WORKPIECE TRACKING METHOD, SYSTEM AND ROBOT

Provided is a workpiece tracking method, comprising: calibrating a conveyor base coordinate system to obtain a first homogeneous matrix of the conveyor base coordinate system relative to a world coordinate system at an initial moment; calibrating a workpiece coordinate system to obtain a second homogeneous matrix of the workpiece base coordinate system relative to the conveyor base coordinate system at an initial moment; obtaining an advancing speed of the conveyor; calculating a real-time homogeneous matrix of the workpiece coordinate system relative to the world coordinate system by taking the first homogeneous matrix, the second homogeneous matrix and the advancing speed as parameters of the initial moment. The method can reduce the complexity and cost of the workpiece tracking method.Further disclosed are a workpiece tracking system and a robot. 一种工件跟踪方法，包括：对传送带基础坐标系进行标定，获得传送带基础坐标系在初始时刻时相对于世界坐标系的第一齐次矩阵；对工件坐标系进行标定，获得工件坐标系在初始时刻时相对于传送带基础坐标系的第二齐次矩阵；获取传送带的行进速度；以第一齐次矩阵、第二齐次矩阵和该行进速度为初始时刻的参数，计算工件坐标系相对于世界坐标系的实时齐次矩