coordinate system of the mechanical arm when the target coordinate information contacts a preset calibration point; determining the position offset and the angle rotation of a base coordinate system of the mechanical arm relative to a test coordinate system based on target coordinate information and initial coordinate information, wherein the initial coordinate information is coordinate information of a preset calibration point in the test coordinate system; based on the position offset and the angle rotation, the test antenna at the tail end of the mechanical arm is controlled to reach a preset sampling point in a test coordinate system, and the technical problem that the existing mechanical arm positioning method is complex is solved.
Description
Technical Field
The invention relates to the technical field of equipment positioning, in particular to a positioning method and device for a mechanical arm in a test system.
Background
Industrial robots are used for many industries, one of which is the measurement in the field of communications. Specifically, a test antenna is installed at the tail end of the mechanical arm, the mechanical arm is used for controlling the test antenna to reach a preset test position, and measurement is performed. To extend the testing range of the robotic arm, the related art places the robotic arm on a moving mechanism (e.g., an AGV trolley).
For a test system in which the robotic arm is movable, the robotic arm needs to be repositioned in the test coordinates when the base position of the robotic arm changes.
In a scenario where high demands are made on the accuracy of the measurement, the position information of the measurement points needs to be sufficiently accurate, e.g. requiring mechanical repeated positioning errors within 1mm and 0.1 degrees. In the related art, the positioning accuracy of the mechanical arm is high enough, and the positioning accuracy of the moving mechanism is often not high, for example, the positioning accuracy of a common AGV is 20mm and + -1 degree, which means that the positioning error of a mechanical arm base installed on the AGV is at least 20mm and + -1 degree, which can cause great influence on the accuracy of electromagnetic measurement results, and in order to improve the measurement accuracy, a laser tracker or an industrial visual recognition camera is generally required for measurement, so that the measurement process is complex and the cost is high.
An effective solution to the above-mentioned problems has not been proposed yet.
Disclosure of Invention
Therefore, the invention aims to provide a positioning method and a positioning device for a mechanical arm in a test system, so as to alleviate the technical problem that the existing positioning method for the mechanical arm is complex.
In a first aspect, an embodiment of the present invention provides a method for positioning a mechanical arm in a test system, where a test antenna is installed at an end of the mechanical arm, including: controlling the tail end of the mechanical arm or a detection device arranged at the tail end of the mechanical arm to contact with a preset standard point, wherein the preset standard point is at least three non-collinear points; acquiring target coordinate information, wherein the target coordinate information is coordinate information of the tail end of the mechanical arm in a base coordinate system of the mechanical arm when the target coordinate information contacts the preset calibration point; determining the position offset and the angle rotation of the base coordinate system of the mechanical arm relative to the test coordinate system based on the target coordinate information and the initial coordinate information, wherein the initial coordinate information is the coordinate information of the preset calibration point in the test coordinate system; and controlling the test antenna at the tail end of the mechanical arm to reach a preset sampling point in the test coordinate system based on the position offset and the angle rotation.
Further, the detection device includes: the antenna and/or calibration piece are tested.
Further, the initial coordinate information is obtained by the following method: when the position offset and the angle rotation of the base coordinate system of the mechanical arm relative to the test coordinate system are known, controlling the tail end of the mechanical arm or a detection device arranged at the tail end of the mechanical arm to contact the preset calibration point, and determining the coordinate information of the tail end of the mechanical arm in the base coordinate system of the mechanical arm at the moment as the initial coordinate information.
Further, the calculation formula of the position offset is as follows Wherein N is the number of the preset calibration points, the target coordinate information of the preset calibration point N is (X n,Yn,Zn), the initial coordinate information of the preset calibration point N is (X n,yn,zn), and N is the position offset; the calculation formula of the angle rotation amount is/> Wherein R is the angular rotation amount.
In a second aspect, an embodiment of the present invention further provides a positioning device for a mechanical arm in a test system, where a test antenna is installed at an end of the mechanical arm, where the positioning device is characterized by including: the device comprises a control unit, an acquisition unit, a determination unit and a positioning unit, wherein the control unit is used for controlling the tail end of the mechanical arm or a detection device arranged on the mechanical arm to contact with preset calibration points, and the preset calibration points are at least three non-collinear points; the acquisition unit is used for acquiring target coordinate information, wherein the target coordinate information is coordinate information of the tail end of the mechanical arm in a base coordinate system of the mechanical arm when the target coordinate information contacts the preset calibration point; the determining unit is configured to determine a position offset and an angle rotation of a base coordinate system of the mechanical arm relative to a test coordinate system based on the target coordinate information and the initial coordinate information, where the initial coordinate information is coordinate information of the preset calibration point in the test coordinate system; and the positioning unit is used for controlling the test antenna at the tail end of the mechanical arm to reach a preset sampling point in the test coordinate system to execute a test based on the position offset and the angle rotation.
Further, the detection device includes: the antenna and/or calibration piece are tested.
Further, the determining unit is further configured to: when the position offset and the angle rotation of the base coordinate system of the mechanical arm relative to the test coordinate system are known, controlling the tail end of the mechanical arm or a detection device arranged at the tail end of the mechanical arm to contact the preset calibration point, and determining the coordinate information of the tail end of the mechanical arm in the base coordinate system of the mechanical arm at the moment as the initial coordinate information.
Further, the calculation formula of the position offset is as follows Wherein N is the number of the preset calibration points, the target coordinate information of the preset calibration point N is (X n,Yn,Zn), the initial coordinate information of the preset calibration point N is (X n,yn,zn), and N is the position offset; the calculation formula of the angle rotation amount is/> Wherein R is the angular rotation amount.
In a third aspect, an embodiment of the present invention further provides an electronic device, including a memory and a processor, where the memory is configured to store a program for supporting the processor to execute the method described in the first aspect, and the processor is configured to execute the program stored in the memory.
In a fourth aspect, embodiments of the present invention also provide a computer-readable storage medium having a computer program stored thereon.
In the embodiment of the invention, the tail end of the mechanical arm or a detection device arranged at the tail end of the mechanical arm is controlled to contact with a preset calibration point, wherein the preset calibration point is at least three non-collinear points; acquiring target coordinate information, wherein the target coordinate information is coordinate information of the tail end of the mechanical arm in a base coordinate system of the mechanical arm when the target coordinate information contacts the preset calibration point; determining the position offset and the angle rotation of the base coordinate system of the mechanical arm relative to the test coordinate system based on the target coordinate information and the initial coordinate information, wherein the initial coordinate information is the coordinate information of the preset calibration point in the test coordinate system; based on the position offset and the angle rotation, the test antenna at the tail end of the mechanical arm is controlled to reach a preset sampling point in the test coordinate system, so that the purpose of positioning the tail end of the mechanical arm without using a laser tracker or an industrial visual recognition camera and other equipment is achieved, the technical problem that an existing mechanical arm positioning method is complex is solved, and the technical effects of improving the positioning efficiency of the mechanical arm and reducing the positioning cost of the mechanical arm are achieved.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
In order to make the above objects, features and advantages of the present invention more comprehensible, preferred embodiments accompanied with figures are described in detail below.
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 needed in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the present invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flowchart of a method for positioning a mechanical arm in a test system according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of preset calibration points according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a positioning device of a mechanical arm in a test system according to an embodiment of the present invention;
fig. 4 is a schematic diagram of an electronic device according to an embodiment of the present invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Embodiment one:
According to an embodiment of the present invention, there is provided an embodiment of a method for positioning a robotic arm in a test system, it being noted that the steps illustrated in the flowchart of the figures may be performed in a computer system, such as a set of computer executable instructions, and that although a logical sequence is illustrated in the flowchart, in some cases the steps illustrated or described may be performed in a different order than that illustrated herein.
Fig. 1 is a flowchart of positioning a mechanical arm in a test system according to an embodiment of the present invention, where, as shown in fig. 1, a test antenna is installed at an end of the mechanical arm, and the method includes the following steps:
Step S102, controlling the tail end of the mechanical arm or a detection device arranged at the tail end of the mechanical arm to contact with a preset standard point, wherein the preset standard point is at least three non-collinear points;
it should be noted that the detection device includes: the antenna and/or calibration piece are tested.
Step S104, acquiring target coordinate information, wherein the target coordinate information is coordinate information of the tail end of the mechanical arm in a base coordinate system of the mechanical arm when the target coordinate information contacts the preset calibration point;
Step S106, determining the position offset and the angle rotation of the base coordinate system of the mechanical arm relative to the test coordinate system based on the target coordinate information and the initial coordinate information, wherein the initial coordinate information is the coordinate information of the preset calibration point in the test coordinate system;
And step S108, controlling the test antenna at the tail end of the mechanical arm to reach a preset sampling point in the test coordinate system based on the position offset and the angle rotation.
Contacting a preset calibration point by controlling the tail end of the mechanical arm or a detection device arranged at the tail end of the mechanical arm, wherein the preset calibration point is at least three non-collinear points; acquiring target coordinate information, wherein the target coordinate information is coordinate information of the tail end of the mechanical arm in a base coordinate system of the mechanical arm when the target coordinate information contacts the preset calibration point; determining the position offset and the angle rotation of the base coordinate system of the mechanical arm relative to the test coordinate system based on the target coordinate information and the initial coordinate information, wherein the initial coordinate information is the coordinate information of the preset calibration point in the test coordinate system; based on the position offset and the angle rotation, the test antenna at the tail end of the mechanical arm is controlled to reach a preset sampling point in the test coordinate system, so that the purpose of positioning the tail end of the mechanical arm without using a laser tracker or an industrial visual recognition camera and other equipment is achieved, the technical problem that an existing mechanical arm positioning method is complex is solved, and the technical effects of improving the positioning efficiency of the mechanical arm and reducing the positioning cost of the mechanical arm are achieved.
The control arm tip contacts preset calibration points (e.g., 4 calibration points a, B, C, D on the ground as shown in fig. 2; or 3 calibration points E, F, G on the test bench as shown in fig. 2) fixedly provided in the test system. The index points include at least 3 non-collinear points. At this time, the test antenna mounted at the tail end of the mechanical arm can be detached, or the test antenna mounted at the tail end of the mechanical arm can be directly used for executing contact, in order to protect the test antenna, a buffer (such as a foam pad) can be arranged on a calibration point, or a calibration piece can be mounted at the tail end of the mechanical arm, the relative position between the calibration piece and the test antenna is known, and the calibration piece is controlled to execute the task of contacting a preset calibration point.
When each preset calibration point is contacted, the target coordinate information of the calibration point relative to the base of the mechanical arm, namely the coordinate value of the tail end of the mechanical arm relative to the base of the mechanical arm, is recorded, the data can be directly read from the mechanical arm, for example, the position of the workpiece coordinate system relative to the coordinate of the base of the mechanical arm can be obtained by establishing the workpiece coordinate system on the tail end of the mechanical arm or a test antenna. Specifically, when the 4 calibration points a, B, C, D shown in fig. 2 are touched, for example, the coordinates thereof are read, and recorded as a (Xa, ya, za), B (Xb, yb, zb), C (Xc, yc, zc), D (Xd, yd, zd).
Target coordinate information of a preset calibration point and initial coordinate information of the preset coordinate point are calculated to obtain offset and Euler angles of the mechanical arm base. The initial coordinate information is the position information of the preset calibration point in the test coordinate system, and can be the coordinate value preset in the mechanical arm simulation software or the mechanical arm control software, or the coordinate of the calibration point relative to the mechanical arm base, which is obtained by using the contact mode under the condition that the coordinate position of the mechanical arm base is known.
For example, for the 4 index points a, B, C, D shown in fig. 2, the initial coordinate information thereof is a (XA, YA, ZA), B (XB, YB, ZB), C (XC, YC, ZC), D (XD, YD, ZD) in the following manner:
Calculating the position offset:
calculation of rotation matrix (angular rotation amount):
after the rotation matrix is determined, the rotation matrix can be directly converted into euler angles.
And finally, determining coordinate information of the base of the mechanical arm according to the offset and the Euler angle. And accurately positioning the tail end of the mechanical arm in a test coordinate system according to the coordinate information of the base of the mechanical arm.
Embodiment two:
The embodiment of the invention also provides a positioning device of the mechanical arm in the test system, which is used for executing the positioning method of the mechanical arm in the test system provided by the embodiment of the invention, and the following is a specific introduction of the positioning device of the mechanical arm in the test system provided by the embodiment of the invention.
As shown in fig. 3, fig. 3 is a schematic diagram of a positioning device of a mechanical arm in the test system, where a test antenna is installed at a terminal of the mechanical arm, and the positioning device of the mechanical arm in the test system includes: a control unit 10, an acquisition unit 20, a determination unit 30 and a positioning unit 40.
The control unit is used for controlling the tail end of the mechanical arm or a detection device arranged on the mechanical arm to contact with a preset standard point, and the preset standard point is at least three non-collinear points;
the acquisition unit is used for acquiring target coordinate information, wherein the target coordinate information is coordinate information of the tail end of the mechanical arm in a base coordinate system of the mechanical arm when the target coordinate information contacts the preset calibration point;
The determining unit is configured to determine a position offset and an angle rotation of a base coordinate system of the mechanical arm relative to a test coordinate system based on the target coordinate information and the initial coordinate information, where the initial coordinate information is coordinate information of the preset calibration point in the test coordinate system;
and the positioning unit is used for controlling the test antenna at the tail end of the mechanical arm to reach a preset sampling point in the test coordinate system to execute a test based on the position offset and the angle rotation.
In the embodiment of the invention, the tail end of the mechanical arm or a detection device arranged at the tail end of the mechanical arm is controlled to contact with a preset calibration point, wherein the preset calibration point is at least three non-collinear points; acquiring target coordinate information, wherein the target coordinate information is coordinate information of the tail end of the mechanical arm in a base coordinate system of the mechanical arm when the target coordinate information contacts the preset calibration point; determining the position offset and the angle rotation of the base coordinate system of the mechanical arm relative to the test coordinate system based on the target coordinate information and the initial coordinate information, wherein the initial coordinate information is the coordinate information of the preset calibration point in the test coordinate system; based on the position offset and the angle rotation, the test antenna at the tail end of the mechanical arm is controlled to reach a preset sampling point in the test coordinate system, so that the purpose of positioning the tail end of the mechanical arm without using a laser tracker or an industrial visual recognition camera and other equipment is achieved, the technical problem that an existing mechanical arm positioning method is complex is solved, and the technical effects of improving the positioning efficiency of the mechanical arm and reducing the positioning cost of the mechanical arm are achieved.
Preferably, the detection device includes: the antenna and/or calibration piece are tested.
Preferably, the determining device is further configured to: when the position offset and the angle rotation of the base coordinate system of the mechanical arm relative to the test coordinate system are known, controlling the tail end of the mechanical arm or a detection device arranged at the tail end of the mechanical arm to contact the preset calibration point, and determining the coordinate information of the tail end of the mechanical arm in the base coordinate system of the mechanical arm at the moment as the initial coordinate information.
Preferably, the calculation formula of the position offset is as follows Wherein N is the number of the preset calibration points, the target coordinate information of the preset calibration point N is (X n,Yn,Zn), the initial coordinate information of the preset calibration point N is (X n,yn,zn), and N is the position offset; the calculation formula of the angle rotation amount is/> Wherein R is the angular rotation amount.
Embodiment III:
An embodiment of the present invention further provides an electronic device, including a memory and a processor, where the memory is configured to store a program that supports the processor to execute the method described in the first embodiment, and the processor is configured to execute the program stored in the memory.
Referring to fig. 4, an embodiment of the present invention further provides an electronic device 100, including: a processor 50, a memory 51, a bus 52 and a communication interface 53, the processor 50, the communication interface 53 and the memory 51 being connected by the bus 52; the processor 50 is arranged to execute executable modules, such as computer programs, stored in the memory 51.
The memory 51 may include a high-speed random access memory (RAM, random Access Memory), and may further include a non-volatile memory (non-volatile memory), such as at least one disk memory. The communication connection between the system network element and at least one other network element is achieved via at least one communication interface 53 (which may be wired or wireless), and the internet, wide area network, local network, metropolitan area network, etc. may be used.
Bus 52 may be an ISA bus, a PCI bus, an EISA bus, or the like. The buses may be classified as address buses, data buses, control buses, etc. For ease of illustration, only one bi-directional arrow is shown in FIG. 4, but not only one bus or type of bus.
The memory 51 is configured to store a program, and the processor 50 executes the program after receiving an execution instruction, and the method executed by the apparatus for flow defining disclosed in any of the foregoing embodiments of the present invention may be applied to the processor 50 or implemented by the processor 50.
The processor 50 may be an integrated circuit chip having signal processing capabilities. In implementation, the steps of the above method may be performed by integrated logic circuitry in hardware in the processor 50 or by instructions in the form of software. The processor 50 may be a general-purpose processor, including a central processing unit (Central Processing Unit, CPU for short), a network processor (Network Processor, NP for short), etc.; but may also be a digital signal processor (DIGITAL SIGNAL Processing, DSP), application SPECIFIC INTEGRATED Circuit (ASIC), off-the-shelf Programmable gate array (Field-Programmable GATE ARRAY, FPGA) or other Programmable logic device, discrete gate or transistor logic device, discrete hardware components. The disclosed methods, steps, and logic blocks in the embodiments of the present invention may be implemented or performed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of the method disclosed in connection with the embodiments of the present invention may be embodied directly in the execution of a hardware decoding processor, or in the execution of a combination of hardware and software modules in a decoding processor. The software modules may be located in a random access memory, flash memory, read only memory, programmable read only memory, or electrically erasable programmable memory, registers, etc. as well known in the art. The storage medium is located in a memory 51 and the processor 50 reads the information in the memory 51 and in combination with its hardware performs the steps of the above method.
Embodiment four:
The embodiment of the invention also provides a computer readable storage medium, and a computer program is stored on the computer readable storage medium, and when the computer program is executed by a processor, the steps of the method in the first embodiment are executed.
In addition, in the description of embodiments of the present invention, unless explicitly stated and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
In the description of the present invention, it should be noted that the directions or positional relationships indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the several embodiments provided by the present application, it should be understood that the disclosed systems, devices, and methods may be implemented in other manners. The above-described apparatus embodiments are merely illustrative, for example, the division of the units is merely a logical function division, and there may be other manners of division in actual implementation, and for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be through some communication interface, device or unit indirect coupling or communication connection, which may be in electrical, mechanical or other form.
The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in the embodiments of the present invention may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit.
Finally, it should be noted that: the above examples are only specific embodiments of the present invention, and are not intended to limit the scope of the present invention, but it should be understood by those skilled in the art that the present invention is not limited thereto, and that the present invention is described in detail with reference to the foregoing examples: any person skilled in the art may modify or easily conceive of the technical solution described in the foregoing embodiments, or perform equivalent substitution of some of the technical features, while remaining within the technical scope of the present disclosure; such modifications, changes or substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention, and are intended to be included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (8)
1. The positioning method of the mechanical arm in the test system, the end of the mechanical arm is provided with a test antenna, the positioning method is characterized by comprising the following steps:
Controlling the tail end of the mechanical arm or a detection device arranged at the tail end of the mechanical arm to contact with a preset standard point, wherein the preset standard point is at least three non-collinear points;
Acquiring target coordinate information, wherein the target coordinate information is coordinate information of the tail end of the mechanical arm in a base coordinate system of the mechanical arm when the target coordinate information contacts the preset calibration point;
Determining the position offset and the angle rotation of the base coordinate system of the mechanical arm relative to the test coordinate system based on the target coordinate information and the initial coordinate information, wherein the initial coordinate information is the coordinate information of the preset calibration point in the test coordinate system;
based on the position offset and the angle rotation, controlling the test antenna at the tail end of the mechanical arm to reach a preset sampling point in the test coordinate system;
wherein, the calculation formula of the position offset is that Wherein/>Preset calibration points/>, for the number of preset calibration pointsTarget coordinate information of (/ >)，/>，/>) Presetting a target pointThe initial coordinate information is (/ >)，/>，/>) N is the position offset;
the calculation formula of the angle rotation amount is that Wherein/>Is the angular rotation amount.
2. The method of claim 1, wherein the detecting means comprises: the antenna and/or calibration piece are tested.
3. The method according to claim 1, wherein the initial coordinate information is obtained by:
when the position offset and the angle rotation of the base coordinate system of the mechanical arm relative to the test coordinate system are known, controlling the tail end of the mechanical arm or a detection device arranged at the tail end of the mechanical arm to contact the preset calibration point, and determining the coordinate information of the tail end of the mechanical arm in the base coordinate system of the mechanical arm at the moment as the initial coordinate information.
4. A positioning device of a mechanical arm in a test system, wherein a test antenna is installed at the tail end of the mechanical arm, the positioning device comprises: a control unit, an acquisition unit, a determination unit and a positioning unit, wherein,
The control unit is used for controlling the tail end of the mechanical arm or a detection device arranged on the mechanical arm to contact with a preset standard point, and the preset standard point is at least three non-collinear points;
the acquisition unit is used for acquiring target coordinate information, wherein the target coordinate information is coordinate information of the tail end of the mechanical arm in a base coordinate system of the mechanical arm when the target coordinate information contacts the preset calibration point;
The determining unit is used for determining the position offset and the angle rotation of the base coordinate system of the mechanical arm relative to the test coordinate system based on the target coordinate information and the initial coordinate information, wherein the initial coordinate information is the coordinate information of the preset calibration point in the test coordinate system;
the positioning unit is used for controlling the test antenna at the tail end of the mechanical arm to reach a preset sampling point in the test coordinate system to execute a test based on the position offset and the angle rotation;
wherein, the calculation formula of the position offset is that Wherein/>Preset calibration points/>, for the number of preset calibration pointsTarget coordinate information of (/ >)，/>，/>) Presetting a target pointThe initial coordinate information is (/ >)，/>，/>) N is the position offset;
the calculation formula of the angle rotation amount is that Wherein/>Is the angular rotation amount.
5. The apparatus of claim 4, wherein the detecting means comprises: the antenna and/or calibration piece are tested.
6. The apparatus of claim 4, wherein the determining unit is further configured to:
when the position offset and the angle rotation of the base coordinate system of the mechanical arm relative to the test coordinate system are known, controlling the tail end of the mechanical arm or a detection device arranged at the tail end of the mechanical arm to contact the preset calibration point, and determining the coordinate information of the tail end of the mechanical arm in the base coordinate system of the mechanical arm at the moment as the initial coordinate information.
7. An electronic device comprising a memory for storing a program supporting the processor to perform the method of any one of claims 1 to 3, and a processor configured to execute the program stored in the memory.
8. A computer-readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, performs the steps of the method of any of the preceding claims 1 to 3.
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