Calibration method and system of coordinate system
阅读说明：本技术 一种坐标系的标定方法与系统 (Calibration method and system of coordinate system ) 是由 江克洪 汤耀文 周军 王坤 李瑞方 于 2021-01-06 设计创作，主要内容包括：本发明公开一种坐标系的标定方法与系统,该方法包括：建立机器人工作车间的车间坐标系；所述机器人上设置有激光反射器；对所述车间线体内的设备安装位置进行激光划线,得到设备在所述车间坐标系里的坐标值；根据所述设备的坐标值,在所述车间坐标系内对所述设备进行落位安装,在落位安装过程中对所述设备的位置进行精调；所述机器人记录所述机器人移动到所述设备在所述车间坐标系下的位置时的第一坐标值,所述激光反射器测量所述机器人移动到所述设备在所述车间坐标系下的位置时的第二坐标值；根据所述第一坐标值和所述第二坐标值对所述车间坐标系进行标定。本发明技术方案实现了对设备的精准落位以及满足了机器人离线程序精度的要求。(The invention discloses a calibration method and a system of a coordinate system, wherein the method comprises the following steps: establishing a workshop coordinate system of the robot workshop; a laser reflector is arranged on the robot; laser scribing is carried out on the equipment installation position in the workshop cable body, and a coordinate value of the equipment in the workshop coordinate system is obtained; according to the coordinate values of the equipment, performing positioning installation on the equipment in the workshop coordinate system, and finely adjusting the position of the equipment in the positioning installation process; the robot records a first coordinate value when the robot moves to the position of the equipment under the workshop coordinate system, and the laser reflector measures a second coordinate value when the robot moves to the position of the equipment under the workshop coordinate system; and calibrating the workshop coordinate system according to the first coordinate value and the second coordinate value. The technical scheme of the invention realizes the accurate positioning of the equipment and meets the requirement of the robot on the accuracy of the off-line program.)
1. A method for calibrating a coordinate system, the method comprising:
establishing a workshop coordinate system of the robot workshop; a laser reflector is arranged on the robot;
laser scribing is carried out on the equipment installation position in the workshop cable body, and a coordinate value of the equipment in the workshop coordinate system is obtained;
according to the coordinate values of the equipment, performing positioning installation on the equipment in the workshop coordinate system, and finely adjusting the position of the equipment in the positioning installation process;
when the robot moves to the position of the equipment, the robot records a first coordinate value when the robot moves to the position of the equipment in the workshop coordinate system, and the laser reflector measures a second coordinate value when the robot moves to the position of the equipment in the workshop coordinate system;
and calibrating the workshop coordinate system according to the first coordinate value and the second coordinate value.
2. Calibration method of a coordinate system according to claim 1, wherein said establishing of a workshop coordinate system of a robot work cell comprises:
determining a plurality of target coordinate systems within the robot work cell;
and splicing the target coordinate systems according to a preset absolute coordinate model to obtain the workshop coordinate system.
3. The method for calibrating a coordinate system according to claim 2, wherein the step of splicing the target coordinate systems according to a preset absolute coordinate model to obtain the workshop coordinate system comprises:
for each target coordinate system in a plurality of target coordinate systems, selecting a plurality of reference points from the target coordinate systems, and fitting the coordinate values of the reference points in the target coordinate systems according to the fitting relation with a workshop coordinate system to obtain the coordinate value of each reference point in the workshop coordinate system;
for each reference point in the plurality of reference points, judging whether the coordinate value of the reference point in the workshop coordinate system meets preset fitting precision, if so, taking the reference point as a target reference point, if not, selecting the reference point from the target coordinate system again, and executing fitting of the reference point until the coordinate value of the reference point in the workshop coordinate system meets the preset fitting precision;
and splicing coordinate values of a plurality of target reference points in each target coordinate system under a workshop coordinate system according to a preset absolute coordinate model.
4. The method for calibrating the coordinate system according to claim 1, wherein the calibrating the workshop coordinate system according to the first coordinate value and the second coordinate value comprises:
importing the first coordinate value and the second coordinate value into an external computing tool;
calculating an error value of the first coordinate value and the second coordinate value by the external calculation tool;
and calibrating the workshop coordinate system by verifying the error value.
5. A calibration method of a coordinate system according to claim 4, wherein the positions of the devices comprise at least 3, the first coordinate values comprise at least 3 first coordinate values corresponding to the positions of the at least 3 devices, and the second coordinate values correspond to at least 3 second coordinate values corresponding to the positions of the at least 3 devices;
the calibrating the workshop coordinate system by verifying the error value comprises the following steps:
for each of the at least 3 positions, calculating a difference between a first coordinate value and a second coordinate value corresponding to the position to obtain at least 3 differences;
judging whether each difference value in the at least 3 difference values is larger than a preset difference value range or not;
and if each difference value in the at least 3 difference values is smaller than a preset difference value range, determining that the workshop coordinate system meets the precision requirement.
6. A calibration system of a coordinate system is characterized by comprising a workshop coordinate system establishing module, a laser scribing module, a drop installation module, a coordinate value determining module and a calibration module;
the workshop coordinate system establishing module is used for: the system comprises a coordinate system, a coordinate system and a control system, wherein the coordinate system is used for establishing a workshop coordinate system of the robot workshop; a laser reflector is arranged on the robot;
the laser scribing module: the laser scribing device is used for performing laser scribing on the device installation position in the workshop cable body to obtain the coordinate value of the device in the workshop coordinate system;
the falling position installation module: the system comprises a workshop coordinate system, a coordinate system and a position adjusting device, wherein the workshop coordinate system is used for carrying out position adjustment on equipment in the workshop coordinate system according to coordinate values of the equipment;
the coordinate value determination module: the laser reflector is used for measuring a second coordinate value when the robot moves to the position of the equipment in the workshop coordinate system;
the calibration module is used for: and the system is used for calibrating the workshop coordinate system according to the first coordinate value and the second coordinate value.
7. The system for calibrating the coordinate system according to claim 6, wherein the workshop coordinate system establishing module comprises a determining module and a splicing module;
the determination module: for determining a plurality of target coordinate systems within the robotic work cell;
the splicing module: and the target coordinate systems are spliced according to a preset absolute coordinate model to obtain the workshop coordinate system.
8. The system for calibrating a coordinate system according to claim 7, wherein the splicing module comprises a reference point fitting module, a fitting precision judging module and a reference point splicing module;
the reference point fitting module: the target coordinate system is used for selecting a plurality of reference points from the target coordinate system for each target coordinate system in a plurality of target coordinate systems, and fitting the coordinate values of the reference points in the target coordinate system according to the fitting relation with the workshop coordinate system to obtain the coordinate value of each reference point in the workshop coordinate system;
the fitting precision judging module: for each reference point in the plurality of reference points, judging whether the coordinate value of the reference point in the workshop coordinate system meets preset fitting precision, if so, taking the reference point as a target reference point, if not, selecting the reference point from the target coordinate system again, and executing fitting of the reference point until the coordinate value of the reference point in the workshop coordinate system meets the preset fitting precision;
the reference point splicing module: and the target coordinate system is used for splicing coordinate values of a plurality of target reference points in each target coordinate system under a workshop coordinate system according to a preset absolute coordinate model.
9. The system for calibrating the coordinate system according to claim 6, wherein the calibration module comprises an importing module, a calculating module and a verifying module;
the importing module: the coordinate value input device is used for inputting the first coordinate value and the second coordinate value into an external computing tool;
the calculation module: an error value for calculating the first coordinate value and the second coordinate value by the external calculation tool;
the verification module: and the calibration module is used for calibrating the workshop coordinate system by verifying the error value.
10. Calibration system for a coordinate system according to claim 9, wherein the positions of said devices comprise at least 3, said first coordinate values comprise at least 3 first coordinate values corresponding to the positions of said at least 3 devices, said second coordinate values correspond to at least 3 second coordinate values corresponding to the positions of said at least 3 devices;
the verification module comprises a first verification module and a first verification module judgment module;
the first authentication module: for each of the at least 3 positions, calculating a difference between a first coordinate value and a second coordinate value corresponding to the position, resulting in at least 3 differences;
the first verification module judgment module: the difference value judging module is used for judging whether each difference value in the at least 3 difference values is larger than a preset difference value range or not;
and if each difference value in the at least 3 difference values is smaller than a preset difference value range, determining that the workshop coordinate system meets the precision requirement.
Technical Field
The invention relates to the technical field of automatic control, in particular to a calibration method and a calibration system of a coordinate system.
Background
With the rapid requirement of the automobile market on product research and development iteration, the construction cycle of an automobile production line is continuously compressed, in order to accelerate the release cycle of a new product and shorten the installation and debugging time of the production line, the off-line program of a robot and the virtual debugging technology are used, the debugging cycle of the production line can be shortened by 20-35%, the project cost is reduced in the market pattern of homogenization competition, and the project efficiency is improved.
The four-point method and the global measurement method are mostly used in the existing calibration method of the tool coordinate system, wherein the four-point method adopts the internal method of a robot, a closed measurement ring is lacked, the responsibility and the deformation of the robot are not considered, the precision is poor (about 5-10mm is normal), most of reports are measurement process photos, no equipment position coordinate values exist, and the traceability is poor; the global method does not consider the load and deformation factors of the robot, and the precision is equivalent to that of a 4-point method, namely about 5-10 mm; reports and processes are mostly input in a manual mode, the time consumption is long, about 1 hour/machine, position and measurement result rechecking can be carried out through simulation data, but the human participation degree is high, the data tampering property is large, and the authenticity cannot be guaranteed.
Disclosure of Invention
In order to solve the problems in the prior art, embodiments of the present invention provide a method and a system for calibrating a coordinate system, where the technical scheme is as follows:
establishing a workshop coordinate system of the robot workshop; a laser reflector is arranged on the robot;
laser scribing is carried out on the equipment installation position in the workshop cable body, and a coordinate value of the equipment in the workshop coordinate system is obtained;
according to the coordinate values of the equipment, performing positioning installation on the equipment in the workshop coordinate system, and finely adjusting the position of the equipment in the positioning installation process;
when the robot moves to the position of the equipment, the robot records a first coordinate value when the robot moves to the position of the equipment in the workshop coordinate system, and the laser reflector measures a second coordinate value when the robot moves to the position of the equipment in the workshop coordinate system;
and calibrating the workshop coordinate system according to the first coordinate value and the second coordinate value.
On the other hand, a calibration system of a coordinate system is provided, and the system comprises a workshop coordinate system establishing module, a laser scribing module, a drop installation module, a coordinate value determining module and a calibration module;
the workshop coordinate system establishing module is used for: the system comprises a coordinate system, a coordinate system and a control system, wherein the coordinate system is used for establishing a workshop coordinate system of the robot workshop; a laser reflector is arranged on the robot;
the laser scribing module: the laser scribing device is used for performing laser scribing on the device installation position in the workshop cable body to obtain the coordinate value of the device in the workshop coordinate system;
the falling position installation module: the system comprises a workshop coordinate system, a coordinate system and a position adjusting device, wherein the workshop coordinate system is used for carrying out position adjustment on equipment in the workshop coordinate system according to coordinate values of the equipment;
the coordinate value determination module: the laser reflector is used for measuring a second coordinate value when the robot moves to the position of the equipment in the workshop coordinate system;
the calibration module is used for: and the system is used for calibrating the workshop coordinate system according to the first coordinate value and the second coordinate value.
Correspondingly, the workshop coordinate system establishing module comprises a determining module and a splicing module;
the determination module: for determining a plurality of target coordinate systems within the robotic work cell;
the splicing module: and the target coordinate systems are spliced according to a preset absolute coordinate model to obtain the workshop coordinate system.
Correspondingly, the splicing module comprises a reference point fitting module, a fitting precision judging module and a reference point splicing module;
the reference point fitting module: the target coordinate system is used for selecting a plurality of reference points from the target coordinate system for each target coordinate system in a plurality of target coordinate systems, and fitting the coordinate values of the reference points in the target coordinate system according to the fitting relation with the workshop coordinate system to obtain the coordinate value of each reference point in the workshop coordinate system;
the fitting precision judging module: for each reference point in the plurality of reference points, judging whether the coordinate value of the reference point in the workshop coordinate system meets preset fitting precision, if so, taking the reference point as a target reference point, if not, selecting the reference point from the target coordinate system again, and executing fitting of the reference point until the coordinate value of the reference point in the workshop coordinate system meets the preset fitting precision;
the reference point splicing module: and the target coordinate system is used for splicing coordinate values of a plurality of target reference points in each target coordinate system under a workshop coordinate system according to a preset absolute coordinate model.
Correspondingly, the calibration module comprises an importing module, a calculating module and a verifying module;
the importing module: the coordinate value input device is used for inputting the first coordinate value and the second coordinate value into an external computing tool;
the calculation module: an error value for calculating the first coordinate value and the second coordinate value by the external calculation tool;
the verification module: and the calibration module is used for calibrating the workshop coordinate system by verifying the error value.
Correspondingly, the locations of the devices comprise at least 3, the first coordinate values comprise at least 3 first coordinate values corresponding to the locations of the at least 3 devices, and the second coordinate values correspond to at least 3 second coordinate values corresponding to the locations of the at least 3 devices;
the verification module comprises a first verification module and a first verification module judgment module;
the first authentication module: for each of the at least 3 positions, calculating a difference between a first coordinate value and a second coordinate value corresponding to the position, resulting in at least 3 differences;
the first verification module judgment module: the difference value judging module is used for judging whether each difference value in the at least 3 difference values is larger than a preset difference value range or not;
and if each difference value in the at least 3 difference values is smaller than a preset difference value range, determining that the workshop coordinate system meets the precision requirement.
The calibration method and system of the coordinate system provided by the invention have the following technical effects:
according to the embodiment of the invention, the accurate positioning of the equipment and the calibration of the coordinates of the positioning are realized by the technical scheme that the first coordinate value recorded by the robot and the second coordinate value measured by the laser reflector when the robot moves to the position of the equipment when the equipment is accurately positioned in a workshop coordinate system and the robot moves to the position of the equipment when the robot moves to the position of the equipment, the accurate positioning of the equipment and the calibration of the coordinates of the positioning are realized, the requirement of the offline program accuracy of the robot is met, the errors of the coordinate values of the position where the robot actually moves and the coordinate values of the position of a measuring system are controlled within 2mm, and meanwhile, the load and deformation factors of the robot are fully considered.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a schematic flowchart of a coordinate system calibration method according to an embodiment of the present invention;
fig. 2 is an absolute stitching model of a coordinate system calibration method according to an embodiment of the present invention;
fig. 3 is a schematic flowchart of a coordinate system calibration system according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and claims of the present disclosure and in the above-described drawings are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the disclosure described herein are capable of operation in sequences other than those illustrated or otherwise described herein. The implementations described in the exemplary embodiments below are not intended to represent all implementations consistent with the present disclosure. Rather, they are merely examples of methods and systems consistent with certain aspects of the present disclosure, as detailed in the appended claims.
Referring to fig. 1, which is a schematic flow chart illustrating a coordinate system calibration method according to an embodiment of the present invention, the coordinate system calibration method according to the embodiment of the present invention is described in detail below with reference to fig. 1, where the method includes:
s101: establishing a workshop coordinate system of the robot workshop; a laser reflector is arranged on the robot;
s102: laser scribing is carried out on the equipment installation position in the workshop cable body, and a coordinate value of the equipment in the workshop coordinate system is obtained;
s103: according to the coordinate values of the equipment, performing positioning installation on the equipment in the workshop coordinate system, and finely adjusting the position of the equipment in the positioning installation process;
further, the establishing a shop coordinate system of the robot work shop comprises:
determining a plurality of target coordinate systems within the robot work cell;
and splicing the target coordinate systems according to a preset absolute coordinate model to obtain the workshop coordinate system.
Further, the splicing the target coordinate systems according to a preset absolute coordinate model to obtain the workshop coordinate system includes:
for each target coordinate system in a plurality of target coordinate systems, selecting a plurality of reference points from the target coordinate systems, and fitting the coordinate values of the reference points in the target coordinate systems according to the fitting relation with a workshop coordinate system to obtain the coordinate value of each reference point in the workshop coordinate system;
for each reference point in the plurality of reference points, judging whether the coordinate value of the reference point in the workshop coordinate system meets preset fitting precision, if so, taking the reference point as a target reference point, if not, selecting the reference point from the target coordinate system again, and executing fitting of the reference point until the coordinate value of the reference point in the workshop coordinate system meets the preset fitting precision;
and splicing coordinate values of a plurality of target reference points in each target coordinate system under a workshop coordinate system according to a preset absolute coordinate model.
In the embodiment of the invention, a plurality of target coordinate systems are established by a laser scanner in a robot workshop by taking a stand column or some fixed equipment as a coordinate origin, and then the target coordinate systems are spliced according to a preset absolute coordinate model to obtain a spliced workshop coordinate system. As shown in fig. 2, an absolute stitching model of a coordinate system calibration method provided in an embodiment of the present invention can greatly reduce the target coordinate system transmission error, and data measured by multiple stations are independent from each other, and the overall accuracy is relatively uniform.
The zero point of the workshop coordinate system is selected in the central area of the workshop as much as possible, a plurality of reference points are required to be selected for each target coordinate system before splicing, and the purpose of selecting the reference points is to perform more accurate fitting on each target coordinate system. And then fitting coordinate values of a plurality of reference points in the target coordinate system according to a fitting relation with a workshop coordinate system, wherein the optimal number of the reference points is 3-5, the fitting process is to convert the coordinate values of the reference points in the target coordinate system into the coordinate values in the workshop coordinate system according to the fitting relation, and the conversion relation is to convert the coordinate values in the target coordinate system into the coordinate values in the workshop coordinate system according to different zero coordinate positions.
In the fitting process, whether the coordinate value of the reference point in the workshop coordinate system meets the preset fitting precision or not needs to be judged, the preset fitting precision is set to be 1mm in the embodiment of the invention, if the coordinate value meets the fitting precision, the reference point is used as a target reference point and is fitted to the target reference point, if the coordinate value does not meet the fitting precision, the reference point is selected from the target coordinate system again, and the fitting to the reference point is executed until the coordinate value of the reference point in the workshop coordinate system meets the preset fitting precision which is less than or equal to 1 mm. And then, according to a preset absolute coordinate model, splicing coordinate values of a plurality of target reference points in each target coordinate system under a workshop coordinate system to obtain coordinate values of the reference points in the workshop coordinate system after splicing, and further obtaining the workshop coordinate system.
Specifically, a laser tracker is used for carrying out laser scribing value on equipment in a workshop line body, the equipment is installed in a falling position in a workshop coordinate system according to coordinate values of measuring equipment, and all the equipment in the line body needs to be subjected to laser scribing and falling position, wherein the installing equipment comprises a tool clamp, an external fixing tool, a die repairing device, a placing table, an APC (robot base (comprising seven shafts), a bridge frame, a fence and the like. And extracting the coordinates of the ground plate arranged in the workshop cable body according to simulation or 2Dlayout, wherein all the scribing and positioning devices described above are performed relative to a workshop coordinate system, and the scribing error is controlled within 0.1mm so as to ensure that the subsequent error value is controlled within 2 mm. And according to a scribing chart and a position coordinate value list provided by the outside, the equipment is positioned and the scribing error is controlled, the point number of the list needs to correspond to the point number in the scribing chart, and all the floor boards are installed according to the laser scribing positioning.
In the process of carrying out the accuracy adjustment of the falling position by the equipment, the accuracy adjustment falling position process is introduced by taking a main clamp as an example, the accuracy adjustment is carried out on the main clamp in the workshop line body under a workshop coordinate system, at least 4 reference holes are selected by the bottom plate clamp according to the length, the reference holes are not collinear as much as possible, and finally, the coordinate measurement values of all the reference holes are within an allowable error range compared with the theory after the bottom plate clamp is installed. And the operation robot related to the main fixture performs the falling position adjustment according to the body coordinate system of the main fixture, selects a proper measuring equipment position in a workshop and passes through the reference hole on the measuring main fixture.
S104: when the robot moves to the position of the equipment, the robot records a first coordinate value when the robot moves to the position of the equipment in the workshop coordinate system, and the laser reflector measures a second coordinate value when the robot moves to the position of the equipment in the workshop coordinate system;
s105: and calibrating the workshop coordinate system according to the first coordinate value and the second coordinate value.
Further, the calibrating the workshop coordinate system according to the first coordinate value and the second coordinate value includes:
importing the first coordinate value and the second coordinate value into an external computing tool;
calculating an error value of the first coordinate value and the second coordinate value by the external calculation tool;
and calibrating the workshop coordinate system by verifying the error value.
Further, the locations of the devices comprise at least 3, the first coordinate values comprise at least 3 first coordinate values corresponding to the locations of the at least 3 devices, the second coordinate values correspond to at least 3 second coordinate values corresponding to the locations of the at least 3 devices;
the calibrating the workshop coordinate system by verifying the error value comprises the following steps:
for each of the at least 3 positions, calculating a difference between a first coordinate value and a second coordinate value corresponding to the position to obtain at least 3 differences;
judging whether each difference value in the at least 3 difference values is larger than a preset difference value range or not;
and if each difference value in the at least 3 difference values is smaller than a preset difference value range, determining that the workshop coordinate system meets the precision requirement.
In an embodiment of the invention, the robot is moved to 15 equipment positions, wherein 15 positions are required to ensure that the selected points cover the whole area of the work as far as possible within the robot work movement range. The method comprises the steps that a first coordinate value when the robot moves to a position is recorded while the robot moves, a laser reflector measures a second coordinate value when the robot moves to the position, the recorded first coordinate value and the recorded second coordinate value are led into an external computing tool, the external computing tool is a computer third-party application rotating piece, the function of calculating an error value between the first coordinate value and the second coordinate value can be completed, a workshop coordinate system is calibrated through verification of the error value, and if the error value is within an error range of 2mm, a dongle is inserted to automatically generate a coordinate system report and the first coordinate value of the robot movement, the accuracy of detected coordinates is guaranteed, and the error value caused by manual participation is reduced.
The method comprises the steps of selecting at least 3 positions of equipment in a workshop coordinate system, recording first coordinate values of the at least 3 positions and second coordinate values of the at least 3 positions, calculating a difference value between the first coordinate values and the second coordinate values corresponding to the positions, and obtaining at least 3 difference values, wherein the equipment comprises a main clamp, a fixed welding gun, a fixed glue gun and other external tools connected with a robot. The verification process further comprises the step of comparing the measured values, if each difference value in at least 3 difference values is smaller than a preset difference value range, the workshop coordinate system is determined to meet the precision requirement, the verification of the workshop coordinate system can be completed, the preset difference value range is 2mm in the embodiment of the invention, and the error value of 2mm comprises a fitting error, a point drawing error, a position falling error and a relative error.
According to the technical scheme of the embodiment of the invention, the accurate positioning of the equipment and the calibration of the coordinates of the positioning are realized by the technical method of calibrating the workshop coordinate system through the accurate positioning of the equipment in the workshop coordinate system and the first coordinate value recorded by the robot and the second coordinate value measured by the laser reflector when the robot moves to the position of the equipment, the requirement of the offline program accuracy of the robot is met, the errors of the coordinate values of the actual position of the robot and the position coordinate values of the measuring system are controlled within 2mm, and meanwhile, the load and deformation factors of the robot are fully considered.
The embodiment of the present invention further provides a coordinate system calibration system, where the system is shown in fig. 3, which is a schematic flow chart of the coordinate system calibration system provided in the embodiment of the present invention, and the system includes: the system comprises a workshop coordinate system establishing module 10, a laser scribing module 20, a landing installation module 30, a coordinate value determining module 40 and a calibration module 50;
the workshop coordinate system establishing module 10: the system comprises a coordinate system, a coordinate system and a control system, wherein the coordinate system is used for establishing a workshop coordinate system of the robot workshop; a laser reflector is arranged on the robot;
the laser scribing module 20: the laser scribing device is used for performing laser scribing on the device installation position in the workshop cable body to obtain the coordinate value of the device in the workshop coordinate system;
the drop position installation module 30: the system comprises a workshop coordinate system, a coordinate system and a position adjusting device, wherein the workshop coordinate system is used for carrying out position adjustment on equipment in the workshop coordinate system according to coordinate values of the equipment;
the coordinate value determination module 40: the laser reflector is used for measuring a second coordinate value when the robot moves to the position of the equipment in the workshop coordinate system;
the calibration module 50: and the system is used for calibrating the workshop coordinate system according to the first coordinate value and the second coordinate value.
Further, the workshop coordinate system establishing module 10 comprises a determining module and a splicing module;
the determination module: for determining a plurality of target coordinate systems within the robotic work cell;
the splicing module: and the target coordinate systems are spliced according to a preset absolute coordinate model to obtain the workshop coordinate system.
Furthermore, the splicing module comprises a reference point fitting module, a fitting precision judging module and a reference point splicing module;
the reference point fitting module: the target coordinate system is used for selecting a plurality of reference points from the target coordinate system for each target coordinate system in a plurality of target coordinate systems, and fitting the coordinate values of the reference points in the target coordinate system according to the fitting relation with the workshop coordinate system to obtain the coordinate value of each reference point in the workshop coordinate system;
the fitting precision judging module: for each reference point in the plurality of reference points, judging whether the coordinate value of the reference point in the workshop coordinate system meets preset fitting precision, if so, taking the reference point as a target reference point, if not, selecting the reference point from the target coordinate system again, and executing fitting of the reference point until the coordinate value of the reference point in the workshop coordinate system meets the preset fitting precision;
the reference point splicing module: and the target coordinate system is used for splicing coordinate values of a plurality of target reference points in each target coordinate system under a workshop coordinate system according to a preset absolute coordinate model.
Further, the calibration module 50 includes an importing module, a calculating module and a verifying module;
the importing module: the coordinate value input device is used for inputting the first coordinate value and the second coordinate value into an external computing tool;
the calculation module: an error value for calculating the first coordinate value and the second coordinate value by the external calculation tool;
the verification module: and the calibration module is used for calibrating the workshop coordinate system by verifying the error value.
Further, the locations of the devices comprise at least 3, the first coordinate values comprise at least 3 first coordinate values corresponding to the locations of the at least 3 devices, the second coordinate values correspond to at least 3 second coordinate values corresponding to the locations of the at least 3 devices;
the verification module comprises a first verification module and a first verification module judgment module;
the first authentication module: for each of the at least 3 positions, calculating a difference between a first coordinate value and a second coordinate value corresponding to the position, resulting in at least 3 differences;
the first verification module judgment module: the difference value judging module is used for judging whether each difference value in the at least 3 difference values is larger than a preset difference value range or not;
and if each difference value in the at least 3 difference values is smaller than a preset difference value range, determining that the workshop coordinate system meets the precision requirement.
With regard to the system in the above embodiment, the specific manner in which each module performs the operation has been described in detail in the embodiment related to the method, and will not be elaborated here.
The above description is only for the specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present application, and shall be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.