WO2024016965A1 - Coordinate system calibration method and apparatus, robot and storage medium - Google Patents

Abstract

A coordinate system calibration method and apparatus (400), a robot (10), and a storage medium. The coordinate system calibration method comprises: acquiring at least two trigger signals generated by laser coordinate axes of a laser displacement sensor under triggering of an end tool of a robot (10); determining the pose of an end flange of the robot (10) according to the at least two trigger signals; determining an offset of the end flange according to the pose of the end flange and a standard tool coordinate system; and according to the offset, calibrating a tool coordinate system corresponding to the end tool.

Description

坐标系校准方法、装置、机器人和存储介质Coordinate system calibration method, device, robot and storage medium

本申请要求在2022年7月20日提交中国专利局、申请号为202210858541.2的中国专利申请的优先权，该申请的全部内容通过引用结合在本申请中。This application claims priority to the Chinese patent application with application number 202210858541.2, which was submitted to the China Patent Office on July 20, 2022. The entire content of this application is incorporated into this application by reference.

技术领域Technical field

本申请涉及机器人技术领域，例如涉及一种坐标系校准方法、装置、机器人和存储介质。This application relates to the field of robotics technology, for example, to a coordinate system calibration method, device, robot and storage medium.

背景技术Background technique

机器人在实际作业中，通常通过在末端法兰装配多种类型的工具以完成相应作业任务。然而，在实际应用过程中，很有可能因碰撞、外界温度等因素，导致机器人末端工具发生偏斜或形变，使末端工具使用精度降低，甚至影响机器人正常作业。此外，在作业过程中可能只是对工具的一部分进行更换，若不重新进行工具坐标系的校准，也会影响机器人的作业。In actual operations, robots usually assemble various types of tools on the end flange to complete corresponding tasks. However, during actual application, it is very likely that factors such as collision and external temperature will cause the end tool of the robot to deflect or deform, which will reduce the accuracy of the end tool and even affect the normal operation of the robot. In addition, only part of the tool may be replaced during the operation. If the tool coordinate system is not recalibrated, the robot's operation will also be affected.

相关技术中，工作人员常使用三点法、六点法等人工途径进行工具坐标系的校准。然而，人工校准步骤繁琐、耗时长，且受人为因素影响较大，因此校准的效率较低。In related technologies, workers often use manual methods such as the three-point method and the six-point method to calibrate the tool coordinate system. However, manual calibration steps are cumbersome, time-consuming, and are greatly affected by human factors, so the efficiency of calibration is low.

发明内容Contents of the invention

本申请提供了一种坐标系校准方法、装置、机器人和存储介质，以提高机器人工具坐标系校准的效率。This application provides a coordinate system calibration method, device, robot and storage medium to improve the efficiency of robot tool coordinate system calibration.

根据本申请的一方面，提供了一种坐标系校准方法，所述方法包括：According to one aspect of the present application, a coordinate system calibration method is provided, which method includes:

获取机器人的末端工具触发激光位移传感器的激光坐标轴生成的至少两个触发信号；Obtain at least two trigger signals generated by the laser coordinate axis of the laser displacement sensor triggered by the robot's end tool;

根据所述至少两个触发信号，确定所述机器人的末端法兰位姿；Determine the end flange posture of the robot according to the at least two trigger signals;

根据所述末端法兰位姿和标准工具坐标系，确定所述末端法兰的偏移量；Determine the offset of the end flange according to the end flange posture and the standard tool coordinate system;

根据所述偏移量，对所述末端工具对应的工具坐标系进行校准。According to the offset, the tool coordinate system corresponding to the end tool is calibrated.

根据本申请的另一方面，提供了一种坐标系校准装置，包括：According to another aspect of the present application, a coordinate system calibration device is provided, including:

触发信号获取模块，设置为获取机器人的末端工具触发激光位移传感器的激光坐标轴生成的至少两个触发信号；The trigger signal acquisition module is configured to acquire at least two trigger signals generated by the laser coordinate axis of the laser displacement sensor triggered by the end tool of the robot;

工具位姿确定模块，设置为根据所述至少两个触发信号，确定所述机器人的末端法兰位姿；A tool posture determination module configured to determine the end flange posture of the robot based on the at least two trigger signals;

偏移量确定模块，设置为根据所述末端法兰位姿和标准工具坐标系，确定所述末端法兰的偏移量；An offset determination module is configured to determine the offset of the end flange based on the end flange posture and the standard tool coordinate system;

坐标系校准模块，设置为根据所述偏移量，对所述末端工具对应的工具坐标系进行校准。A coordinate system calibration module is configured to calibrate the tool coordinate system corresponding to the end tool according to the offset.

根据本申请的另一方面，提供了一种机器人，所述机器人包括：According to another aspect of the present application, a robot is provided, the robot comprising:

至少一个处理器；以及at least one processor; and

与所述至少一个处理器通信连接的存储器；其中， a memory communicatively connected to the at least one processor; wherein,

所述存储器存储有可被所述至少一个处理器执行的计算机程序，所述计算机程序被所述至少一个处理器执行，以使所述至少一个处理器能够执行本申请任一实施例所述的坐标系校准方法。The memory stores a computer program that can be executed by the at least one processor, and the computer program is executed by the at least one processor, so that the at least one processor can execute the method described in any embodiment of the present application. Coordinate system calibration method.

根据本申请的另一方面，提供了一种计算机可读存储介质，所述计算机可读存储介质存储有计算机指令，所述计算机指令用于使处理器执行时实现本申请任一实施例所述的坐标系校准方法。According to another aspect of the present application, a computer-readable storage medium is provided. The computer-readable storage medium stores computer instructions, and the computer instructions are used to implement any of the embodiments of the present application when executed by a processor. coordinate system calibration method.

附图说明Description of drawings

图1是根据本申请一实施例提供的一种坐标系校准方法的流程图；Figure 1 is a flow chart of a coordinate system calibration method according to an embodiment of the present application;

图2是根据本申请另一实施例提供的一种坐标系校准方法的流程图；Figure 2 is a flow chart of a coordinate system calibration method provided according to another embodiment of the present application;

图3A是根据本申一请实施例提供的一种末端工具校准方法示意图；Figure 3A is a schematic diagram of an end tool calibration method provided according to an embodiment of the present application;

图3B是根据本申请一实施例提供的一种末端工具失准示意图；Figure 3B is a schematic diagram of an end tool misalignment provided according to an embodiment of the present application;

图3C是根据本申请一实施例提供的基准坐标确定流程图；Figure 3C is a flow chart for determining reference coordinates according to an embodiment of the present application;

图4是根据本申请一实施例提供的一种坐标系校准装置的结构图；Figure 4 is a structural diagram of a coordinate system calibration device provided according to an embodiment of the present application;

图5是实现本申请实施例的坐标系校准方法的机器人的结构示意图。Figure 5 is a schematic structural diagram of a robot that implements the coordinate system calibration method according to the embodiment of the present application.

具体实施方式Detailed ways

需要说明的是，本申请的说明书和权利要求书及上述附图中的术语“第一”、“第二”等是用于区别类似的对象，例如第一类或第二类，而不必用于描述特定的顺序或先后次序。应该理解这样使用的数据在适当情况下可以互换，以便这里描述的本申请的实施例能够以除了在这里图示或描述的那些以外的顺序实施。此外，术语“包括”和“具有”以及他们的任何变形，意图在于覆盖不排他的包含，例如，包含了一系列步骤或单元的过程、方法、***、产品或设备不必限于清楚地列出的那些步骤或单元，而是可包括没有清楚地列出的或对于这些过程、方法、产品或设备固有的其它步骤或单元。It should be noted that the terms "first", "second", etc. in the description and claims of this application and the above-mentioned drawings are used to distinguish similar objects, such as the first category or the second category, and it is not necessary to use Used to describe a specific order or sequence. It is to be understood that the data so used are interchangeable under appropriate circumstances so that the embodiments of the application described herein can be practiced in sequences other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, e.g., a process, method, system, product, or apparatus that encompasses a series of steps or units and need not be limited to those explicitly listed. Those steps or elements may instead include other steps or elements not expressly listed or inherent to the process, method, product or apparatus.

图1为本申请一实施例提供了一种坐标系校准方法的流程图，本实施例可适用于机器人末端工具的校准情况，该方法可以由坐标系校准装置来执行，该坐标系校准装置可以采用硬件和/或软件的形式实现，该坐标系校准装置可配置于机器人中。如图1所示，该方法包括：Figure 1 is a flow chart of a coordinate system calibration method provided by an embodiment of the present application. This embodiment can be applied to the calibration of robot end tools. The method can be executed by a coordinate system calibration device. The coordinate system calibration device can Implemented in the form of hardware and/or software, the coordinate system calibration device can be configured in the robot. As shown in Figure 1, the method includes:

S110、获取机器人的末端工具触发激光位移传感器的激光坐标轴生成的至少两个触发信号。S110. Obtain at least two trigger signals generated by the laser coordinate axis of the laser displacement sensor triggered by the robot's end tool.

其中，机器人可以是任何需要装备末端工具进行工作的、可执行预设程序的设备，例如可以包括但不限于串联机器人(机械臂等形式)和并联机器人(具备静平台和动平台的并联机构等形式)等。末端工具可以是设置于机器人末端法兰上的作业工具，例如可以包括但不限于夹爪、吸盘、焊枪等。激光位移传感器可以选用相关技术中任意一种激光位移传感器，激光位移传感器可以包括激光发射器和激光接收器，激光发射器和激光接收器之间形成激光坐标轴(该激光坐标轴以激光光路的形式展现)。例如，激光坐标轴可以与机器人的基坐标轴 平行，例如可以设置两条激光坐标轴Xs轴与Ys轴分别与机器人预设的基坐标轴的X轴和Y轴平行并交于一点。当然，上述方式是为了便于进行坐标计算如此设置激光坐标轴，在实际情况中，仅需保证Xs轴与Ys轴相交于一点，且Xs轴与Ys轴形成的平面与机器人的基坐标轴X轴和Y轴形成的平面平行即可。触发信号即末端工具遮挡和/或停止遮挡激光坐标轴时，触发激光位移传感器生成的信号。Among them, the robot can be any equipment that needs to be equipped with end tools to perform work and can execute preset programs. For example, it can include but is not limited to series robots (robot arms, etc.) and parallel robots (parallel mechanisms with static platforms and moving platforms, etc. form) etc. The end tool may be a working tool provided on the end flange of the robot, and may include, for example, but not limited to, a gripper, a suction cup, a welding gun, etc. The laser displacement sensor can use any laser displacement sensor in related technologies. The laser displacement sensor can include a laser transmitter and a laser receiver. A laser coordinate axis is formed between the laser transmitter and the laser receiver (the laser coordinate axis is based on the laser optical path. form). For example, the laser axis can be the same as the robot's base axis Parallel, for example, the two laser coordinate axes Xs and Ys can be set to be parallel to the X and Y axes of the robot's preset base coordinate axes respectively and intersect at one point. Of course, the above method is to set the laser coordinate axis to facilitate coordinate calculation. In actual situations, it only needs to ensure that the Xs axis and the Ys axis intersect at one point, and the plane formed by the Xs axis and the Ys axis is consistent with the base coordinate axis of the robot, the X axis. Just be parallel to the plane formed by the Y-axis. The trigger signal is the signal generated by the laser displacement sensor when the end tool blocks and/or stops blocking the laser coordinate axis.

例如，在机器人的末端工具的校准过程中，机器人的末端工具进行运动时会遮挡预设的激光坐标轴，从而生成对应的触发信号。可以理解的是，末端工具自身具备一定的体积，触发信号一般需要至少两个，其中一个作为末端工具开始遮挡激光时获取的信号，另一个作为末端工具结束遮挡时获取的信号。可想而知，当末端工具为焊枪、吸盘等单体结构时，在运动遮挡激光的过程中一般可以获取两个触发信号；当末端工具为夹爪、机械手等复杂结构时，可以获取更多触发信号，此处仅作说明，不作为本实施例方案的限定。并且，由于激光坐标轴有两条，可以控制机器人分别触发两条激光从而获取不同坐标轴上的触发信号。触发信号的获取可以帮助机器人对末端工具的位移进行标定，从而有助于末端工具的校准。For example, during the calibration process of the robot's end tool, the robot's end tool will block the preset laser coordinate axis when it moves, thereby generating a corresponding trigger signal. It is understandable that the end tool itself has a certain volume, and generally requires at least two trigger signals, one of which is the signal obtained when the end tool begins to block the laser, and the other is the signal obtained when the end tool stops blocking. It is conceivable that when the end tool is a single structure such as a welding gun or a suction cup, two trigger signals can generally be obtained during the process of moving to block the laser; when the end tool is a complex structure such as a clamping claw or a manipulator, more can be obtained The trigger signal is only used for explanation here and is not used to limit the solution of this embodiment. Moreover, since there are two laser coordinate axes, the robot can be controlled to trigger two lasers respectively to obtain trigger signals on different coordinate axes. The acquisition of trigger signals can help the robot calibrate the displacement of the end tool, thereby facilitating the calibration of the end tool.

需要说明的是，本申请实施例以激光位移传感器为示例进行说明，实际上任何可以触发位移标定的信号的传感器均可以使用本申请实施例的方案原理。It should be noted that the embodiments of the present application take a laser displacement sensor as an example for explanation. In fact, any sensor that can trigger a signal for displacement calibration can use the solution principles of the embodiments of the present application.

S120、根据至少两个触发信号，确定机器人的末端法兰位姿。S120. Determine the end flange posture of the robot based on at least two trigger signals.

在获取到触发信号时，机器人可以同时获取和/或记录触发信号对应时刻末端法兰在机器人基坐标系下的位姿数据，根据不同的触发信号对应的不同的位姿数据，综合的确定末端法兰在机器人基坐标系下的位姿。例如，可以在获取触发信号时，获取和/或记录对应时刻机器人所有自由度的关节空间的参数，通过正运动学计算较为准确的末端法兰在基坐标系下的位姿。When acquiring the trigger signal, the robot can simultaneously acquire and/or record the pose data of the end flange in the robot's base coordinate system at the corresponding moment of the trigger signal, and comprehensively determine the end position based on the different pose data corresponding to different trigger signals. The pose of the flange in the robot's base coordinate system. For example, when acquiring the trigger signal, the parameters of the joint space of all degrees of freedom of the robot at the corresponding moment can be acquired and/or recorded, and a more accurate pose of the end flange in the base coordinate system can be calculated through forward kinematics.

例如，所述根据至少两个触发信号，确定机器人的末端法兰位姿，可以包括：获取至少两个触发信号对应的末端法兰的位姿数据；根据位姿获取结果的坐标平均值，确定机器人的末端法兰位姿。For example, determining the end flange pose of the robot based on at least two trigger signals may include: acquiring pose data of the end flange corresponding to at least two trigger signals; determining based on the coordinate average of the pose acquisition results The end flange pose of the robot.

其中，获取得到不同触发信号对应的末端法兰的不同的位姿数据，对这些位姿数据进行平均值的计算，得到的平均坐标值可以作为当前情况下，末端法兰在基坐标系下的位姿。可以理解的是，由于机器人末端工具自身具备一定的体积，在开始遮挡激光和停止遮挡激光时记录的对应位姿应处于激光坐标轴两侧，因此通过平均值的计算可以得到较为准确的位姿结果，避免了由于末端工具自身体积导致的末端法兰位姿计算的不准确情况，提高了位姿确定的精度，有助于提高了末端工具校准的精度。Among them, different pose data of the end flange corresponding to different trigger signals are obtained, and the average value of these pose data is calculated. The obtained average coordinate value can be used as the end flange in the base coordinate system under the current situation. Posture. It can be understood that since the end tool of the robot itself has a certain volume, the corresponding poses recorded when it starts to block the laser and stops blocking the laser should be on both sides of the laser coordinate axis. Therefore, a more accurate pose can be obtained by calculating the average value. As a result, inaccuracies in the calculation of the end flange pose due to the volume of the end tool itself are avoided, the accuracy of the pose determination is improved, and the accuracy of the end tool calibration is improved.

需要补充的是，获取触发信号和末端法兰位姿数据可以采用捕捉电平变化的方式。例如，在机器人控制器中设置捕捉通道和获取通道，当末端工具开始遮挡或停止遮挡激光坐标轴时，捕捉通道捕捉对应的电平变化(例如电平的上升沿或下降沿)，从而确定末端工具是否遮挡了激光坐标轴，同时由获取通道获取此时机器人末端法兰的笛卡尔位姿或者获取机器人在关节空间中的多个关节的参数，从而计算末端法兰的笛卡尔位姿。上述捕捉、获取方式仅作举例， 本申请实施例对获取触发信号和末端法兰位姿的方式不作限定。It should be added that the trigger signal and end flange pose data can be obtained by capturing level changes. For example, set the capture channel and acquisition channel in the robot controller. When the end tool starts to block or stops blocking the laser coordinate axis, the capture channel captures the corresponding level change (such as the rising edge or falling edge of the level), thereby determining the end Whether the tool blocks the laser coordinate axis, at the same time, the acquisition channel obtains the Cartesian pose of the end flange of the robot at this time or obtains the parameters of multiple joints of the robot in the joint space, thereby calculating the Cartesian pose of the end flange. The above capture and acquisition methods are only examples. The embodiment of the present application does not limit the method of obtaining the trigger signal and the end flange posture.

S130、根据末端法兰位姿和标准工具坐标系，确定末端法兰的偏移量。S130. Determine the offset of the end flange based on the end flange pose and the standard tool coordinate system.

其中，标准工具坐标系可以是预先对正常工作状态下末端工具进行标定的工具坐标系，在该标准工具坐标系下，末端法兰和末端工具之间的位姿是相对标准的，标准工具坐标系可以由相关技术人员预先进行标定，并在不更换末端工具的情况下长时间使用。若末端工具发生了位移或偏执，在末端工具触发激光的触发信号时，对应确定的末端法兰位姿与标准工具坐标系下触发信号对应的标准末端法兰位姿有一定的偏差。Among them, the standard tool coordinate system can be a tool coordinate system that has been calibrated in advance for the end tool under normal working conditions. Under this standard tool coordinate system, the posture between the end flange and the end tool is relatively standard. The standard tool coordinate system The system can be calibrated in advance by relevant technicians and used for a long time without changing the end tools. If the end tool is displaced or biased, when the end tool triggers the laser trigger signal, the corresponding determined end flange posture will deviate from the standard end flange posture corresponding to the trigger signal in the standard tool coordinate system.

根据前述步骤中确定的末端法兰在基坐标系下的位姿，和标准工具坐标系中末端法兰在基坐标系下的位姿数据进行比较，得到当前末端法兰位姿和标准工具坐标系下末端法兰位姿之间的偏移量。According to the pose of the end flange in the base coordinate system determined in the previous steps, compare it with the pose data of the end flange in the base coordinate system in the standard tool coordinate system to obtain the current end flange pose and standard tool coordinates. Tie the offset between the end flange poses.

S140、根据偏移量，对末端工具对应的工具坐标系进行校准。S140. Calibrate the tool coordinate system corresponding to the end tool according to the offset.

可以理解的是，在实际情况中，末端工具在历史使用过程中发生了一些位移或偏置等情况，但不影响正常功能，仅需对其进行一定的校准即可继续完成预定工作。It is understandable that in actual situations, the end tool has undergone some displacement or offset during historical use, but this does not affect the normal function, and it only needs to be calibrated to a certain extent to continue to complete the scheduled work.

在一种示例实施方式中，所述根据偏移量，对末端工具对应的工具坐标系进行校准，可以包括：根据标准工具坐标系与偏移量的和，更新工具坐标系，以对末端工具对应的工具坐标系进行校准。In an example implementation, calibrating the tool coordinate system corresponding to the end tool according to the offset may include: updating the tool coordinate system according to the sum of the standard tool coordinate system and the offset to calibrate the end tool Calibrate the corresponding tool coordinate system.

可以理解的是，将标准工具坐标系加上偏移量的数据，可以使标准工具坐标系下的末端工具在基坐标系下的位姿，与当前发生位移或偏置的末端工具的位姿相同，即可完成既定工作。It can be understood that adding the offset data to the standard tool coordinate system can make the pose of the end tool in the standard tool coordinate system in the base coordinate system the same as the pose of the end tool that is currently displaced or offset. Same, the given work can be completed.

本申请实施例的技术方案中，通过触发激光位移传感器产生的触发信号，确定了末端法兰的位姿，并与标准工具坐标系下的末端法兰的位姿进行比较确定当前情况下末端法兰的偏移量，从而校准末端工具对应的工具坐标系。这样做的好处在于，能够减少人工的工作量做到自动校正，同时减小了人工校准中认为因素的影响，提高了机器人末端工具的校准精度和校准效率。In the technical solution of the embodiment of the present application, the position and orientation of the end flange is determined by triggering the trigger signal generated by the laser displacement sensor, and is compared with the position and orientation of the end flange in the standard tool coordinate system to determine the end method under the current situation. The offset of the blue axis is used to calibrate the tool coordinate system corresponding to the end tool. The advantage of this is that it can reduce the manual workload to achieve automatic correction, while reducing the influence of factors considered in manual calibration, and improving the calibration accuracy and efficiency of the robot's end tool.

图2为本申请另一实施例提供的一种坐标系校准方法的流程图，本实施例是在前述实施例基础上对触发信号的获取操作的进一步细化。本申请实施例未详尽的部分可参照本申请其他实施例内容，在此不作赘述。如图2所示，该方法包括：FIG. 2 is a flow chart of a coordinate system calibration method provided by another embodiment of the present application. This embodiment is a further refinement of the trigger signal acquisition operation based on the foregoing embodiment. For parts that are not detailed in the embodiments of this application, please refer to the contents of other embodiments of this application and will not be described again here. As shown in Figure 2, the method includes:

S210、控制末端工具从预设的校准辅助点出发，向激光位移传感器的激光坐标轴进行预设平移距离和预设方向的往复运动；其中，往复运动用于触发激光坐标轴生成至少两个触发信号。S210. Control the end tool to start from the preset calibration auxiliary point and perform a reciprocating movement of a preset translation distance and a preset direction toward the laser coordinate axis of the laser displacement sensor; wherein, the reciprocating movement is used to trigger the laser coordinate axis to generate at least two triggers. Signal.

其中，校准辅助点可以是控制末端工具进行往复运动的起始点，校准辅助点可以根据相关技术人员的人工经验或者大量试验而确定。预设方向可以是向激光坐标轴运动的方向；预设平移距离可以是能使末端工具完全通过激光坐标轴的距离，可以由人工预先设定。Among them, the calibration auxiliary point may be the starting point for controlling the reciprocating motion of the end tool, and the calibration auxiliary point may be determined based on the manual experience of relevant technical personnel or a large number of tests. The preset direction can be the direction of movement toward the laser coordinate axis; the preset translation distance can be the distance that enables the end tool to completely pass through the laser coordinate axis, and can be preset manually.

例如，预设一个校准辅助点，机器人控制末端工具从该校准辅助点出发，向激光坐标轴方向进行平移运动，完成预设平移距离使得末端工具完全通过激光坐标轴后，原路返回至校 准辅助点，这样的过程称为往复运动。For example, a calibration auxiliary point is preset, and the robot controls the end tool to start from the calibration auxiliary point and perform a translational movement in the direction of the laser coordinate axis. After completing the preset translation distance so that the end tool completely passes through the laser coordinate axis, it returns to the calibration point. Quasi-auxiliary point, this process is called reciprocating motion.

在一种示例实施方式中，触发信号包括第一触发信号，控制末端工具从预设的校准辅助点出发，向激光位移传感器的激光坐标轴进行预设距离和预设方向的往复运动，可以包括：控制末端工具从校准辅助点出发，向激光坐标轴运动预设平移距离，以生成第一触发信号；根据第一触发信号的生成情况，控制末端工具返回校准辅助点。In an example embodiment, the trigger signal includes a first trigger signal, and controlling the end tool to start from a preset calibration auxiliary point and perform a reciprocating movement in a preset distance and a preset direction toward the laser coordinate axis of the laser displacement sensor may include : Control the end tool to move from the calibration auxiliary point to the laser coordinate axis by a preset translation distance to generate the first trigger signal; according to the generation of the first trigger signal, control the end tool to return to the calibration auxiliary point.

其中，第一触发信号应理解为第一类触发信号，第一触发信号可以包括从校准辅助点向激光坐标轴方向运动过程中，触发激光的遮挡开始信号和遮挡结束信号。若生成了该第一触发信号，则控制末端控制原路返回至校准辅助点，以触发返回途径中的遮挡开始信号和遮挡结束信号。The first trigger signal should be understood as a first type of trigger signal. The first trigger signal may include an occlusion start signal and an occlusion end signal that trigger the laser during the movement from the calibration auxiliary point to the direction of the laser coordinate axis. If the first trigger signal is generated, the control end controls the original path to return to the calibration auxiliary point to trigger the occlusion start signal and the occlusion end signal in the return path.

在一种示例实施方式中，触发信号还包括第二触发信号，所述根据第一触发信号的生成情况，控制末端工具返回校准辅助点，可以包括：若生成第一触发信号，则控制末端工具返回校准辅助点，以生成第二触发信号；根据第二触发信号的生成情况，确定是否记录第一触发信号对应的末端法兰位姿。In an example implementation, the trigger signal further includes a second trigger signal, and controlling the end tool to return to the calibration auxiliary point according to the generation of the first trigger signal may include: if the first trigger signal is generated, controlling the end tool Return to the calibration auxiliary point to generate the second trigger signal; based on the generation of the second trigger signal, determine whether to record the end flange posture corresponding to the first trigger signal.

若第一触发信号成功生成，则可以认为末端工具可以接触到激光坐标轴，那么控制末端工具返回校准辅助点。返回的过程中会再次通过激光坐标轴，此时触发第二触发信号。与第一触发信号类似，第二触发信号也应理解为第二类触发信号，即返回校准辅助点途径中触发激光生成的遮挡开始信号和遮挡结束信号。若返回过程中生成了第二触发信号，则可以记录第一触发信号对应的末端法兰位姿，用于和第二触发信号对应的末端法兰位姿进行平均值的计算。若在返回过程中未生成第二触发信号，则舍弃上一段运动过程中生成的第一触发信号和其对应的末端法兰位姿的数据。If the first trigger signal is successfully generated, it can be considered that the end tool can contact the laser coordinate axis, and then the end tool is controlled to return to the calibration auxiliary point. During the return process, it will pass through the laser coordinate axis again, and the second trigger signal will be triggered at this time. Similar to the first trigger signal, the second trigger signal should also be understood as a second type of trigger signal, that is, the occlusion start signal and the occlusion end signal generated by the trigger laser on the way back to the calibration auxiliary point. If a second trigger signal is generated during the return process, the end flange pose corresponding to the first trigger signal can be recorded for calculation of the average value with the end flange pose corresponding to the second trigger signal. If the second trigger signal is not generated during the return process, the first trigger signal generated during the previous motion and its corresponding end flange pose data are discarded.

在一种示例实施方式中，所述方法还包括：若未生成触发信号，则控制末端工具向下运动预设下探距离，并更新校准辅助点；根据更新后的校准辅助点，重新控制末端工具从更新后的校准辅助点出发进行往复运动。In an example implementation, the method further includes: if the trigger signal is not generated, controlling the end tool to move downward to a preset penetration distance, and updating the calibration auxiliary point; and re-controlling the end tool according to the updated calibration auxiliary point. The tool reciprocates from the updated calibration auxiliary point.

其中，预设下探距离可以由相关技术人员根据人工经验或大量试验确定。可以理解的是，当机器人控制末端工具从校准辅助点出发向激光坐标轴方向运动，没有生成出发信号，则说明末端工具的位置过高，无法遮挡激光。因此，需要控制末端工具向下试探一段距离，并将向下运动预设下探距离后的出发点作为新的校准辅助点，并重新开始前述步骤中的往复运动，如此尝试即可使末端工具触发激光坐标轴，从而生成相应的触发信号。Among them, the preset penetration distance can be determined by relevant technical personnel based on manual experience or a large number of tests. It can be understood that when the robot controls the end tool to move from the calibration auxiliary point toward the laser coordinate axis and no starting signal is generated, it means that the position of the end tool is too high and cannot block the laser. Therefore, it is necessary to control the end tool to test downward for a certain distance, and use the starting point after the downward movement of the preset penetration distance as a new calibration auxiliary point, and restart the reciprocating motion in the previous steps. This attempt can trigger the end tool laser coordinate axis to generate the corresponding trigger signal.

可以理解的是，不论未生成的触发信号是第一触发信号还是第二触发信号，均应在完成预设平移距离的移动后，向下运动预设下探距离，以使末端工具重新开始往复运动。It can be understood that, regardless of whether the ungenerated trigger signal is the first trigger signal or the second trigger signal, after completing the movement of the preset translation distance, the preset penetration distance should be moved downward to allow the end tool to restart reciprocation. sports.

上述实施方式中，利用预设下探距离保证机器人的末端工具能够有效的触发激光坐标轴生成触发信号，可想而知，在对末端工具进行校准的过程中可以不用预先估计或测量末端工具位移和/或偏置的距离或角度大小，平移运动生成触发信号的获取和预设下探距离的联合使用，使机器人可以自行进行校准工作，完全不需要人工干预，大大提高了机器人校准的效率，也提升了相关技术人员的使用体验。 In the above embodiment, the preset penetration distance is used to ensure that the end tool of the robot can effectively trigger the laser coordinate axis to generate a trigger signal. It is conceivable that there is no need to pre-estimate or measure the displacement of the end tool during the process of calibrating the end tool. And/or the offset distance or angle, the acquisition of the trigger signal generated by the translation motion and the combined use of the preset penetration distance enable the robot to perform calibration work on its own without manual intervention at all, greatly improving the efficiency of robot calibration. It also improves the experience of relevant technical personnel.

S220、获取至少两个触发信号。S220. Obtain at least two trigger signals.

获取前述步骤中的至少两个触发信号，以获取和/或记录对应的末端法兰的位姿数据。Obtain at least two trigger signals in the previous steps to obtain and/or record the posture data of the corresponding end flange.

S230、根据至少两个触发信号，确定机器人的末端法兰位姿。S230. Determine the end flange posture of the robot based on at least two trigger signals.

S240、根据末端法兰位姿和标准工具坐标系，确定末端法兰的偏移量。S240. Determine the offset of the end flange based on the end flange pose and the standard tool coordinate system.

S250、根据偏移量，对末端工具对应的工具坐标系进行校准。S250. Calibrate the tool coordinate system corresponding to the end tool according to the offset.

本申请实施例的技术方案中，控制末端工具以校准辅助点和预设平移距离为基础进行往复运动，从而获取触发激光坐标轴生成的触发信号，往复运动可以增加触发信号的数量，提高了计算末端法兰位姿时的精度，提高了机器人末端工具校准的精度。In the technical solution of the embodiment of the present application, the end tool is controlled to perform reciprocating motion based on the calibration auxiliary point and the preset translation distance, thereby obtaining the trigger signal generated by the trigger laser coordinate axis. The reciprocating motion can increase the number of trigger signals and improve calculation efficiency. The accuracy of the end flange position improves the accuracy of robot end tool calibration.

本申请实施例是在前述实施例的基础上提供的一种示例实施例，本申请实施例以串联机器人的末端工具的校准为例，通过预设的激光位移传感器在串联机器人基座的安装平面的上方设置与安装平面相平行的Xs和Ys两个激光坐标轴。以使串联机器人的末端工具可以从上向下进行下探运动，在Xs和Ys组成的平面内平移，遮挡激光坐标轴从而触发相应的触发信号。The embodiment of the present application is an example embodiment provided based on the foregoing embodiments. The embodiment of the present application takes the calibration of the end tool of a series robot as an example. The preset laser displacement sensor is used to adjust the installation plane of the series robot base. Two laser coordinate axes Xs and Ys parallel to the installation plane are set above. This allows the end tool of the series robot to perform a downward movement from top to bottom, translate in the plane composed of Xs and Ys, and block the laser coordinate axis to trigger the corresponding trigger signal.

在进行校准前，预先确定末端工具正常情况下，在触发激光坐标轴Xs时，末端法兰在基坐标系之下的坐标位置为p_xs＝[p_{xs_x},p_{xs_y},p_{xs_z}]^T；在触发激光和坐标轴Ys时，末端法兰在基坐标系之下的坐标位置为p_ys＝[p_{ys_x},p_{ys_y},p_{ys_z}]^T，这两个坐标位置可以称为末端法兰的基准坐标。Before calibration, it is predetermined that under normal conditions of the end tool, when the laser coordinate axis Xs is triggered, the coordinate position of the end flange under the base coordinate system is p _xs = [p _{xs_x} , p _{xs_y} , p _{xs_z} ] ^T ; When the laser and coordinate axis Ys are triggered, the coordinate position of the end flange under the base coordinate system is p _ys = [ _{pys_x} , p _{ys_y} , p _{ys_z} ] ^T. These two coordinate positions can be called the base coordinates of the end flange. .

如图3A所示，在p_xs和p_ys附近分别预设两个校准辅助点point_x和point_y，以使串联机器人控制末端工具从校准辅助点出发，运动预设平移距离d_xymove，从而经过激光坐标轴，对激光坐标轴产生遮挡。若串联机器人在平移运动中捕获得到开始遮挡和停止遮挡对应的触发信号，则控制末端工具原路返回至校准辅助点，以再次触发开始遮挡和停止遮挡的信号，并且可以针对Xs轴和Ys轴分别运行至少一次，共触发至少4组(至少8个)触发信号。若串联机器人没有在平移运动中捕获得到开始遮挡和停止遮挡对应的触发信号，则应在平移运动停止后，控制末端工具向下运动预设下探距离d_{z_down}，以接近Xs轴和Ys轴所在平面。预设下探距离可以由人工根据经验设定，若校准要求精度较高，则可以设置较小的预设下探距离，若校准要求精度较低，则可以设置较大的预设下探距离。As shown in Figure 3A, two calibration auxiliary points point_x and point_y are preset near p _xs and p _ys respectively, so that the series robot controls the end tool starting from the calibration auxiliary point and moving the preset translation distance d _xymove , thereby passing through the laser coordinates axis, which blocks the laser coordinate axis. If the tandem robot captures the trigger signals corresponding to start occlusion and stop occlusion during the translation movement, the end tool is controlled to return to the calibration auxiliary point to trigger the start occlusion and stop occlusion signals again, and can target the Xs axis and Ys axis. Run at least once each, and trigger at least 4 groups (at least 8) of trigger signals in total. If the tandem robot does not capture the trigger signals corresponding to start occlusion and stop occlusion during the translation movement, then after the translation movement stops, the end tool should be controlled to move downward with the preset penetration distance d _{z_down} to approach the Xs and Ys axes. flat. The preset penetration distance can be set manually based on experience. If the calibration requires higher accuracy, you can set a smaller preset penetration distance. If the calibration requires lower accuracy, you can set a larger preset penetration distance. .

可以理解的是，如图3B所示，当串联机器人的末端工具发生位移和/或偏置(甚至形变)时，末端工具在经过激光坐标轴时末端法兰的笛卡尔坐标和前述基准坐标不同。由于末端工具发生位移、偏置或形变前后，末端工具与Xs轴交点在基坐标系的下x坐标值不变；与Ys轴交点在基坐标系的下y坐标值不变，因此可通过基于Ys轴的触发信号捕获的末端法兰位置确定工具坐标系X方向的变化，通过基于Xs轴的触发信号捕获的末端法兰位置确定工具坐标系Y方向的变化，Z方向的变化取两者Z向变化的平均值。即，设基准工具坐标系下，工具末端与Xs轴相交时末端法兰笛卡尔位置为[a_x,a_y,a_z]，与Ys轴相交时末端法兰笛卡尔位置为[b_x,b_y,b_z]；设末端工具坐标系失准后，工具末端与Xs轴相交时末端法兰笛卡尔位置为[a_{x_new}，a_{y_new},a_{z_new}]，与Ys轴相交时末端法兰笛卡尔位置为[b_{x_new},b_{y_new},b_{z_new}]；则可以 确定末端法兰的偏移量为：
It can be understood that, as shown in Figure 3B, when the end tool of the tandem robot is displaced and/or offset (or even deformed), the Cartesian coordinates of the end flange of the end tool when passing through the laser coordinate axis are different from the aforementioned reference coordinates. . Before and after the end tool is displaced, offset or deformed, the intersection point of the end tool and the Xs axis remains unchanged at the lower x coordinate value of the base coordinate system; the intersection point with the Ys axis remains unchanged at the lower y coordinate value of the base coordinate system. The end flange position captured by the trigger signal of the Ys axis determines the change in the X direction of the tool coordinate system. The change of the Y direction of the tool coordinate system is determined by the end flange position captured by the trigger signal based on the Xs axis. The change in the Z direction takes the two Z The average value of the change. That is, assuming that in the base tool coordinate system, the Cartesian position of the end flange when the tool end intersects the Xs axis is [a _x , a _y , a _z ], and the Cartesian position of the end flange when it intersects the Ys axis is [b _x , b _y , b _z ]; assuming that after the end tool coordinate system is misaligned, the Cartesian position of the end flange when the tool end intersects the Xs axis is [a _{x_new} , a _{y_new} , a _{z_new} ], and when the tool end intersects the Ys axis the Cartesian position of the end flange The Carl position is [b _{x_new} , b _{y_new} , b _{z_new} ]; then it can Determine the offset of the end flange as:

该偏移量可以用于矫正末端工具坐标系，在末端法兰的基准坐标的基础上加上该偏移量，即可换算出失准后的末端工具在基坐标系中的位姿。This offset can be used to correct the end tool coordinate system. By adding this offset to the base coordinates of the end flange, the position and orientation of the misaligned end tool in the base coordinate system can be calculated.

需要注意的是，激光位移传感器的坐标系Zs轴平行于机器人基坐标系Z轴，即保证激光位移传感器的安装平面平行于机器人基坐标系的XOY平面；同时尽量使激光位移传感器的Xs轴及Ys轴平行于基坐标系X轴与Y轴。It should be noted that the Zs axis of the laser displacement sensor's coordinate system is parallel to the Z axis of the robot's base coordinate system, that is, ensure that the installation plane of the laser displacement sensor is parallel to the XOY plane of the robot's base coordinate system; at the same time, try to make the Xs axis of the laser displacement sensor and The Ys axis is parallel to the X axis and Y axis of the base coordinate system.

如图3C所示，在本申请实施例中，首先调整机器人末端法兰坐标系，使其与基坐标系之间的关系为：X轴同向，Y轴和Z轴反向，即机器人末端法兰坐标系相对于基坐标系的位姿变换为：绕基坐标系X轴旋转180°。在这样的姿态下运动机器人使其末端工具略低于激光XsOsYs平面(保证末端工具能够触发传感器信号)。预设平移距离d_xymove和预设下探距离d_{z_down}的设定均由相关技术人员根据人工经验或者大量试验得出。As shown in Figure 3C, in the embodiment of the present application, first adjust the robot end flange coordinate system so that its relationship with the base coordinate system is: the X axis is in the same direction, the Y axis and the Z axis are in opposite directions, that is, the robot end The pose transformation of the flange coordinate system relative to the base coordinate system is: rotating 180° around the X-axis of the base coordinate system. In this posture, the moving robot makes its end tool slightly lower than the laser XsOsYs plane (to ensure that the end tool can trigger the sensor signal). The settings of the preset translation distance d _xymove and the preset penetration distance d _{z_down} are obtained by relevant technical personnel based on manual experience or a large number of tests.

然后，在串联机器人的控制器中设置捕捉通道，例如，设置捕捉通道1-4进行Ys轴上触发信号的捕获。捕捉通道参数设置中，数字输入接口索引值为：捕捉通道1到4皆为传感器Ys轴接入的DI口；捕捉信号类型为：捕捉通道1和3为上升沿，通道2和4为下降沿；捕捉位置类型为：末端法兰笛卡尔坐标。Then, set the capture channel in the controller of the series robot, for example, set capture channels 1-4 to capture the trigger signal on the Ys axis. In the capture channel parameter setting, the digital input interface index value is: capture channels 1 to 4 are all DI ports connected to the sensor Ys axis; the capture signal type is: capture channels 1 and 3 are rising edges, and channels 2 and 4 are falling edges. ;The capture position type is: end flange Cartesian coordinates.

控制机器人使其工具末端移动至辅助校准点point_y后，沿基坐标系X轴靠近Ys轴的方向移动d_xymove。After controlling the robot to move the tool end to the auxiliary calibration point point_y, it moves d _xymove along the X-axis of the base coordinate system in the direction close to the Ys-axis.

若传感器Yx轴上的触发信号未生成，则获取通道1和2的捕捉状态不变，则沿基坐标系Z轴负方向移动d_{z_down}后，再次沿基坐标系X轴靠近Ys轴的方向移动d_xymove，判断获取通道1和2的捕捉状态是否为已捕获到，如此循环执行，直到捕捉通道1到2捕捉到信号变化，获取通道的状态为已捕获到，则可根据获取通道得到信号变化时的末端法兰笛卡尔坐标q₁和q₂。If the trigger signal on the Yx axis of the sensor is not generated, the capture status of acquisition channels 1 and 2 remains unchanged, then move d _{z_down} along the negative direction of the Z axis of the base coordinate system, and then move again along the X axis of the base coordinate system in the direction close to the Ys axis. d _xymove , determine whether the capture status of acquisition channels 1 and 2 is captured. This loop is executed until capture channels 1 to 2 capture the signal change. If the status of the acquisition channel is captured, the signal change can be obtained according to the acquisition channel. The Cartesian coordinates of the end flange are q ₁ and q ₂ .

当获取通道1和2的捕捉状态为已捕获到后，再次沿基坐标系X轴靠近Ys轴的方向移动d_xymove。若传感器Ys轴的触发信号再次生成，此时可通过获取通道3和4的状态得到信号变化时的末端法兰笛卡尔坐标q₃和q₄。After obtaining the capture status of channels 1 and 2 as captured, move d _xymove again along the X axis of the base coordinate system close to the Ys axis. If the trigger signal of the sensor Ys axis is generated again, the Cartesian coordinates q 3 and q 4 of the end flange when the signal changes can be obtained by obtaining the status of channels ₃ and ₄ .

若返回过程中传感器Ys轴的触发信号没有再次生成(即未获取到通道3和4的状态)，则清除获取通道1，2的状态，沿基坐标系Z轴负方向移动d_{z_down}后，再次沿基坐标系X轴靠近Ys轴的方向移动d_xymove，如此循环试错搜索，直到通道1到4的获取状态都是已捕获到，计算q₁、q₂、q₃、q₄的平均值q_ave，进行正运动学计算得到q_ave对应地机器人末端法兰笛卡尔位置即为p_ys，得到[b_x,b_y,b_z]。p_xs的确定方式与上述方式同理。If the trigger signal of the sensor Ys axis is not generated again during the return process (that is, the status of channels 3 and 4 is not obtained), clear the status of channels 1 and 2, move d _{z_down} along the negative direction of the Z axis of the base coordinate system, and then again Move d _xymove along the X-axis of the base coordinate system in the direction close to the Ys-axis, and cycle through trial and error searches until the acquisition status of channels 1 to 4 has been captured. Calculate the average value of q ₁ , q ₂ , q ₃ , q ₄ q _ave , perform forward kinematics calculation to obtain the Cartesian position of the robot end flange corresponding to q _ave , which is p _ys , and obtain [b _x , b _y , b _z ]. The determination method of p _xs is the same as the above method.

图4为本申请实施例提供的一种坐标系校准装置的结构示意图。如图4所示，该坐标系校准装置400包括： Figure 4 is a schematic structural diagram of a coordinate system calibration device provided by an embodiment of the present application. As shown in Figure 4, the coordinate system calibration device 400 includes:

触发信号获取模块410，设置为获取机器人的末端工具触发激光位移传感器的激光坐标轴生成的至少两个触发信号；The trigger signal acquisition module 410 is configured to acquire at least two trigger signals generated by the laser coordinate axis of the robot's end tool triggering the laser displacement sensor;

法兰位姿确定模块420，设置为根据所述至少两个触发信号，确定所述机器人的末端法兰位姿；The flange pose determination module 420 is configured to determine the end flange pose of the robot based on the at least two trigger signals;

偏移量确定模块430，设置为根据所述末端法兰位姿和标准工具坐标系，确定所述工具坐标系的偏移量；The offset determination module 430 is configured to determine the offset of the tool coordinate system based on the end flange posture and the standard tool coordinate system;

坐标系校准模块440，设置为根据所述偏移量，对所述末端工具对应的工具坐标系进行校准。The coordinate system calibration module 440 is configured to calibrate the tool coordinate system corresponding to the end tool according to the offset amount.

本申请实施例的技术方案中，通过触发激光位移传感器产生的触发信号，确定了末端法兰的位姿，并与标准工具坐标系下的末端法兰的位姿进行比较确定当前情况下末端法兰的偏移量，从而校准末端工具对应的工具坐标系。这样做的好处在于，能够减少人工的工作量做到自动校正，同时减小了人工校准中认为因素的影响，提高了机器人末端工具的校准精度和校准效率。In the technical solution of the embodiment of the present application, the position and orientation of the end flange is determined by triggering the trigger signal generated by the laser displacement sensor, and is compared with the position and orientation of the end flange in the standard tool coordinate system to determine the end method under the current situation. The offset of the blue axis is used to calibrate the tool coordinate system corresponding to the end tool. The advantage of this is that it can reduce the manual workload to achieve automatic correction, while reducing the influence of factors considered in manual calibration, and improving the calibration accuracy and efficiency of the robot's end tool.

在一种示例实施方式中，所述触发信号获取模块410，可以包括：In an example implementation, the trigger signal acquisition module 410 may include:

运动控制单元，设置为控制末端工具从预设的校准辅助点出发，向激光位移传感器的激光坐标轴进行预设平移距离和预设方向的往复运动；其中，往复运动用于触发激光坐标轴生成至少两个触发信号；The motion control unit is configured to control the end tool to perform a reciprocating movement of a preset translation distance and a preset direction to the laser coordinate axis of the laser displacement sensor from a preset calibration auxiliary point; wherein, the reciprocating movement is used to trigger the generation of the laser coordinate axis At least two trigger signals;

信号获取单元，设置为获取至少两个触发信号。The signal acquisition unit is configured to acquire at least two trigger signals.

在一种示例实施方式中，所述装置400可以包括：In an example implementation, the device 400 may include:

下探控制模块，设置为若未生成触发信号，则控制末端工具向下运动预设下探距离，并更新校准辅助点；The penetration control module is set to control the end tool to move downward to the preset penetration distance if no trigger signal is generated, and update the calibration auxiliary point;

往复运动模块，设置为根据更新后的校准辅助点，重新控制末端工具从更新后的校准辅助点出发进行往复运动。The reciprocating motion module is configured to re-control the end tool to perform reciprocating motion starting from the updated calibration auxiliary points.

在一种示例实施方式中，所述触发信号包括第一触发信号，所述运动控制单元可以包括：In an example implementation, the trigger signal includes a first trigger signal, and the motion control unit may include:

平移控制子单元，设置为控制末端工具从校准辅助点出发，向激光坐标轴运动预设平移距离，以生成第一触发信号；The translation control subunit is configured to control the end tool to move from the calibration auxiliary point to the laser coordinate axis by a preset translation distance to generate the first trigger signal;

返回控制子单元，设置为根据第一触发信号的生成情况，控制末端工具返回校准辅助点。The return control subunit is configured to control the end tool to return to the calibration auxiliary point according to the generation of the first trigger signal.

在一种示例实施方式中，所述触发信号还包括第二触发信号，所述返回控制子单元，可以包括：In an example implementation, the trigger signal further includes a second trigger signal, and the return control subunit may include:

第二信号触发从单元，设置为若生成第一触发信号，则控制末端工具返回校准辅助点，以生成第二触发信号；The second signal trigger slave unit is configured to control the end tool to return to the calibration auxiliary point to generate the second trigger signal if the first trigger signal is generated;

位姿记录子单元，设置为根据第二触发信号的生成情况，确定是否记录第一触发信号对应的末端法兰位姿。The pose recording subunit is configured to determine whether to record the end flange pose corresponding to the first trigger signal based on the generation of the second trigger signal.

在一种示例实施方式中，所述工具位姿确定模块420，可以包括：In an example implementation, the tool pose determination module 420 may include:

位姿获取单元，设置为获取至少两个触发信号对应的末端法兰的位姿数据； The pose acquisition unit is configured to acquire the pose data of the end flange corresponding to at least two trigger signals;

位姿确定单元，设置为根据位姿获取结果的坐标平均值，确定末端法兰位姿。The pose determination unit is set to determine the end flange pose based on the coordinate average of the pose acquisition results.

在一种示例实施方式中，所述坐标系校准模块440，设置为：根据标准工具坐标系与偏移量的和，更新工具坐标系，以对末端工具对应的工具坐标系进行校准。In an example implementation, the coordinate system calibration module 440 is configured to update the tool coordinate system according to the sum of the standard tool coordinate system and the offset to calibrate the tool coordinate system corresponding to the end tool.

本申请实施例所提供的坐标系校准装置可执行本申请任意实施例所提供的坐标系校准方法，具备执行多个坐标系校准方法相应的功能模块和有益效果。The coordinate system calibration device provided by the embodiments of this application can execute the coordinate system calibration method provided by any embodiment of this application, and has corresponding functional modules and beneficial effects for executing multiple coordinate system calibration methods.

图5示出了可以用来实施本申请的实施例的机器人10的结构示意图。机器人旨在表示多种形式的数字计算机，诸如，膝上型计算机、台式计算机、工作台、个人数字助理、服务器、刀片式服务器、大型计算机、和其它适合的计算机。机器人还可以表示多种形式的移动装置，诸如，个人数字处理、蜂窝电话、智能电话、可穿戴设备(如头盔、眼镜、手表等)和其它类似的计算装置。本文所示的部件、它们的连接和关系、以及它们的功能仅仅作为示例，并且不意在限制本文中描述的和/或者要求的本申请的实现。Figure 5 shows a schematic structural diagram of a robot 10 that can be used to implement embodiments of the present application. Robot is intended to represent many forms of digital computers, such as laptops, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. Robots may also represent various forms of mobile devices, such as personal digital assistants, cellular phones, smart phones, wearable devices (eg, helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions are examples only and are not intended to limit the implementation of the present application as described and/or claimed herein.

如图5所示，机器人10包括至少一个处理器11，以及与至少一个处理器11通信连接的存储器，如只读存储器(ROM)12、随机访问存储器(RAM)13等，其中，存储器存储有可被至少一个处理器执行的计算机程序，处理器11可以根据存储在只读存储器(ROM)12中的计算机程序或者从存储单元18加载到随机访问存储器(RAM)13中的计算机程序，来执行多种适当的动作和处理。在RAM 13中，还可存储机器人10操作所需的多种程序和数据。处理器11、ROM 12以及RAM 13通过总线14彼此相连。输入/输出(I/O)接口15也连接至总线14。As shown in Figure 5, the robot 10 includes at least one processor 11, and a memory communicatively connected to the at least one processor 11, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., wherein the memory stores A computer program executable by at least one processor. The processor 11 may execute according to a computer program stored in a read-only memory (ROM) 12 or loaded from a storage unit 18 into a random access memory (RAM) 13 A variety of appropriate actions and treatments. In the RAM 13, various programs and data required for the operation of the robot 10 can also be stored. The processor 11, the ROM 12 and the RAM 13 are connected to each other via the bus 14. An input/output (I/O) interface 15 is also connected to bus 14 .

机器人10中的多个部件连接至I/O接口15，包括：输入单元16，例如键盘、鼠标等；输出单元17，例如多种类型的显示器、扬声器等；存储单元18，例如磁盘、光盘等；以及通信单元19，例如网卡、调制解调器、无线通信收发机等。通信单元19允许机器人10通过诸如因特网的计算机网络和/或多种电信网络与其他设备交换信息/数据。Multiple components in the robot 10 are connected to the I/O interface 15, including: input unit 16, such as keyboard, mouse, etc.; output unit 17, such as various types of displays, speakers, etc.; storage unit 18, such as magnetic disk, optical disk, etc. ; And communication unit 19, such as network card, modem, wireless communication transceiver, etc. The communication unit 19 allows the robot 10 to exchange information/data with other devices via a computer network such as the Internet and/or various telecommunications networks.

处理器11可以是多种具有处理和计算能力的通用和/或专用处理组件。处理器11的一些示例包括但不限于中央处理单元(CPU)、图形处理单元(GPU)、多种专用的人工智能(AI)计算芯片、多种运行机器学习模型算法的处理器、数字信号处理器(DSP)、以及任何适当的处理器、控制器、微控制器等。处理器11执行上文所描述的多个方法和处理，例如坐标系校准方法。Processor 11 may be a variety of general and/or special purpose processing components having processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various specialized artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, digital signal processing processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 11 performs a plurality of methods and processes described above, such as the coordinate system calibration method.

在一些实施例中，坐标系校准方法可被实现为计算机程序，其被有形地包含于计算机可读存储介质，例如存储单元18。在一些实施例中，计算机程序的部分或者全部可以经由ROM 12和/或通信单元19而被载入和/或安装到机器人10上。当计算机程序加载到RAM 13并由处理器11执行时，可以执行上文描述的坐标系校准方法的一个或多个步骤。备选地，在其他实施例中，处理器11可以通过其他任何适当的方式(例如，借助于固件)而被配置为执行坐标系校准方法。In some embodiments, the coordinate system calibration method may be implemented as a computer program, which is tangibly included in a computer-readable storage medium, such as the storage unit 18 . In some embodiments, part or all of the computer program may be loaded and/or installed onto the robot 10 via the ROM 12 and/or the communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the coordinate system calibration method described above may be performed. Alternatively, in other embodiments, the processor 11 may be configured to perform the coordinate system calibration method in any other suitable manner (eg, by means of firmware).

本文中以上描述的***和技术的多种实施方式可以在数字电子电路***、集成电路***、场可编程门阵列(FPGA)、专用集成电路(ASIC)、专用标准产品(ASSP)、芯片上***的 ***(SOC)、负载可编程逻辑设备(CPLD)、计算机硬件、固件、软件、和/或它们的组合中实现。这些多种实施方式可以包括：实施在一个或者多个计算机程序中，该一个或者多个计算机程序可在包括至少一个可编程处理器的可编程***上执行和/或解释，该可编程处理器可以是专用或者通用可编程处理器，可以从存储***、至少一个输入装置、和至少一个输出装置接收数据和指令，并且将数据和指令传输至该存储***、该至少一个输入装置、和该至少一个输出装置。Various implementations of the systems and techniques described above may be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on a chip of system (SOC), load programmable logic device (CPLD), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include implementation in one or more computer programs executable and/or interpreted on a programmable system including at least one programmable processor, the programmable processor The processor, which may be a special purpose or general purpose programmable processor, may receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device. An output device.

用于实施本申请的方法的计算机程序可以采用一个或多个编程语言的任何组合来编写。这些计算机程序可以提供给通用计算机、专用计算机或其他可编程数据处理装置的处理器，使得计算机程序当由处理器执行时使流程图和/或框图中所规定的功能/操作被实施。计算机程序可以完全在机器上执行、部分地在机器上执行，作为独立软件包部分地在机器上执行且部分地在远程机器上执行或完全在远程机器或服务器上执行。Computer programs for implementing the methods of the present application may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that the computer program, when executed by the processor, causes the functions/operations specified in the flowcharts and/or block diagrams to be implemented. A computer program may execute entirely on the machine, partly on the machine, as a stand-alone software package, partly on the machine and partly on a remote machine or entirely on the remote machine or server.

在本申请的上下文中，计算机可读存储介质可以是有形的介质，其可以包含或存储以供指令执行***、装置或设备使用或与指令执行***、装置或设备结合地使用的计算机程序。计算机可读存储介质可以包括但不限于电子的、磁性的、光学的、电磁的、红外的、或半导体***、装置或设备，或者上述内容的任何合适组合。备选地，计算机可读存储介质可以是机器可读信号介质。机器可读存储介质的更具体示例会包括基于一个或多个线的电气连接、便携式计算机盘、硬盘、随机存取存储器(RAM)、只读存储器(ROM)、可擦除可编程只读存储器(EPROM或快闪存储器)、光纤、便捷式紧凑盘只读存储器(CD-ROM)、光学储存设备、磁储存设备、或上述内容的任何合适组合。计算机可读存储介质可以为非暂态计算机可读存储介质。In the context of this application, a computer-readable storage medium may be a tangible medium that may contain or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. Computer-readable storage media may include, but are not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or devices, or any suitable combination of the foregoing. Alternatively, the computer-readable storage medium may be a machine-readable signal medium. More specific examples of machine-readable storage media would include one or more wire-based electrical connections, laptop disks, hard drives, random access memory (RAM), read only memory (ROM), erasable programmable read only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination of the above. The computer-readable storage medium may be a non-transitory computer-readable storage medium.

为了提供与用户的交互，可以在机器人上实施此处描述的***和技术，该机器人具有：用于向用户显示信息的显示装置(例如，CRT(阴极射线管)或者LCD(液晶显示器)监视器)；以及键盘和指向装置(例如，鼠标或者轨迹球)，用户可以通过该键盘和该指向装置来将输入提供给机器人。其它种类的装置还可以用于提供与用户的交互；例如，提供给用户的反馈可以是任何形式的传感反馈(例如，视觉反馈、听觉反馈、或者触觉反馈)；并且可以用任何形式(包括声输入、语音输入或者、触觉输入)来接收来自用户的输入。To provide interaction with a user, the systems and techniques described herein may be implemented on a robot having: a display device (eg, a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user ); and a keyboard and pointing device (e.g., a mouse or a trackball) through which a user can provide input to the robot. Other kinds of devices may also be used to provide interaction with the user; for example, the feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and may be provided in any form, including Acoustic input, voice input or tactile input) to receive input from the user.

可以将此处描述的***和技术实施在包括后台部件的计算***(例如，作为数据服务器)、或者包括中间件部件的计算***(例如，应用服务器)、或者包括前端部件的计算***(例如，具有图形用户界面或者网络浏览器的用户计算机，用户可以通过该图形用户界面或者该网络浏览器来与此处描述的***和技术的实施方式交互)、或者包括这种后台部件、中间件部件、或者前端部件的任何组合的计算***中。可以通过任何形式或者介质的数字数据通信(例如，通信网络)来将***的部件相互连接。通信网络的示例包括：局域网(LAN)、广域网(WAN)、区块链网络和互联网。The systems and techniques described herein may be implemented in a computing system that includes back-end components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes front-end components (e.g., A user's computer having a graphical user interface or web browser through which the user can interact with implementations of the systems and technologies described herein), or including such backend components, middleware components, or any combination of front-end components in a computing system. The components of the system may be interconnected by any form or medium of digital data communication (eg, a communications network). Examples of communication networks include: local area network (LAN), wide area network (WAN), blockchain network, and the Internet.

计算***可以包括客户端和服务器。客户端和服务器一般远离彼此并且通常通过通信网络进行交互。通过在相应的计算机上运行并且彼此具有客户端-服务器关系的计算机程序来产 生客户端和服务器的关系。服务器可以是云服务器，又称为云计算服务器或云主机，是云计算服务体系中的一项主机产品，以避免相关技术中的物理主机与VPS服务中，存在的管理难度大，业务扩展性弱的情况。Computing systems may include clients and servers. Clients and servers are generally remote from each other and typically interact over a communications network. Produced by computer programs that run on corresponding computers and have a client-server relationship with each other. The relationship between client and server. The server can be a cloud server, also known as cloud computing server or cloud host. It is a host product in the cloud computing service system to avoid the difficult management and business scalability of physical hosts and VPS services in related technologies. weak situation.

应该理解，可以使用上面所示的多种形式的流程，重新排序、增加或删除步骤。例如，本申请中记载的多个步骤可以并行地执行也可以顺序地执行也可以不同的次序执行，只要能够实现本申请的技术方案所期望的结果，本文在此不进行限制。 It should be understood that various forms of the process shown above may be used, with steps reordered, added or deleted. For example, multiple steps described in this application can be executed in parallel, sequentially, or in different orders. As long as the desired results of the technical solution of this application can be achieved, there is no limitation here.

Claims (10)

1. 一种坐标系校准方法，包括：A coordinate system calibration method, including:

   获取机器人的末端工具触发激光位移传感器的激光坐标轴生成的至少两个触发信号；Obtain at least two trigger signals generated by the laser coordinate axis of the laser displacement sensor triggered by the robot's end tool;

   根据所述至少两个触发信号，确定所述机器人的末端法兰位姿；Determine the end flange posture of the robot according to the at least two trigger signals;

   根据所述末端法兰位姿和标准工具坐标系，确定所述末端法兰的偏移量；Determine the offset of the end flange according to the end flange posture and the standard tool coordinate system;

   根据所述偏移量，对所述末端工具对应的工具坐标系进行校准。According to the offset, the tool coordinate system corresponding to the end tool is calibrated.
2. 根据权利要求1所述的方法，其中，所述获取机器人的末端工具触发激光位移传感器的激光坐标轴生成的至少两个触发信号，包括：The method according to claim 1, wherein said obtaining at least two trigger signals generated by the laser coordinate axis of the laser displacement sensor triggered by the end tool of the robot includes:

   控制所述末端工具从预设的校准辅助点出发，向所述激光位移传感器的激光坐标轴进行预设平移距离和预设方向的往复运动；其中，所述往复运动用于触发所述激光坐标轴以生成所述至少两个触发信号；Control the end tool to start from a preset calibration auxiliary point and perform a reciprocating movement of a preset translation distance and a preset direction toward the laser coordinate axis of the laser displacement sensor; wherein the reciprocating movement is used to trigger the laser coordinate axis axis to generate the at least two trigger signals;

   获取所述至少两个触发信号。Obtain the at least two trigger signals.
3. 根据权利要求2所述的方法，还包括：The method of claim 2, further comprising:

   响应于确定所述末端工具触发激光位移传感器的激光坐标轴未生成触发信号，控制所述末端工具向下运动预设下探距离，并更新所述校准辅助点；In response to determining that the laser coordinate axis of the end tool triggering the laser displacement sensor does not generate a trigger signal, control the end tool to move downward to a preset penetration distance, and update the calibration auxiliary point;

   根据更新后的校准辅助点，重新控制所述末端工具从所述更新后的校准辅助点出发进行所述往复运动。According to the updated calibration auxiliary point, the end tool is re-controlled to perform the reciprocating motion starting from the updated calibration auxiliary point.
4. 根据权利要求2所述的方法，其中，所述至少两个触发信号包括第一触发信号，所述控制所述末端工具从预设的校准辅助点出发，向所述激光位移传感器的激光坐标轴进行预设距离和预设方向的往复运动，包括：The method of claim 2, wherein the at least two trigger signals include a first trigger signal, and the end tool is controlled to move from a preset calibration auxiliary point to a laser coordinate axis of the laser displacement sensor. Perform reciprocating motion over preset distances and preset directions, including:

   控制所述末端工具从所述校准辅助点出发，向所述激光坐标轴运动预设平移距离，以生成所述第一触发信号；Control the end tool to move from the calibration auxiliary point to the laser coordinate axis by a preset translation distance to generate the first trigger signal;

   根据第一触发信号的生成情况，控制所述末端工具返回所述校准辅助点。The end tool is controlled to return to the calibration auxiliary point according to the generation of the first trigger signal.
5. 根据权利要求4所述的方法，其中，所述至少两个触发信号还包括第二触发信号，所述根据第一触发信号的生成情况，控制所述末端工具返回所述校准辅助点，包括：The method according to claim 4, wherein the at least two trigger signals further include a second trigger signal, and controlling the end tool to return to the calibration auxiliary point according to the generation of the first trigger signal includes:

   响应于确定生成所述第一触发信号，控制所述末端工具返回所述校准辅助点，以生成所述第二触发信号；In response to determining to generate the first trigger signal, controlling the end tool to return to the calibration auxiliary point to generate the second trigger signal;

   根据所述第二触发信号的生成情况，确定是否记录所述第一触发信号对应的所述末端法兰位姿。According to the generation of the second trigger signal, it is determined whether to record the end flange posture corresponding to the first trigger signal.
6. 根据权利要求1-5任一项所述的方法，其中，所述根据所述至少两个触发信号，确定所述机器人的末端法兰位姿，包括：The method according to any one of claims 1 to 5, wherein determining the end flange posture of the robot according to the at least two trigger signals includes:

   获取所述至少两个触发信号对应的所述末端法兰的位姿数据；Obtain the pose data of the end flange corresponding to the at least two trigger signals;

   根据位姿获取结果的坐标平均值，确定所述末端法兰位姿。The end flange posture is determined based on the coordinate average of the posture acquisition results.
7. 根据权利要求1-5任一项所述的方法，其中，所述根据所述偏移量，对所述末端工具对应的工具坐标系进行校准，包括：The method according to any one of claims 1 to 5, wherein calibrating the tool coordinate system corresponding to the end tool according to the offset includes:

   根据所述标准工具坐标系与所述偏移量的和，更新所述工具坐标系，以对所述末端工具 对应的工具坐标系进行校准。According to the sum of the standard tool coordinate system and the offset, the tool coordinate system is updated to adjust the end tool Calibrate the corresponding tool coordinate system.
8. 一种坐标系校准装置，包括：A coordinate system calibration device, including:

   触发信号获取模块，设置为获取机器人的末端工具触发激光位移传感器的激光坐标轴生成的至少两个触发信号；The trigger signal acquisition module is configured to acquire at least two trigger signals generated by the laser coordinate axis of the laser displacement sensor triggered by the end tool of the robot;

   法兰位姿确定模块，设置为根据所述至少两个触发信号，确定所述机器人的末端法兰位姿；A flange pose determination module configured to determine the end flange pose of the robot based on the at least two trigger signals;

   偏移量确定模块，设置为根据所述末端法兰位姿和标准工具坐标系，确定所述末端法兰的偏移量；An offset determination module is configured to determine the offset of the end flange based on the end flange posture and the standard tool coordinate system;

   坐标系校准模块，设置为根据所述偏移量，对所述末端工具对应的工具坐标系进行校准。A coordinate system calibration module is configured to calibrate the tool coordinate system corresponding to the end tool according to the offset.
9. 一种机器人，包括：A robot consisting of:

   至少一个处理器；以及at least one processor; and

   与所述至少一个处理器通信连接的存储器；其中，a memory communicatively connected to the at least one processor; wherein,

   所述存储器存储有可被所述至少一个处理器执行的计算机程序，所述计算机程序被所述至少一个处理器执行，以使所述至少一个处理器能够执行权利要求1-7中任一项所述的坐标系校准方法。The memory stores a computer program executable by the at least one processor, the computer program being executed by the at least one processor, so that the at least one processor can perform any one of claims 1-7 The coordinate system calibration method.
10. 一种计算机可读存储介质，所述计算机可读存储介质存储有计算机指令，所述计算机指令用于使处理器执行时实现权利要求1-7中任一项所述的坐标系校准方法。 A computer-readable storage medium stores computer instructions, and the computer instructions are used to implement the coordinate system calibration method according to any one of claims 1-7 when executed by a processor.