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CN119734269A - Robot-based cooperative target six-dimensional pose full-automatic positioning method and system - Google Patents

Robot-based cooperative target six-dimensional pose full-automatic positioning method and system Download PDF

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Publication number
CN119734269A
CN119734269A CN202411985119.9A CN202411985119A CN119734269A CN 119734269 A CN119734269 A CN 119734269A CN 202411985119 A CN202411985119 A CN 202411985119A CN 119734269 A CN119734269 A CN 119734269A
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coordinate system
robot
cooperative target
visual sensor
module
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CN119734269B (en
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张勇
钱晨
李芳昕
焦新生
陈威
袁茂强
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Shanghai Aerospace Equipments Manufacturer Co Ltd
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Shanghai Aerospace Equipments Manufacturer Co Ltd
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Abstract

本发明提供了一种基于机器人的合作目标六维位姿全自动定位方法及系统，包括：建立手眼坐标关系步骤：通过工具坐标系和视觉传感器坐标系的切换，建立机器人手眼坐标关系；调平步骤：通过合作目标平面法线测量设备进行测量平面法线并调整；其中，测量和调整过程是全自动流程；建立初始工件坐标系步骤：利用合作目标平面法线测量设备建立合作目标初始工件坐标系；调整步骤：调整视觉传感器拍照姿态和位置；拍照步骤：通过使用所述调整步骤后的视觉传感器进行拍照，并计算合作目标表面工件坐标系；定位步骤：根据拍照结果建立合作目标表面工件坐标系，完成合作目标六维位姿的全自动定位。本发明能够全自动运行，结果准确，效率高，操作简单。

The present invention provides a robot-based cooperative target six-dimensional posture fully automatic positioning method and system, including: a hand-eye coordinate relationship establishment step: establishing a robot hand-eye coordinate relationship by switching a tool coordinate system and a visual sensor coordinate system; a leveling step: measuring and adjusting the plane normal by a cooperative target plane normal measurement device; wherein the measurement and adjustment process is a fully automatic process; an initial workpiece coordinate system establishment step: establishing the cooperative target initial workpiece coordinate system by using a cooperative target plane normal measurement device; an adjustment step: adjusting the visual sensor shooting posture and position; a shooting step: taking a picture by using the visual sensor after the adjustment step, and calculating the cooperative target surface workpiece coordinate system; a positioning step: establishing the cooperative target surface workpiece coordinate system according to the shooting result, and completing the fully automatic positioning of the cooperative target six-dimensional posture. The present invention can be fully automatic, with accurate results, high efficiency and simple operation.

Description

Robot-based cooperative target six-dimensional pose full-automatic positioning method and system
Technical Field
The invention relates to the technical field of industrial robot calibration, in particular to a cooperative target six-dimensional pose full-automatic positioning method and system based on a robot, and particularly relates to a robot vision pose adjusting method based on normal leveling.
Background
Currently, mobile robot automated hole making systems have been increasingly used in the field of automobile and other manufacturing. In the hole making robot system, the position of the hole making position of each vehicle relative to the robot coordinate system is changed, and the main reason is that 1, the driver is difficult to accurately position when parking. 2. The chassis welding process results in a change in the shape, position and size of the chassis itself. 3. The chassis is independently suspended, and due to the tire pressure, the girder planes of different vehicles have a certain height difference. 4. The chassis assembly process is mainly performed manually, and the consistency of the installation size and the position of each installation component of the chassis is difficult to ensure.
The processing accurate positioning of vehicle can be realized through AGV to the minibus, but adopts AGV cost to expensive to large-scale truck, and the system is complicated, and equipment maintenance is troublesome.
Patent document publication No. CN113246135B discloses a robot hand-eye calibration method, a device, an electronic apparatus and a storage medium, by translating a robot end between at least four first position points, acquiring a first coordinate of a TCP marker in a vision sensor coordinate system and a first position of a robot end flange coordinate system relative to a robot base coordinate system at each first position point, calculating a rotation transformation matrix between the robot base coordinate system and the vision sensor coordinate system according to the first coordinate and the first position, moving the robot end to at least one second position point, acquiring a second coordinate of a TCP marker acquired by the vision sensor in the vision sensor coordinate system and a second position of the robot end flange coordinate system relative to the robot base coordinate system at each second position point, calculating a position transformation matrix between the robot base coordinate system and the vision sensor coordinate system according to the second coordinate, the second position and the rotation transformation matrix, thereby realizing automation of a calibration process and improving work efficiency.
However, the patent cannot establish an accurate coordinate system, so it is highly desirable to provide a robot-based cooperative target six-dimensional pose full-automatic positioning method and system
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a robot-based cooperative target six-dimensional pose full-automatic positioning method and system.
The invention provides a robot-based cooperative target six-dimensional pose full-automatic positioning method, which comprises the following steps:
Establishing a hand-eye coordinate relation, namely establishing a robot hand-eye coordinate relation through switching of a tool coordinate system and a vision sensor coordinate system;
leveling, namely measuring and adjusting the plane normal through cooperative target plane normal measuring equipment, wherein the measuring and adjusting process is a full-automatic process;
establishing an initial workpiece coordinate system by utilizing cooperative target plane normal measuring equipment;
Adjusting the photographing posture and position of the vision sensor;
photographing by using the vision sensor after the adjustment step, and calculating a coordinate system of the workpiece on the surface of the cooperative target;
And the positioning step is to establish a coordinate system of the workpiece on the surface of the cooperative target according to the photographing result, so as to complete the full-automatic positioning of the six-dimensional pose of the cooperative target.
Preferably, the step of establishing the hand-eye coordinate relationship includes:
Setting up a coordinate system, namely arranging 3 laser displacement sensors around the drilling robot tool, and setting up a robot tool coordinate system O tXtYtZt by using a robot 4-point method and a robot 2-point method, setting up a point tool below a vision sensor light source, ensuring that a center shaft of the point tool is coaxial with a center line of an optical axis of the vision sensor, and setting up a robot vision sensor coordinate system O cXcYcZc by using the 4-point method and the 2-point method;
and switching the O tXtYtZt and the O cXcYcZc in a robot tool coordinate system to obtain a robot hand-eye coordinate relationship.
Preferably, the leveling step includes:
The motion step is to execute the teaching track of the robot to move to the area near the target plane, wherein the teaching program does not require position and gesture accuracy;
The calculation step, the measured value of the normal measurement device of the cooperative target plane is sent to a calculation program in real time, and the included angle and the distance between the tool coordinate system O tXtYtZt and the surface of the cooperative target are calculated through a specific algorithm;
an included angle adjusting step, namely adjusting the gesture of the robot through an included angle between the coordinate system and the surface of the cooperative target, so that the tool coordinate system O tXtYtZt is perpendicular to the surface of the cooperative target;
And recording the coordinates (X 1,Y1,Z1,A1,B1,C1) of the current tool coordinate system O tXtYtZt under the robot root coordinate system and the vertical distance H between the tool coordinate system and the surface of the cooperative target after the posture of the robot is adjusted.
Preferably, the step of establishing the initial workpiece coordinate system includes:
A reading step of reading the coordinates (X 1,Y1,Z1,A1,B1,C1) and the vertical distance H in the recording step;
The conversion step is that the coordinate (X 2,Y2,Z2) of the initial coordinate system of the cooperative target under the robot root coordinate system is obtained according to the coordinate transformation;
obtaining Euler angles, namely obtaining Euler angles of an initial coordinate system of the cooperative target by utilizing the mutual relation between the tool coordinate system and the surface of the cooperative target;
And establishing a cooperative target initial coordinate system, namely establishing a cooperative target initial workpiece coordinate system O b1Xb1Yb1Zb1 through the conversion step and the step of obtaining Euler angles (X 2,Y2,Z2,A2,B2,C2).
Preferably, the adjusting step includes:
The gesture adjusting step, namely adjusting the gesture angle of the robot to enable the optical axis of the visual sensor to be perpendicular to the surface of the cooperative target by C=0 and B=0 of a coordinate system O cXcYcZc of the visual sensor under an initial workpiece coordinate system O b1Xb1Yb1Zb1 of the cooperative target;
The position adjusting step is that after the posture of the visual sensor is adjusted, the position of the visual sensor is adjusted to a photographing fixed height, so that the posture and the position of the visual sensor are within the allowable range, and the photographing definition can be ensured;
the positioning step comprises the following steps:
A step of establishing a plane coordinate system, in which an image is obtained by photographing through a visual sensor, proper geometric elements are selected according to the image properties, and the plane coordinate system of the image under the visual sensor coordinate system is established;
the photographing step comprises the following steps:
The reading step, photographing through a vision sensor to obtain XY coordinates of an origin of a workpiece coordinate system on the surface of a cooperative target under the vision sensor coordinate system, fixedly calculating Z coordinates of the origin under the vision sensor coordinate system by photographing height, and reading coordinates (X c,Yc,Zc,Ac,Bc,Cc) of the vision sensor coordinate system under a robot root coordinate system at the moment;
The conversion step comprises the steps of obtaining a coordinate (X 4,Y4,Z4) of an origin under a robot root coordinate system according to a robot coordinate conversion matrix, obtaining an included angle A 3 between a cooperative target surface workpiece coordinate system and a visual sensor coordinate system according to a connecting line of the origin and a visual sensor photographing object, and obtaining an Euler angle (A 4,B4,C4) of the cooperative target surface workpiece coordinate system under the robot root coordinate system according to a reverse Euler angle formula;
Establishing a cooperative target surface workpiece coordinate system (X 4,Y4,Z4,A4,B4,C4) according to the coordinate and Euler angle obtained in the conversion step;
the positioning step comprises the following steps:
And converting the root coordinate system, namely converting the planar coordinate system of the image under the coordinate system of the visual sensor into the root coordinate system of the robot through coordinate transformation to complete full-automatic positioning of the six-dimensional pose of the cooperative target, wherein the Z value is the photographing height of the camera, the angle B, C is the pose angle of the camera, and the A is the included angle between the coordinate system of the workpiece on the surface of the cooperative target and the coordinate system of the visual sensor.
A robot-based cooperative target six-dimensional pose full-automatic positioning system comprises:
The hand-eye coordinate relation establishing module is used for establishing a robot hand-eye coordinate relation through switching of a tool coordinate system and a vision sensor coordinate system;
The leveling module is used for measuring and adjusting the plane normal through the cooperative target plane normal measuring equipment, wherein the measuring and adjusting process is a full-automatic process;
Establishing an initial workpiece coordinate system module, namely establishing a cooperative target initial workpiece coordinate system by utilizing cooperative target plane normal measuring equipment;
The adjusting module is used for adjusting the photographing posture and position of the vision sensor;
the photographing module is used for photographing by using the vision sensor after the adjusting module and calculating a coordinate system of the workpiece on the surface of the cooperative target;
And the positioning module is used for establishing a coordinate system of the workpiece on the surface of the cooperative target according to the photographing result to complete the full-automatic positioning of the six-dimensional pose of the cooperative target.
Preferably, the establishing the hand-eye coordinate relation module includes:
Setting up a coordinate system module, namely arranging 3 laser displacement sensors around the drilling robot tool, and setting up a robot tool coordinate system O tXtYtZt by using a robot 4-point method and a robot 2-point method, setting up a point tool below a vision sensor light source, ensuring that a center shaft of the point tool is coaxial with a center line of an optical axis of the vision sensor, and setting up a robot vision sensor coordinate system O cXcYcZc by using the 4-point method and the 2-point method;
And the switching module is used for switching the O tXtYtZt and the O cXcYcZc in the robot tool coordinate system to obtain the robot hand-eye coordinate relation.
Preferably, the leveling module includes:
the motion module is used for executing the teaching track of the robot to move to the area near the target plane, wherein the teaching program does not require position and gesture accuracy;
the calculation module is used for sending the measured value of the cooperative target plane normal measurement device to a calculation program in real time, and calculating the included angle and the distance between the tool coordinate system O tXtYtZt and the surface of the cooperative target through a specific algorithm;
The included angle adjusting module is used for adjusting the gesture of the robot through the included angle between the coordinate system and the surface of the cooperative target, so that the tool coordinate system O tXtYtZt is perpendicular to the surface of the cooperative target;
And the recording module is used for recording the coordinates (X 1,Y1,Z1,A1,B1,C1) of the current tool coordinate system O tXtYtZt under the robot root coordinate system and the vertical distance H between the tool coordinate system and the surface of the cooperative target after the posture of the robot is adjusted.
Preferably, the establishing an initial workpiece coordinate system module includes:
The reading module is used for reading the coordinates (X 1,Y1,Z1,A1,B1,C1) and the vertical distance H in the recording module;
The conversion module is used for obtaining a coordinate (X 2,Y2,Z2) of the initial coordinate system of the cooperative target under the root coordinate system of the robot according to the coordinate transformation;
The Euler angle obtaining module is used for obtaining Euler angles of an initial coordinate system of the cooperative target by utilizing the mutual relation between the tool coordinate system and the surface of the cooperative target;
And establishing a cooperative target initial coordinate system module, namely establishing a cooperative target initial workpiece coordinate system O b1Xb1Yb1Zb1 through the conversion module and the (X 2,Y2,Z2,A2,B2,C2) obtained by the Euler angle obtaining module.
Preferably, the adjusting module includes:
The gesture adjustment module is used for adjusting the gesture angle of the robot so that the C=0 and the B=0 of the visual sensor coordinate system O cXcYcZc under the initial workpiece coordinate system O b1Xb1Yb1Zb1 of the cooperative target and the optical axis of the visual sensor is vertical to the surface of the cooperative target;
The position adjusting module is used for adjusting the position of the visual sensor to a photographing fixed height after adjusting the posture of the visual sensor, so that the posture and the position of the visual sensor are in an allowable range, and the photographing definition can be ensured;
the positioning module comprises:
the plane coordinate system establishing module is used for acquiring an image through photographing of the visual sensor, selecting proper geometric elements according to the image property, and establishing a plane coordinate system of the image under the coordinate system of the visual sensor;
the photographing module comprises:
the reading module is used for photographing through the vision sensor to obtain XY coordinates of an origin of the workpiece coordinate system on the surface of the cooperative target under the vision sensor coordinate system, and fixedly calculating Z coordinates of the origin under the vision sensor coordinate system by photographing height, and reading coordinates (X c,Yc,Zc,Ac,Bc,Cc) of the vision sensor coordinate system under the robot root coordinate system at the moment;
The conversion module is used for obtaining a coordinate (X 4,Y4,Z4) of the origin under the robot root coordinate system according to the robot coordinate conversion matrix, obtaining an included angle A 3 between the coordinate system of the workpiece on the surface of the cooperative target and the coordinate system of the vision sensor according to the connecting line of the origin and the photographed object of the vision sensor, and obtaining an Euler angle (A 4,B4,C4) of the coordinate system of the workpiece on the surface of the cooperative target under the robot root coordinate system according to a reverse Euler angle formula;
A cooperative target surface workpiece coordinate system module is established, wherein a cooperative target surface workpiece coordinate system (X 4,Y4,Z4,A4,B4,C4) is established according to the coordinates and Euler angles obtained by the conversion module;
the positioning module comprises:
the root coordinate system conversion module converts an image into a robot root coordinate system under a plane coordinate system under a visual sensor coordinate system through coordinate transformation, and completes full-automatic positioning of six-dimensional pose of a cooperative target, wherein a Z value is a photographing height of a camera, a B, C angle is a pose angle of the camera, and A is an included angle between a workpiece coordinate system on the surface of the cooperative target and the visual sensor coordinate system.
Compared with the prior art, the invention has the following beneficial effects:
1. According to the invention, the hand-eye relation between the robot tool coordinate system and the vision sensor coordinate system is calibrated according to the 4-point method and the 2-point method of the robot workpiece coordinate system, the method is simple and effective, and the tedious process of using a laser interferometer for calibration is avoided.
2. According to the invention, the automatic photographing adjustment and the automatic height adjustment of the vision sensor can be realized according to normal leveling, the photographing definition and the measuring precision can be ensured, the automation of the whole processing process can be realized, and the invention can be suitable for different cooperative target surfaces.
Drawings
Other features, objects and advantages of the present invention will become more apparent upon reading of the detailed description of non-limiting embodiments, given with reference to the accompanying drawings in which:
FIG. 1 is a six-dimensional pose full-automatic cooperative target positioning process;
FIG. 2 is a schematic diagram of a system of a workstation of the hole making robot;
FIG. 3 is a diagram of a tool coordinate system and a vision sensor coordinate system;
Fig. 4 is a schematic diagram of a normal leveling procedure.
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the present invention, but are not intended to limit the invention in any way. It should be noted that variations and modifications could be made by those skilled in the art without departing from the inventive concept. These are all within the scope of the present invention.
Example 1:
As shown in fig. 1 to 4, the present embodiment provides a robot-based cooperative target six-dimensional pose full-automatic positioning method, which includes:
Establishing a hand-eye coordinate relation, namely establishing a robot hand-eye coordinate relation through switching of a tool coordinate system and a vision sensor coordinate system; the step of establishing the hand-eye coordinate relation specifically comprises the following steps:
Setting up a coordinate system, namely arranging 3 laser displacement sensors around a drilling robot tool, setting up a robot tool coordinate system O tXtYtZt by using a 4-point method and a 2-point method of the robot, installing a point tool below a light source of the vision sensor, ensuring the center shaft of the point tool to be coaxial with the center line of an optical axis of the vision sensor, setting up a robot vision sensor coordinate system O cXcYcZc by using the 4-point method and the 2-point method, wherein the 4-point method represents a method for setting up the tool coordinate system by the robot, determining a reference point near the robot, enabling a tool center point to be aligned with the reference point by controlling the gesture of the robot, repeating the steps for 3 times, changing the gesture of the robot, enabling the tool center point to be aligned with the same reference point, setting up an equation set under the condition that coordinates of four tool center points are equal in the world coordinate system, and solving the equation set up, and realizing the establishment of the position of the tool coordinate system;
The switching step comprises the step of switching O tXtYtZt and O cXcYcZc in a robot tool coordinate system to obtain a robot hand-eye coordinate relationship, wherein the robot hand-eye coordinate relationship refers to a tool coordinate system established by a current installation tool of the robot, the eye refers to a tool coordinate system established by a visual sensor as a tool, and the hand-eye coordinate relationship is a transformation matrix between the two coordinate systems.
The leveling step is to measure and adjust the plane normal through the cooperative target plane normal measuring equipment, wherein the measuring and adjusting process is a full-automatic process, and the leveling step specifically comprises the following steps:
The motion step is to execute the teaching track of the robot to move to the area near the target plane, wherein the teaching program does not require position and gesture accuracy;
The calculation step, the measured value of the normal measurement device of the cooperative target plane is sent to a calculation program in real time, and the included angle and the distance between the tool coordinate system O tXtYtZt and the surface of the cooperative target are calculated through a specific algorithm;
an included angle adjusting step, namely adjusting the gesture of the robot through an included angle between the coordinate system and the surface of the cooperative target, so that the tool coordinate system O tXtYtZt is perpendicular to the surface of the cooperative target;
And recording the coordinates (X 1,Y1,Z1,A1,B1,C1) of the current tool coordinate system O tXtYtZt under the robot root coordinate system and the vertical distance H between the tool coordinate system and the surface of the cooperative target after the posture of the robot is adjusted.
The step of establishing the initial workpiece coordinate system comprises the steps of utilizing cooperative target plane normal measuring equipment to establish the cooperative target initial workpiece coordinate system, wherein the step of establishing the initial workpiece coordinate system specifically comprises the following steps:
A reading step of reading the coordinates (X 1,Y1,Z1,A1,B1,C1) and the vertical distance H in the recording step;
The conversion step is to obtain the coordinate (X 2,Y2,Z2) of the initial coordinate system of the cooperative target under the robot root coordinate system according to the coordinate transformation, wherein the robot root coordinate system is fixed at the center of the robot base, namely the origin of the robot, and the function is the basic coordinate system of the internal coordinate transformation of the robot;
obtaining Euler angles, namely obtaining Euler angles of an initial coordinate system of the cooperative target by utilizing the mutual relation between the tool coordinate system and the surface of the cooperative target;
And establishing a cooperative target initial coordinate system, namely establishing a cooperative target initial workpiece coordinate system O b1Xb1Yb1Zb1 through the conversion step and the step of obtaining Euler angles (X 2,Y2,Z2,A2,B2,C2).
Adjusting the photographing posture and position of the vision sensor; the adjusting step specifically comprises the following steps:
The gesture adjusting step, namely adjusting the gesture angle of the robot to enable the optical axis of the visual sensor to be perpendicular to the surface of the cooperative target by C=0 and B=0 of a coordinate system O cXcYcZc of the visual sensor under an initial workpiece coordinate system O b1Xb1Yb1Zb1 of the cooperative target;
And the position adjusting step is to adjust the position of the visual sensor to a photographing fixed height after adjusting the posture of the visual sensor, so that the posture and the position of the visual sensor are in an allowable range, and the photographing definition can be ensured.
The photographing step is to photograph by using the visual sensor after the adjustment step and calculate the coordinate system of the workpiece on the surface of the cooperative target, and specifically comprises the following steps:
The reading step, photographing through a vision sensor to obtain XY coordinates of an origin of a workpiece coordinate system on the surface of a cooperative target under the vision sensor coordinate system, fixedly calculating Z coordinates of the origin under the vision sensor coordinate system by photographing height, and reading coordinates (X c,Yc,Zc,Ac,Bc,Cc) of the vision sensor coordinate system under a robot root coordinate system at the moment;
The conversion step comprises the steps of obtaining a coordinate (X 4,Y4,Z4) of an origin under a robot root coordinate system according to a robot coordinate conversion matrix, obtaining an included angle A 3 between a cooperative target surface workpiece coordinate system and a visual sensor coordinate system according to a connecting line of the origin and a visual sensor photographing object, and obtaining an Euler angle (A 4,B4,C4) of the cooperative target surface workpiece coordinate system under the robot root coordinate system according to a reverse Euler angle formula;
And establishing a cooperative target surface workpiece coordinate system (X 4,Y4,Z4,A4,B4,C4) according to the coordinates and Euler angles obtained in the conversion step.
The positioning step is to establish a coordinate system of the workpiece on the surface of the cooperative target according to the photographing result to complete the full-automatic positioning of the six-dimensional pose of the cooperative target, and specifically comprises the following steps:
A step of establishing a plane coordinate system, in which an image is obtained by photographing through a visual sensor, proper geometric elements are selected according to the image properties, and the plane coordinate system of the image under the visual sensor coordinate system is established;
And converting the root coordinate system, namely converting the planar coordinate system of the image under the coordinate system of the visual sensor into the root coordinate system of the robot through coordinate transformation to complete full-automatic positioning of the six-dimensional pose of the cooperative target, wherein the Z value is the photographing height of the camera, the angle B, C is the pose angle of the camera, and the A is the included angle between the coordinate system of the workpiece on the surface of the cooperative target and the coordinate system of the visual sensor.
The invention also provides a robot-based cooperative target six-dimensional pose full-automatic positioning system, which can be realized by executing the flow steps of the robot-based cooperative target six-dimensional pose full-automatic positioning method, namely, a person skilled in the art can understand the robot-based cooperative target six-dimensional pose full-automatic positioning method as a preferred implementation mode of the robot-based cooperative target six-dimensional pose full-automatic positioning system.
Example 2:
the embodiment provides a robot-based cooperative target six-dimensional pose full-automatic positioning system, which comprises:
the hand-eye coordinate relation establishing module establishes a robot hand-eye coordinate relation through switching of a tool coordinate system and a vision sensor coordinate system, and specifically comprises the following modules:
Setting up a coordinate system module, namely arranging 3 laser displacement sensors around the drilling robot tool, and setting up a robot tool coordinate system O tXtYtZt by using a robot 4-point method and a robot 2-point method, setting up a point tool below a vision sensor light source, ensuring that a center shaft of the point tool is coaxial with a center line of an optical axis of the vision sensor, and setting up a robot vision sensor coordinate system O cXcYcZc by using the 4-point method and the 2-point method;
And the switching module is used for switching the O tXtYtZt and the O cXcYcZc in the robot tool coordinate system to obtain the robot hand-eye coordinate relation.
The leveling module is used for measuring and adjusting the plane normal through the cooperative target plane normal measuring equipment, wherein the measuring and adjusting process is a full-automatic process, and the leveling module specifically comprises the following modules:
the motion module is used for executing the teaching track of the robot to move to the area near the target plane, wherein the teaching program does not require position and gesture accuracy;
the calculation module is used for sending the measured value of the cooperative target plane normal measurement device to a calculation program in real time, and calculating the included angle and the distance between the tool coordinate system O tXtYtZt and the surface of the cooperative target through a specific algorithm;
The included angle adjusting module is used for adjusting the gesture of the robot through the included angle between the coordinate system and the surface of the cooperative target, so that the tool coordinate system O tXtYtZt is perpendicular to the surface of the cooperative target;
And the recording module is used for recording the coordinates (X 1,Y1,Z1,A1,B1,C1) of the current tool coordinate system O tXtYtZt under the robot root coordinate system and the vertical distance H between the tool coordinate system and the surface of the cooperative target after the posture of the robot is adjusted.
The initial workpiece coordinate system establishing module establishes a cooperative target initial workpiece coordinate system by utilizing cooperative target plane normal measuring equipment, and specifically comprises the following modules:
The reading module is used for reading the coordinates (X 1,Y1,Z1,A1,B1,C1) and the vertical distance H in the recording module;
The conversion module is used for obtaining a coordinate (X 2,Y2,Z2) of the initial coordinate system of the cooperative target under the root coordinate system of the robot according to the coordinate transformation;
The Euler angle obtaining module is used for obtaining Euler angles of an initial coordinate system of the cooperative target by utilizing the mutual relation between the tool coordinate system and the surface of the cooperative target;
And establishing a cooperative target initial coordinate system module, namely establishing a cooperative target initial workpiece coordinate system O b1Xb1Yb1Zb1 through the conversion module and the (X 2,Y2,Z2,A2,B2,C2) obtained by the Euler angle obtaining module.
The adjusting module is used for adjusting the photographing posture and the photographing position of the visual sensor, and specifically comprises the following modules:
The gesture adjustment module is used for adjusting the gesture angle of the robot so that the C=0 and the B=0 of the visual sensor coordinate system O cXcYcZc under the initial workpiece coordinate system O b1Xb1Yb1Zb1 of the cooperative target and the optical axis of the visual sensor is vertical to the surface of the cooperative target;
And the position adjusting module is used for adjusting the position of the visual sensor to a photographing fixed height after adjusting the posture of the visual sensor, so that the posture and the position of the visual sensor are in an allowable range, and the photographing definition can be ensured.
The photographing module is used for photographing by using the vision sensor after the adjusting module and calculating a coordinate system of the workpiece on the surface of the cooperative target, and specifically comprises the following modules:
the reading module is used for photographing through the vision sensor to obtain XY coordinates of an origin of the workpiece coordinate system on the surface of the cooperative target under the vision sensor coordinate system, and fixedly calculating Z coordinates of the origin under the vision sensor coordinate system by photographing height, and reading coordinates (X c,Yc,Zc,Ac,Bc,Cc) of the vision sensor coordinate system under the robot root coordinate system at the moment;
The conversion module is used for obtaining a coordinate (X 4,Y4,Z4) of the origin under the robot root coordinate system according to the robot coordinate conversion matrix, obtaining an included angle A 3 between the coordinate system of the workpiece on the surface of the cooperative target and the coordinate system of the vision sensor according to the connecting line of the origin and the photographed object of the vision sensor, and obtaining an Euler angle (A 4,B4,C4) of the coordinate system of the workpiece on the surface of the cooperative target under the robot root coordinate system according to a reverse Euler angle formula;
And establishing a cooperative target surface workpiece coordinate system module, namely establishing a cooperative target surface workpiece coordinate system (X 4,Y4,Z4,A4,B4,C4) according to the coordinates and Euler angles obtained by the conversion module.
The positioning module is used for establishing a coordinate system of the workpiece on the surface of the cooperative target according to the photographing result to complete full-automatic positioning of the six-dimensional pose of the cooperative target, and specifically comprises the following modules:
the plane coordinate system establishing module is used for acquiring an image through photographing of the visual sensor, selecting proper geometric elements according to the image property, and establishing a plane coordinate system of the image under the coordinate system of the visual sensor;
the root coordinate system conversion module converts an image into a robot root coordinate system under a plane coordinate system under a visual sensor coordinate system through coordinate transformation, and completes full-automatic positioning of six-dimensional pose of a cooperative target, wherein a Z value is a photographing height of a camera, a B, C angle is a pose angle of the camera, and A is an included angle between a workpiece coordinate system on the surface of the cooperative target and the visual sensor coordinate system.
Example 3:
the present embodiment will be understood by those skilled in the art as more specific descriptions of embodiment 1 and embodiment 2.
The embodiment provides a robot vision posture adjustment method based on normal leveling, and belongs to the technical field of industrial robot calibration. The entire hole making robotic workstation system is shown in fig. 2. The method comprises the steps of firstly calibrating a tool coordinate system O tXtYtZt of a robot hole making executor and a visual sensor coordinate system O cXcYcZc, then measuring the relation between 2 angles B, C and a distance H between the surface of a cooperative target and the tool coordinate system O tXtYtZt by using 3 laser displacement sensors, establishing an initial workpiece coordinate system O b1Xb1Yb1Zb1, converting the robot into a visual photographing teaching posture, respectively adjusting C and B of the visual sensor coordinate system O cXcYcZc under the initial workpiece coordinate system O b1Xb1Yb1Zb1 to be zero, adjusting Z values to be fixed values, enabling an optical axis of the visual sensor to be parallel to a normal line of a processing surface, photographing 2 mark points of the surface of the cooperative target, carrying out coordinate transformation according to a photographing result, and establishing a workpiece coordinate system O b2Xb2Yb2Zb2 comprising hole position data information for guiding a drill bit to carry out hole making processing.
Step one, establishing a hand-eye coordinate relation of the hole making robot.
The method comprises the steps of arranging 3 laser displacement sensors around a drilling robot tool, calibrating a drilling robot tool coordinate system O tXtYtZt by using a robot 4-point method and a robot 2-point method, installing a sharp point tool below a visual sensor light source, ensuring that a central shaft of the sharp point tool is coaxial with the central line of an optical axis of the visual sensor, establishing a drilling robot visual sensor coordinate system O cXcYcZc by using the 4-point method and the 2-point method, and obtaining a robot hand-eye coordinate relation by switching O tXtYtZt and O cXcYcZc in the robot tool coordinate system. An example is shown in fig. 3.
And step two, executing a laser normal leveling program by the hole making robot.
The drilling robot executes a laser normal leveling teaching program, moves to a region to be processed, obtains an included angle B, C and a distance H between a tool coordinate system O tXtYtZt and the surface of a cooperative target through the distance relation between three laser displacement sensors and the surface of the cooperative target, enables the tool coordinate system O tXtYtZt to be perpendicular to the surface of the cooperative target through gesture adjustment, allows the tolerance to be 0.5 degrees, records the coordinate (X 1,Y1,Z1,A1,B1,C1) of a current tool coordinate system O tXtYtZt under a robot root coordinate system and the perpendicular distance H between the tool coordinate system and the surface of the cooperative target, and returns to a Home point after normal leveling. The normal leveling flow is shown in fig. 1.
And thirdly, establishing an initial workpiece coordinate system O b1Xb1Yb1Zb1 of the cooperative target surface.
Reading the coordinate (X 1,Y1,Z1,A1,B1,C1) of the tool coordinate system O tXtYtZt with the laser normal line leveled under the robot root coordinate and the displacement H of the laser ranging, and obtaining the coordinate system (X 2,Y2,Z2) of the initial workpiece coordinate system of the cooperative target surface under the robot root coordinate system according to the coordinate transformation
Based on the tool coordinate system being parallel to the cooperative target surface, the Euler angle A 2＝A1;B2＝B1;C2＝C1 of the initial workpiece coordinate system of the tool surface is obtained, and the initial workpiece coordinate system O b1Xb1Yb1Zb1 can be established by using the coordinates (X2, Y2, Z2, A2, B2 and C2).
And step four, the robot executes a vision sensor photographing posture adjustment subroutine.
The robot runs from a Home point to a photographing initial position of the robot, a workpiece coordinate system of the robot is switched to an initial workpiece coordinate system O b1Xb1Yb1Zb1, a tool coordinate system is switched to a vision sensor coordinate system O cXcYcZc, and angles C and B are sequentially adjusted, so that the angles C=0 and B=0 of the vision sensor coordinate system O cXcYcZc in the initial workpiece coordinate system O b1Xb1Yb1Zb1 are adjusted, then Z values are adjusted, the position of the vision sensor is adjusted to a photographing fixed height, the optical axis of the vision sensor is ensured to be perpendicular to the surface of a cooperative target, the height is ensured to be fixed, and photographing clarity is ensured.
Shooting by a vision sensor, and calculating a coordinate system of the workpiece on the surface of the cooperative target;
And (3) invoking a vision sensor photographing program, wherein a vision sensor photographing object is 2 marking points, the coordinate system of the workpiece on the surface of the cooperative target takes the marking point 1 as an origin, and the connecting line of the marking points 2 and 1 is in the Y-axis direction. The XY coordinates (X 3,Y3) of the mark point 1 under the coordinate system of the visual sensor are obtained through photographing of the visual sensor, the Z coordinate Z3 of the mark point 1 under the coordinate system of the visual sensor can be calculated due to the fact that photographing height is fixed, the coordinates (X c,Yc,Zc,Ac,Bc,Cc) of the coordinate system of the visual sensor under the root coordinate system of the robot at the moment are read, and the coordinates (X 4,Y4,Z4) of the mark point 1 under the root coordinate system of the robot can be obtained according to the coordinate conversion matrix of the robot.
And obtaining an included angle A 3 between the coordinate system of the workpiece on the surface of the cooperative target and the coordinate system of the visual sensor according to the connecting line of the marking points. And obtaining Euler angles (A 4,B4,C4) of the cooperative target surface workpiece coordinate system under the robot root coordinate system according to the reverse Euler angle formula.
T=T1*T2
A4=a tan 2(T(2,1),T(1,1))
B4=atan2(-T(3,1),k)
C4=a tan2(T(3,2),T(3,3))
A cooperative target surface workpiece coordinate system (X 4,Y4,Z4,A4,B4,C4) may thus be established.
And step six, executing a hole making program by the robot.
The robot runs to the drilling teaching position, firstly performs normal leveling, then switches the workpiece coordinate system to a cooperative target surface workpiece coordinate system (X 4,Y4,Z4,A4,B4,C4), reads corresponding position coordinates in the database, and the tool coordinate system moves to the corresponding coordinates.
The embodiment also provides a robot-based cooperative target six-dimensional pose full-automatic positioning system, which can be realized by executing the flow steps of the robot-based cooperative target six-dimensional pose full-automatic positioning method, namely, a person skilled in the art can understand the robot-based cooperative target six-dimensional pose full-automatic positioning method as a preferred implementation mode of the XX system.
A robot-based cooperative target six-dimensional pose full-automatic positioning system comprises:
The system comprises a tool coordinate system, a vision sensor coordinate system, a robot hand-eye coordinate system establishing module, a leveling module, an initial workpiece coordinate system establishing module, a vision sensor shooting attitude and position adjusting module, a hand-eye coordinate system establishing module, a vision sensor shooting attitude and position adjusting module and a vision sensor shooting attitude and position adjusting module, wherein the tool coordinate system and the vision sensor coordinate system are switched;
The positioning module establishes the coordinate system of the work piece on the surface of the cooperative target according to the photographing result to complete the full-automatic positioning of the six-dimensional pose of the cooperative target.
The hand-eye coordinate relation establishing module comprises a coordinate system establishing module, a switching module and a robot hand-eye coordinate relation obtaining module, wherein the coordinate system establishing module is used for arranging 3 laser displacement sensors around a drilling robot tool, establishing a robot tool coordinate system O tXtYtZt by using a robot 4-point method and a robot 2-point method, installing a point tool below a vision sensor light source, ensuring that a center shaft of the point tool is coaxial with a center line of an optical axis of the vision sensor, establishing a robot vision sensor coordinate system O cXcYcZc by using the 4-point method and the 2-point method, and switching the O tXtYtZt and the O cXcYcZc in the robot tool coordinate system to obtain the robot hand-eye coordinate relation.
The leveling module comprises a motion module, a calculation module, an included angle adjusting module and a recording module, wherein the motion module executes teaching track motion of a robot to an area near a target plane, the teaching program does not require position and posture accuracy, the calculation module sends measured values of normal measurement equipment of the target plane to the calculation program in real time, an included angle and a distance between a tool coordinate system O tXtYtZt and the surface of the target are calculated through a specific algorithm, the robot posture is adjusted through the included angle between the coordinate system and the surface of the target, the tool coordinate system O tXtYtZt is perpendicular to the surface of the target, and the recording module records coordinates (X 1,Y1,Z1,A1,B1,C1) of the current tool coordinate system O tXtYtZt under a root coordinate system of the robot and a perpendicular distance H between the tool coordinate system and the surface of the target after the robot posture is adjusted.
The initial workpiece coordinate system establishing module comprises a reading module, a conversion module, an Euler angle obtaining module and a cooperative target initial coordinate system establishing module, wherein the reading module is used for reading coordinates (X 1,Y1,Z1,A1,B1,C1) and vertical distance H in the recording module, the conversion module is used for obtaining the coordinates (X 2,Y2,Z2) of the cooperative target initial coordinate system under a robot root coordinate system according to coordinate transformation, the Euler angle obtaining module is used for obtaining Euler angles of the cooperative target initial coordinate system by means of the mutual relation between a tool coordinate system and a cooperative target surface, and the cooperative target initial coordinate system establishing module is used for establishing a cooperative target initial workpiece coordinate system O b1Xb1Yb1Zb1 through the conversion module and the Euler angle obtaining module.
The adjusting module comprises an attitude adjusting module, a position adjusting module, a shooting fixing module and a shooting adjusting module, wherein the attitude adjusting module is used for adjusting the attitude angle of the robot so that the C=0 and the B=0 of the visual sensor coordinate system O cXcYcZc under the initial workpiece coordinate system O b1Xb1Yb1Zb1 of the cooperative target and enabling the optical axis of the visual sensor to be perpendicular to the surface of the cooperative target;
The positioning module comprises a plane coordinate system establishing module, a positioning module and a positioning module, wherein the plane coordinate system establishing module is used for acquiring an image by photographing through a visual sensor, selecting proper geometric elements according to the image property and establishing a plane coordinate system of the image under the visual sensor coordinate system;
The photographing module comprises a reading module, a conversion module, a coordinate system establishing module and a cooperative target surface workpiece coordinate system establishing module, wherein the reading module is used for photographing through a vision sensor to obtain an XY coordinate of an origin of a cooperative target surface workpiece coordinate system under the vision sensor coordinate system, the Z coordinate of the origin under the vision sensor coordinate system is fixedly calculated according to photographing height, the coordinate (X c,Yc,Zc,Ac,Bc,Cc) of the vision sensor coordinate system under a robot root coordinate system at the moment is read, the conversion module is used for obtaining the coordinate (X 4,Y4,Z4) of the origin under the robot root coordinate system according to a robot coordinate conversion matrix, obtaining an included angle A 3 between the cooperative target surface workpiece coordinate system and the vision sensor coordinate system according to a connecting line of the origin and the vision sensor photographing object, obtaining an Euler angle (A 4,B4,C4) of the cooperative target surface workpiece coordinate system under the robot root coordinate system according to a reverse Euler angle formula, and establishing the cooperative target surface workpiece coordinate system (X 4,Y4,Z4,A4,B4,C4) according to the coordinate and the Euler angle obtained by the conversion module;
The positioning module comprises a root coordinate system conversion module, wherein an image is converted into a robot root coordinate system under a plane coordinate system under a vision sensor coordinate system through coordinate transformation, and full-automatic positioning of six-dimensional pose of a cooperative target is completed, wherein a Z value is the photographing height of a camera, a B, C angle is the pose angle of the camera, and A is the included angle between the coordinate system of a workpiece on the surface of the cooperative target and the vision sensor coordinate system.
Those skilled in the art will appreciate that the invention provides a system and its individual devices, modules, units, etc. that can be implemented entirely by logic programming of method steps, in addition to being implemented as pure computer readable program code, in the form of logic gates, switches, application specific integrated circuits, programmable logic controllers, embedded microcontrollers, etc. Therefore, the system and the devices, modules and units thereof provided by the invention can be regarded as a hardware component, and the devices, modules and units for realizing various functions included in the system can be regarded as structures in the hardware component, and the devices, modules and units for realizing various functions can be regarded as structures in the hardware component as well as software modules for realizing the method.
The foregoing describes specific embodiments of the present application. It is to be understood that the application is not limited to the particular embodiments described above, and that various changes or modifications may be made by those skilled in the art within the scope of the appended claims without affecting the spirit of the application. The embodiments of the application and the features of the embodiments may be combined with each other arbitrarily without conflict.

Claims (10)

1.一种基于机器人的合作目标六维位姿全自动定位方法，其特征在于，包括：1. A robot-based six-dimensional pose fully automatic positioning method for cooperative targets, characterized by comprising: 建立手眼坐标关系步骤：通过工具坐标系和视觉传感器坐标系的切换，建立机器人手眼坐标关系；Steps for establishing the hand-eye coordinate relationship: Establish the robot hand-eye coordinate relationship by switching the tool coordinate system and the visual sensor coordinate system; 调平步骤：通过合作目标平面法线测量设备进行测量平面法线并调整；其中，测量和调整过程是全自动流程；Leveling steps: measure the plane normal and adjust it by using the cooperative target plane normal measuring device; wherein the measurement and adjustment process is a fully automatic process; 建立初始工件坐标系步骤：利用合作目标平面法线测量设备建立合作目标初始工件坐标系；Steps for establishing an initial workpiece coordinate system: using a cooperation target plane normal measurement device to establish a cooperation target initial workpiece coordinate system; 调整步骤：调整视觉传感器拍照姿态和位置；Adjustment steps: adjust the visual sensor's photo-taking posture and position; 拍照步骤：通过使用所述调整步骤后的视觉传感器进行拍照，并计算合作目标表面工件坐标系；Photographing step: taking a photo by using the visual sensor after the adjustment step, and calculating the coordinate system of the cooperative target surface workpiece; 定位步骤：根据拍照结果建立合作目标表面工件坐标系，完成合作目标六维位姿的全自动定位。Positioning step: Establish the workpiece coordinate system of the cooperative target surface according to the shooting results, and complete the fully automatic positioning of the cooperative target's six-dimensional posture. 2.根据权利要求1所述的于机器人的合作目标六维位姿全自动定位方法，其特征在于，建立手眼坐标关系步骤包括：2. The method for fully automatic positioning of a six-dimensional pose of a cooperative target with a robot according to claim 1, wherein the step of establishing a hand-eye coordinate relationship comprises: 建立坐标系步骤：在制孔机器人工具周围布置3个激光位移传感器，利用机器人“4点法”和“2点法”建立机器人工具坐标系OtXtYtZt；在视觉传感器光源下方安装尖点工装，尖点工装中心轴保证与视觉传感器光轴中心线同轴，同样利用“4点法”和“2点法”建立机器人视觉传感器坐标系OcXcYcZc；Steps for establishing the coordinate system: arrange three laser displacement sensors around the hole-making robot tool, and use the robot's "4-point method" and "2-point method" to establish the robot tool coordinate system O t X t Y t Z t ; install a sharp point tooling under the visual sensor light source, and ensure that the central axis of the sharp point tooling is coaxial with the center line of the visual sensor optical axis. Also use the "4-point method" and "2-point method" to establish the robot visual sensor coordinate system O c X c Y c Z c ; 切换步骤：在机器人工具坐标系中切换OtXtYtZt和OcXcYcZc，得到机器人手眼坐标关系。Switching steps: Switch O t X t Y t Z t and O c X c Y c Z c in the robot tool coordinate system to obtain the robot hand-eye coordinate relationship. 3.根据权利要求1所述的于机器人的合作目标六维位姿全自动定位方法，其特征在于，所述调平步骤包括：3. The method for fully automatic positioning of a six-dimensional pose of a cooperative target with a robot according to claim 1, wherein the leveling step comprises: 运动步骤：执行机器人示教轨迹运动到目标平面附近区域；其中，示教程序不要求位置和姿态准确度；Movement step: execute the robot teaching trajectory to move to the area near the target plane; the teaching program does not require position and posture accuracy; 计算步骤：将合作目标平面法线测量设备的测量值实时发送到计算程序中，通过特定算法计算工具坐标系OtXtYtZt与合作目标表面的夹角及距离；Calculation steps: Send the measurement value of the cooperation target plane normal measurement device to the calculation program in real time, and calculate the angle and distance between the tool coordinate system O t X t Y t Z t and the cooperation target surface through a specific algorithm; 调整夹角步骤：通过坐标系与合作目标表面的夹角调整机器人姿态，使得工具坐标系OtXtYtZt与合作目标表面垂直；Angle adjustment step: adjust the robot posture through the angle between the coordinate system and the cooperative target surface, so that the tool coordinate system O t X t Y t Z t is perpendicular to the cooperative target surface; 记录步骤：在机器人姿态调整后，记录下当前工具坐标系OtXtYtZt在机器人根坐标系下的坐标(X1,Y1,Z1,A1,B1,C1)以及工具坐标系与合作目标表面的垂直距离H。Recording steps: After the robot posture is adjusted, record the coordinates of the current tool coordinate system O t X t Y t Z t in the robot root coordinate system (X 1 , Y 1 , Z 1 , A 1 , B 1 , C 1 ) and the vertical distance H between the tool coordinate system and the cooperative target surface. 4.根据权利要求3所述的于机器人的合作目标六维位姿全自动定位方法，其特征在于，所述建立初始工件坐标系步骤包括：4. The method for fully automatic positioning of a six-dimensional pose of a cooperative target with a robot according to claim 3, wherein the step of establishing an initial workpiece coordinate system comprises: 读取步骤：读取所述记录步骤中的坐标(X1,Y1,Z1,A1,B1,C1)和垂直距离H；Reading step: reading the coordinates (X 1, Y 1, Z 1, A 1 , B 1 , C 1 ) and the vertical distance H in the recording step; 转换步骤：根据坐标变换得到合作目标初始坐标系在机器人根坐标系下的坐标(X2,Y2,Z2)；Conversion step: According to the coordinate transformation, the coordinates (X 2 , Y 2 , Z 2 ) of the initial coordinate system of the cooperative target in the robot root coordinate system are obtained; 得出欧拉角步骤：利用工具坐标系与合作目标表面相互关系，得到合作目标初始坐标系的欧拉角；Steps for obtaining the Euler angle: using the relationship between the tool coordinate system and the cooperative target surface, obtain the Euler angle of the initial coordinate system of the cooperative target; 建立合作目标初始坐标系步骤：通过转换步骤和得出欧拉角步骤得到的(X2,Y2,Z2,A2,B2,C2)，建立合作目标初始工件坐标系Ob1Xb1Yb1Zb1。Step of establishing the initial coordinate system of the cooperative target: establish the initial workpiece coordinate system O b1 X b1 Y b1 Z b1 of the cooperative target through (X 2 , Y 2 , Z 2 , A 2 , B 2 , C 2 ) obtained in the conversion step and the step of deriving the Euler angle . 5.根据权利要求4所述的于机器人的合作目标六维位姿全自动定位方法，其特征在于，所述调整步骤包括：5. The method for fully automatic positioning of a six-dimensional pose of a cooperative target with a robot according to claim 4, wherein the adjusting step comprises: 姿态调整步骤：调节机器人姿态角，使得在合作目标初始工件坐标系Ob1Xb1Yb1Zb1下视觉传感器坐标系OcXcYcZc的C＝0，B＝0，使视觉传感器光轴与合作目标表面垂直；Posture adjustment step: adjust the robot posture angle so that C＝0, B＝0 of the visual sensor coordinate system OcXcYcZc under the cooperative target initial workpiece coordinate system Ob1Xb1Yb1Zb1 , and the optical axis of the visual sensor is perpendicular to the cooperative target surface ; 位置调整步骤：在调整视觉传感器姿态后，将视觉传感器位置调整到拍照固定高度，至此，视觉传感器的姿态和位置均在允许范围内，能够保证拍照清晰；Position adjustment step: After adjusting the visual sensor posture, adjust the visual sensor position to a fixed height for taking photos. At this point, the posture and position of the visual sensor are within the allowable range, ensuring clear photos. 所述定位步骤包括：The positioning step comprises: 建立平面坐标系步骤：通过视觉传感器拍照获取图像，根据图像性质选取适当的几何元素，建立图像在视觉传感器坐标系下平面坐标系；Steps for establishing a plane coordinate system: Use a visual sensor to take a picture to obtain an image, select appropriate geometric elements according to the properties of the image, and establish a plane coordinate system for the image in the visual sensor coordinate system; 所述拍照步骤包括：The photographing step comprises: 读取步骤：通过视觉传感器拍照获取合作目标表面工件坐标系的原点在视觉传感器坐标系下的XY坐标，由拍照高度固定计算出原点在视觉传感器坐标系下的Z坐标，读取此时视觉传感器坐标系在机器人根坐标系的坐标(Xc，Yc，Zc，Ac，Bc，Cc)；Reading steps: Use the visual sensor to take a photo to obtain the XY coordinates of the origin of the workpiece coordinate system on the cooperative target surface in the visual sensor coordinate system, calculate the Z coordinate of the origin in the visual sensor coordinate system by fixing the photo height, and read the coordinates of the visual sensor coordinate system in the robot root coordinate system ( Xc , Yc , Zc , Ac , Bc , Cc ); 转换步骤：根据机器人坐标转换矩阵得到原点在机器人根坐标系下的坐标(X4,Y4,Z4)；根据原点和视觉传感器拍照对象的连线，得到合作目标表面工件坐标系与视觉传感器坐标系中的夹角A3，根据反求欧拉角公式得到合作目标表面工件坐标系在机器人根坐标系下的欧拉角(A4，B4，C4)；Conversion steps: According to the robot coordinate transformation matrix, the coordinates of the origin in the robot root coordinate system (X 4 , Y 4 , Z 4 ) are obtained; according to the line connecting the origin and the object photographed by the visual sensor, the angle A 3 between the cooperative target surface workpiece coordinate system and the visual sensor coordinate system is obtained, and according to the inverse Euler angle formula, the Euler angle (A 4 , B 4 , C 4 ) of the cooperative target surface workpiece coordinate system in the robot root coordinate system is obtained; 建立合作目标表面工件坐标系步骤：根据所述转换步骤得到的坐标和欧拉角，建立合作目标表面工件坐标系(X4，Y4，Z4，A4，B4，C4)；The step of establishing a cooperative target surface workpiece coordinate system: establishing a cooperative target surface workpiece coordinate system (X 4 , Y 4 , Z 4 , A 4 , B 4 , C 4 ) according to the coordinates and Euler angles obtained in the conversion step; 所述定位步骤包括：The positioning step comprises: 转换根坐标系步骤：将图像在视觉传感器坐标系下平面坐标系经过坐标变换转换到机器人根坐标系下，完成合作目标六维位姿的全自动定位；其中，Z值是相机拍照高度，B、C角是相机的姿态角，A为合作目标表面工件坐标系与视觉传感器坐标系中的夹角。Steps for converting the root coordinate system: convert the plane coordinate system of the image in the visual sensor coordinate system to the robot root coordinate system through coordinate transformation to complete the fully automatic positioning of the six-dimensional pose of the cooperative target; among them, the Z value is the camera shooting height, the B and C angles are the camera attitude angles, and A is the angle between the workpiece coordinate system of the cooperative target surface and the visual sensor coordinate system. 6.一种基于机器人的合作目标六维位姿全自动定位系统，其特征在于，包括：6. A robot-based cooperative target six-dimensional pose fully automatic positioning system, characterized by comprising: 建立手眼坐标关系模块：通过工具坐标系和视觉传感器坐标系的切换，建立机器人手眼坐标关系；Establishing hand-eye coordinate relationship module: Establishing the robot hand-eye coordinate relationship by switching the tool coordinate system and the visual sensor coordinate system; 调平模块：通过合作目标平面法线测量设备进行测量平面法线并调整；其中，测量和调整过程是全自动流程；Leveling module: measures and adjusts the plane normal through the cooperation target plane normal measurement device; the measurement and adjustment process is a fully automatic process; 建立初始工件坐标系模块：利用合作目标平面法线测量设备建立合作目标初始工件坐标系；Establishing the initial workpiece coordinate system module: using the cooperation target plane normal measurement equipment to establish the cooperation target initial workpiece coordinate system; 调整模块：调整视觉传感器拍照姿态和位置；Adjustment module: adjust the visual sensor's photo-taking posture and position; 拍照模块：通过使用所述调整模块后的视觉传感器进行拍照，并计算合作目标表面工件坐标系；Photo module: taking photos by using the visual sensor behind the adjustment module and calculating the coordinate system of the cooperative target surface workpiece; 定位模块：根据拍照结果建立合作目标表面工件坐标系，完成合作目标六维位姿的全自动定位。Positioning module: Establish the workpiece coordinate system of the cooperative target surface according to the shooting results, and complete the fully automatic positioning of the cooperative target's six-dimensional posture. 7.根据权利要求6所述的于机器人的合作目标六维位姿全自动定位系统，其特征在于，建立手眼坐标关系模块包括：7. The robot-cooperative target six-dimensional posture fully automatic positioning system according to claim 6, characterized in that the hand-eye coordinate relationship establishment module comprises: 建立坐标系模块：在制孔机器人工具周围布置3个激光位移传感器，利用机器人“4点法”和“2点法”建立机器人工具坐标系OtXtYtZt；在视觉传感器光源下方安装尖点工装，尖点工装中心轴保证与视觉传感器光轴中心线同轴，同样利用“4点法”和“2点法”建立机器人视觉传感器坐标系OcXcYcZc；Establishing the coordinate system module: Arrange three laser displacement sensors around the hole-making robot tool, and use the robot's "4-point method" and "2-point method" to establish the robot tool coordinate system O t X t Y t Z t ; Install a sharp point tooling under the visual sensor light source, and ensure that the central axis of the sharp point tooling is coaxial with the center line of the visual sensor optical axis. Also use the "4-point method" and "2-point method" to establish the robot visual sensor coordinate system O c X c Y c Z c ; 切换模块：在机器人工具坐标系中切换OtXtYtZt和OcXcYcZc，得到机器人手眼坐标关系。Switching module: Switch O t X t Y t Z t and O c X c Y c Z c in the robot tool coordinate system to obtain the robot hand-eye coordinate relationship. 8.根据权利要求6所述的于机器人的合作目标六维位姿全自动定位系统，其特征在于，所述调平模块包括：8. The robot-cooperative target six-dimensional posture fully automatic positioning system according to claim 6, characterized in that the leveling module comprises: 运动模块：执行机器人示教轨迹运动到目标平面附近区域；其中，示教程序不要求位置和姿态准确度；Motion module: executes the robot's teaching trajectory to move to the area near the target plane; the teaching program does not require position and posture accuracy; 计算模块：将合作目标平面法线测量设备的测量值实时发送到计算程序中，通过特定算法计算工具坐标系OtXtYtZt与合作目标表面的夹角及距离；Calculation module: Send the measurement value of the cooperation target plane normal measurement device to the calculation program in real time, and calculate the angle and distance between the tool coordinate system O t X t Y t Z t and the cooperation target surface through a specific algorithm; 调整夹角模块：通过坐标系与合作目标表面的夹角调整机器人姿态，使得工具坐标系OtXtYtZt与合作目标表面垂直；Angle adjustment module: adjust the robot posture through the angle between the coordinate system and the cooperative target surface, so that the tool coordinate system O t X t Y t Z t is perpendicular to the cooperative target surface; 记录模块：在机器人姿态调整后，记录下当前工具坐标系OtXtYtZt在机器人根坐标系下的坐标(X1,Y1,Z1,A1,B1,C1)以及工具坐标系与合作目标表面的垂直距离H。Recording module: After the robot posture is adjusted, the coordinates of the current tool coordinate system O t X t Y t Z t in the robot root coordinate system (X 1 , Y 1 , Z 1 , A 1 , B 1 , C 1 ) and the vertical distance H between the tool coordinate system and the cooperative target surface are recorded. 9.根据权利要求8所述的于机器人的合作目标六维位姿全自动定位系统，其特征在于，所述建立初始工件坐标系模块包括：9. The robot-cooperative target six-dimensional pose fully automatic positioning system according to claim 8, characterized in that the module for establishing the initial workpiece coordinate system comprises: 读取模块：读取所述记录模块中的坐标(X1,Y1,Z1,A1,B1,C1)和垂直距离H；Reading module: reads the coordinates (X 1, Y 1, Z 1, A 1 , B 1 , C 1 ) and vertical distance H in the recording module; 转换模块：根据坐标变换得到合作目标初始坐标系在机器人根坐标系下的坐标(X2,Y2,Z2)；Conversion module: obtains the coordinates (X 2 , Y 2 , Z 2 ) of the initial coordinate system of the cooperative target in the robot root coordinate system according to the coordinate transformation; 得出欧拉角模块：利用工具坐标系与合作目标表面相互关系，得到合作目标初始坐标系的欧拉角；Euler angle module: using the relationship between the tool coordinate system and the cooperative target surface, the Euler angle of the initial coordinate system of the cooperative target is obtained; 建立合作目标初始坐标系模块：通过转换模块和得出欧拉角模块得到的(X2,Y2,Z2,A2,B2,C2)，建立合作目标初始工件坐标系Ob1Xb1Yb1Zb1。Module for establishing the initial coordinate system of the cooperative target: through the conversion module and the Euler angle module (X 2 , Y 2 , Z 2 , A 2 , B 2 , C 2 ), the initial workpiece coordinate system of the cooperative target O b1 X b1 Y b1 Z b1 is established. 10.根据权利要求9所述的于机器人的合作目标六维位姿全自动定位系统，其特征在于，所述调整模块包括：10. The robot-cooperative target six-dimensional pose fully automatic positioning system according to claim 9, characterized in that the adjustment module comprises: 姿态调整模块：调节机器人姿态角，使得在合作目标初始工件坐标系Ob1Xb1Yb1Zb1下视觉传感器坐标系OcXcYcZc的C＝0，B＝0，使视觉传感器光轴与合作目标表面垂直；Posture adjustment module: adjusts the robot's posture angle so that C=0, B=0 of the visual sensor coordinate system OcXcYcZc under the initial workpiece coordinate system Ob1Xb1Yb1Zb1 of the cooperative target, and the optical axis of the visual sensor is perpendicular to the surface of the cooperative target ; 位置调整模块：在调整视觉传感器姿态后，将视觉传感器位置调整到拍照固定高度，至此，视觉传感器的姿态和位置均在允许范围内，能够保证拍照清晰；Position adjustment module: After adjusting the posture of the visual sensor, adjust the position of the visual sensor to a fixed height for taking photos. At this point, the posture and position of the visual sensor are within the allowable range, ensuring clear photos. 所述定位模块包括：The positioning module comprises: 建立平面坐标系模块：通过视觉传感器拍照获取图像，根据图像性质选取适当的几何元素，建立图像在视觉传感器坐标系下平面坐标系；Module for establishing a plane coordinate system: obtain an image by taking a photo with a visual sensor, select appropriate geometric elements according to the properties of the image, and establish a plane coordinate system of the image in the visual sensor coordinate system; 所述拍照模块包括：The camera module includes: 读取模块：通过视觉传感器拍照获取合作目标表面工件坐标系的原点在视觉传感器坐标系下的XY坐标，由拍照高度固定计算出原点在视觉传感器坐标系下的Z坐标，读取此时视觉传感器坐标系在机器人根坐标系的坐标(Xc，Yc，Zc，Ac，Bc，Cc)；Reading module: The visual sensor is used to take photos to obtain the XY coordinates of the origin of the workpiece coordinate system on the cooperative target surface in the visual sensor coordinate system. The Z coordinate of the origin in the visual sensor coordinate system is calculated by fixing the shooting height, and the coordinates of the visual sensor coordinate system in the robot root coordinate system ( Xc , Yc , Zc , Ac , Bc , Cc ) are read. 转换模块：根据机器人坐标转换矩阵得到原点在机器人根坐标系下的坐标(X4,Y4,Z4)；根据原点和视觉传感器拍照对象的连线，得到合作目标表面工件坐标系与视觉传感器坐标系中的夹角A3，根据反求欧拉角公式得到合作目标表面工件坐标系在机器人根坐标系下的欧拉角(A4，B4，C4)；Conversion module: Obtain the coordinates (X 4 , Y 4 , Z 4 ) of the origin in the robot root coordinate system according to the robot coordinate conversion matrix; Obtain the angle A 3 between the workpiece coordinate system of the cooperative target surface and the visual sensor coordinate system according to the line connecting the origin and the object photographed by the visual sensor, and obtain the Euler angle (A 4 , B 4 , C 4 ) of the workpiece coordinate system of the cooperative target surface in the robot root coordinate system according to the inverse Euler angle formula; 建立合作目标表面工件坐标系模块：根据所述转换模块得到的坐标和欧拉角，建立合作目标表面工件坐标系(X4，Y4，Z4，A4，B4，C4)；A module for establishing a cooperative target surface workpiece coordinate system: according to the coordinates and Euler angles obtained by the conversion module, a cooperative target surface workpiece coordinate system (X 4 , Y 4 , Z 4 , A 4 , B 4 , C 4 ) is established; 所述定位模块包括：The positioning module comprises: 转换根坐标系模块：将图像在视觉传感器坐标系下平面坐标系经过坐标变换转换到机器人根坐标系下，完成合作目标六维位姿的全自动定位；其中，Z值是相机拍照高度，B、C角是相机的姿态角，A为合作目标表面工件坐标系与视觉传感器坐标系中的夹角。Root coordinate system conversion module: The plane coordinate system of the image in the visual sensor coordinate system is converted to the robot root coordinate system through coordinate transformation to complete the fully automatic positioning of the six-dimensional posture of the cooperative target; among them, the Z value is the camera shooting height, the B and C angles are the camera attitude angles, and A is the angle between the workpiece coordinate system of the cooperative target surface and the visual sensor coordinate system.
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