CN101639746A - Automatic calibration method of touch screen - Google Patents
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Abstract
The invention relates to an automatic calibration method of an image sensor type touch screen, including the steps that: (1) A/D conversion gain amplification value of an image sensor is set as initial value, and original calibration parameter is forbidden; (2) automatic calibration routine plots a round bright spot on a writing screen, and the coordinate of the center of the round bright spot isrecorded as logical coordinate preset for calibration; (3) the automatic calibration routine sends an automatic image sensor A/D conversion gain amplification value regulating instruction; (4) a microprocessing chip executes the instruction, calculates effective physical coordinate of the center of gravity of bright spot and sends the physical coordinate to the automatic calibration routine, a PCmachine sets the image sensor A/D conversion gain amplification value as the initial value; (5) the steps of (2), (3) and (4) are repeated for a plurality of times; (6) a new calibration parameter isobtained according to the logical coordinate preset for calibration and corresponding physical coordinate of the center of gravity of the bright spot, and the calibration parameter is stored and enabled. The invention eliminates degree of freedom of man-made touch click in the existing method and can obtain relatively consistent calibration parameter.
Description
Technical field
The present invention relates to touch screen technology, be specifically related to a kind of automatic calibrating method of imageing sensor formula touch-screen.
Background technology
Touch-screen has all obtained widespread use in a lot of fields as a kind of simpler, ripe human-computer interaction device.The realization of touch screen technology mainly contains several modes such as resistance-type induction, capacitive induction, infrared tube scanning, imageing sensor at present.Image taking sensor formula touch-screen is an example, and as shown in Figure 1, its formation comprises: at least one camera 1, at least one Zhi Guangxue lettering pen 2, at least one be used for the optics lettering pen the light wave imaging write screen 3, projector 4, little process chip 5 and PC 6.Described camera 1 comprises optical lens and imageing sensor.Described little process chip 5 can be single-chip microcomputer, ARM chip, dsp chip or MCU chip, is provided with image processing module and coordinate and handles computing module.Described camera 1 is connected with little process chip 5, and little process chip 5 also is connected with PC 6 by its built-in chip interface; Described projector 4 also is connected with PC 6.PC 6 is by the A/D conversion gain value of magnification of the chip interface may command imageing sensor of little process chip 5, thus the brightness value of scalable control chart image-position sensor images acquired.Wherein, optics lettering pen 2 can be a light pen, sends infrared light, monochromatic light or laser, and camera 1 has the monochromatic filter homochromy with this optics lettering pen 2.Optics lettering pen 2 also can be non-light source objects or passive pen, such as finger, the reasonable white simulation of reflecting effect pen etc., in this case, optics lettering pen 2 relies on reflecting light to form picture point, the periphery of writing screen 3 is provided with monochromatic linear light source, and the light that monochromatic linear light source sends can cover whole viewing area of writing screen 3, and camera 1 has and the homochromy optical filter of this monochrome linear light source, if light-source brightness is enough, just do not need optical filter.Camera 1 is installed in the place ahead or the rear position of writing screen 3, send or reflecting light by optics lettering pen 2, be positioned at the camera 1 of writing screen 3 the place aheads or rear and receive light wave writing the light spot image that forms on image on the screen 3 or the non-light source objects, through imageing sensor conversion output digital image data.Described image processing module is provided with a brightness of image threshold values, the pixel brightness value and the luminance threshold contrast of the view data image processing module is changed imageing sensor by A/D after, the pixel that surpasses this luminance threshold is effectively to suppose touch point speck pixel, simultaneously, described image processing module is when the Digital Image Data that the reception imageing sensor transmits, synchronous by the row that imageing sensor transmits, field sync signal and pixel clock calculate the physical coordinates of the imageing sensor of each the pixel correspondence that receives, and image processing module buffer memory brightness value surpasses the touch point speck pixel coordinate of luminance threshold.Then, handling computing module by coordinate carries out the classification of hot spot pixel coordinate and calculates the hot spot barycentric coordinates.
After the touch-screen manufacturing is installed, before coming into operation, all need the process of a calibration.At present, general touch-screen adopts following manual calibration method to be: at first little process chip 5, camera 1 are connected to PC 6, get the preset of n known logical coordinates on the touch-screen and click for the user; Obtain n the physical coordinates that the user clicks this n preset; According to physical coordinates that gets access to and the logical coordinates that is stored in each preset in the system in advance, obtain calibration parameter by the method for undetermined coefficients, and the calibration parameter that obtains stored, the calibration parameter that obtains can be cured in the hardware memory of little process chip 5 of touch-screen or be stored in the touch-screen parameter configuration files in the PC 6.When touch-screen normally uses, carry out calibrating coordinates interative computation in conjunction with calibration parameter, just can obtain the logical coordinates of the touch-screen of correspondence based on the calibrating coordinates algorithm as long as coordinate is handled physical coordinates that the computing module computing obtains.
In the manual calibration method of above-mentioned existing imageing sensor formula touch-screen, because the user is very big to the clicking operation degree of freedom of each preset, has bigger error between the actual corresponding physical coordinate of preset physical coordinates and preset that has caused the imageing sensor sampling to calculate, have bigger error thereby also make between preset physical coordinates that imageing sensor sampling calculates and the logical coordinates that is stored in each preset in the system in advance, obtain calibration parameter by the method for undetermined coefficients and also bigger error can occur.Calibration parameter computing meeting than mistake influences the degree of accuracy that system locatees, and has reduced the performance of system.Imageing sensor formula touch-screen can be front projection or back projection pattern, and the size of imageing sensor formula touch-screen can be accomplished very big, can be single large-sized touch-screen, also can be the touch system that a plurality of large scale touch-screens are spliced into.In the front projection touch-screen,, will cause the each use of user must manually carry out the calibration of n point touch panel coordinates if the position of imageing sensor or projector 4 is unfixing.Simultaneously, if great inconvenience than higher, bigger, will be brought to user's manual calibration operation in the position of screen.In the giant-screen touch system of a plurality of touch unit splicings, suppose that all there is n point each unit, just there is n * m some m unit, and point is too many, has also caused the difficulty and the uncertain situation of degree of accuracy of manual calibration.
Summary of the invention
The objective of the invention is to overcome the shortcoming and defect of above-mentioned prior art, a kind of automatic calibrating method of imageing sensor formula touch-screen is provided, the artificial degree of freedom of clicking that touches can obtain the comparison consistent calibration parameter when the inventive method had been got rid of conventional images sensor type touch screen calibration.
Purpose of the present invention is achieved through the following technical solutions: the automatic calibrating method of imageing sensor formula touch-screen, at first the automatic alignment routine that is used for touch screen calibration is installed at PC, and this automatic calibrating method step is as follows:
(1) the A/D conversion gain value of magnification of PC imageing sensor is set to initial value, can be made as zero, make image processing module under surround lighting and the normal display environment of touch-screen, can not capture effective speck coordinate data, simultaneously, forbid the calibration parameter of former storage;
(2) described automatic alignment routine is being write the circle row speck that the radius of drawing white or monochrome on the screen is r by projector, and alignment routine writes down the central coordinate of circle of the capable speck of this circle as the logical coordinates that is intended for calibrating automatically;
(3) alignment routine sends to little process chip and regulates the instruction of imageing sensor A/D conversion gain value of magnification automatically automatically;
(4) the automatic adjusting imageing sensor A/D conversion gain value of magnification instruction transmitted of little process chip execution in step (3), handle computing module up to coordinate and detect the number of pixels of effective speck coordinate and speck greater than default empirical value, coordinate is handled computing module and is gone out effective speck center of gravity physical coordinates and send described automatic alignment routine to according to the effective speck coordinate Calculation of detect to carry out record, then, PC imageing sensor A/D conversion gain value of magnification is set to the described initial value of step (1);
(5) repeatedly order repeating step (2), (3) and (4) operation guarantees that all logical coordinatess that are intended for calibrating all collect corresponding speck center of gravity physical coordinates;
(6) automatically alignment routine is carried out computing according to each logical coordinates that is intended for calibrating that is write down and the corresponding speck center of gravity physical coordinates that is obtained thereof and is obtained new calibration parameter, and storage, enables new calibration parameter.
In the said method, the described calibration parameter that bans use of former storage of step (1) if former calibration parameter solidifies in the hardware memory of little process chip of touch-screen, is then handled computing module by coordinate and is forbidden the calibration parameter of this former storage; If former calibration parameter is stored in the touch-screen parameter configuration files in the PC, then by described automatic this former calibration parameter of alignment routine forbidding.
In the said method, the described automatic alignment routine of step (1) is being write the circular speck that the radius of drawing on the screen is r by projector, and its radius r is preferably more than 10 picture numbers.
In the said method, the automatic adjusting imageing sensor A/D conversion gain value of magnification instruction that the described execution in step of step (4) (3) transmits, handle computing module up to coordinate and detect the number of pixels of effective speck coordinate and speck greater than default empirical value, specifically: little process chip constantly increases progressively the value of magnification of the A/D conversion gain register of setting imageing sensor, handles computing module up to coordinate and detects the number of pixels of effective speck coordinate and speck greater than default empirical value.
Preferably, the brightness of image threshold values of described setting is the fixing empirical value that image processing module is set, and this brightness of image threshold values can carry out suitable adjustment according to the display brightness of surround lighting and touch-screen, to remove the interference of surround lighting effectively.
In the said method, the described default empirical value of step (4) is the experiment experience value, can remove the noise of imageing sensor effectively and disturb.
In the said method, the described automatic alignment routine of step (6) is carried out computing according to each logical coordinates that is intended for calibrating that is write down and the corresponding speck center of gravity physical coordinates that is obtained thereof and is obtained new calibration parameter, specifically adopts the method for undetermined coefficients.
In the said method, the new calibration parameter of the described storage of step (6) specifically is that new calibration parameter is solidified in the hardware memory of little process chip of touch-screen, or is stored in the touch-screen parameter configuration files in the PC.
After obtaining storage behind the new calibration parameter, enable by said method, when touch-screen normally uses, carry out calibrating coordinates interative computation as long as coordinate is handled physical coordinates that the computing module computing obtains in conjunction with calibration parameter, just can obtain the logical coordinates of the touch-screen of correspondence based on the calibrating coordinates algorithm.
The present invention has following advantage and effect with respect to prior art: the automatic calibrating method of imageing sensor formula touch-screen of the present invention, by automatic alignment routine is set at PC, the logical coordinates that is intended for calibrating by this automatic alignment routine, and central coordinate of circle for being drawn on, the circular speck of this predetermined logic coordinate write screen, control the speck center of gravity physical coordinates that this circle speck is obtained in little processing by automatic calibration course again, repeatedly repeat aforesaid operations, again by the speck center of gravity physical coordinates that obtained of automatic alignment routine according to each logical coordinates that is intended for calibrating that is write down and correspondence thereof, obtain new calibration parameter by the method for undetermined coefficients, can be convenient and swift, exactly imageing sensor formula touch-screen is calibrated, the artificial degree of freedom of clicking that touches when having got rid of conventional images sensor type touch screen calibration, can obtain the comparison consistent calibration parameter, make touch-screen stable performance in use, bearing accuracy can reach the precision of Default Value.When being used for touch system that a plurality of large scale touch-screens are spliced into, it just seems more convenient, quick with respect to existing manual calibration steps, has saved the calibration resource greatly, helps applying.
Description of drawings
Fig. 1 is the structural representation of conventional images sensor type touch-screen;
Fig. 2 is the FB(flow block) of the automatic calibrating method of imageing sensor formula touch-screen of the present invention;
Fig. 3 is the automatic calibration synoptic diagram of the imageing sensor formula touch-screen of front projection formula;
Fig. 4 is the automatic calibration synoptic diagram of the imageing sensor formula touch-screen of back projection type;
Fig. 5 is the automatic calibration synoptic diagram of the touch system that is spliced into of a plurality of large scale touch-screens.
Embodiment
Below in conjunction with embodiment and accompanying drawing, the present invention is described in further detail, but embodiments of the present invention are not limited thereto.
Generally speaking, the automatic calibrating method of imageing sensor formula touch-screen of the present invention before calibrating, is earlier installed the automatic alignment routine that is used for touch screen calibration at PC, automatic calibrating method of the present invention as shown in Figure 2, step is as follows:
(1) PC is set to initial value by the A/D conversion gain value of magnification of the chip interface imageing sensor of little process chip, can be zero, make image processing module under surround lighting and the normal display environment of touch-screen, can not capture effective speck coordinate data, simultaneously, forbid the calibration parameter of former storage;
(2) described automatic alignment routine is being write the circle row speck that the radius of drawing white or monochrome on the screen is r by projector, and alignment routine writes down the central coordinate of circle of the capable speck of this circle as the logical coordinates that is intended for calibrating automatically;
(3) alignment routine is regulated the instruction of imageing sensor A/D conversion gain value of magnification by the chip interface of little process chip automatically to little process chip transmission automatically;
(4) the automatic adjusting imageing sensor A/D conversion gain value of magnification instruction transmitted of little process chip execution in step (3), handle computing module up to coordinate and detect the number of pixels of effective speck coordinate and speck greater than default empirical value, coordinate is handled computing module and is gone out effective speck center of gravity physical coordinates according to the effective speck coordinate Calculation of detect, send speck center of gravity physical coordinates to described automatic alignment routine and carry out record by the chip interface of little process chip is little, then, PC imageing sensor A/D conversion gain value of magnification is set to the described initial value of step (1);
(5) repeatedly order repeating step (2), (3) and (4) operation guarantees that all logical coordinatess that are intended for calibrating all collect corresponding speck center of gravity physical coordinates;
(6) automatically alignment routine is carried out computing according to each logical coordinates that is intended for calibrating that is write down and the corresponding speck center of gravity physical coordinates that is obtained thereof and is obtained new calibration parameter, and storage, enables new calibration parameter.
In the said method, the described calibration parameter that bans use of former storage of step (1) if former calibration parameter solidifies in the hardware memory of little process chip of touch-screen, is then handled computing module by coordinate and is forbidden the calibration parameter of this former storage; If former calibration parameter is stored in the touch-screen parameter configuration files in the PC, then by described automatic this former calibration parameter of alignment routine forbidding.
In the said method, the described automatic alignment routine of step (1) is being write the circular speck that the radius of drawing on the screen is r by projector, and its radius r is preferably more than 10 picture numbers.
In the said method, the automatic adjusting imageing sensor A/D conversion gain value of magnification instruction that the described execution in step of step (4) (3) transmits, handle computing module up to coordinate and detect the number of pixels of effective speck coordinate and speck greater than default empirical value, specifically: little process chip constantly increases progressively the value of magnification of the A/D conversion gain register of setting imageing sensor, handles computing module up to coordinate and detects the number of pixels of effective speck coordinate and speck greater than default empirical value.
Preferably, the brightness of image threshold values of described setting is the fixing empirical value that image processing module is set, and this brightness of image threshold values can carry out suitable adjustment according to the display brightness of surround lighting and touch-screen, to remove the interference of surround lighting effectively.
In the said method, the described default empirical value of step (4) is the experiment experience value, can remove the noise of imageing sensor effectively and disturb.
In the said method, the described automatic alignment routine of step (6) is carried out computing according to each logical coordinates that is intended for calibrating that is write down and the corresponding speck center of gravity physical coordinates that is obtained thereof and is obtained new calibration parameter, specifically adopts the method for undetermined coefficients.
In the said method, the new calibration parameter of the described storage of step (6) specifically is that new calibration parameter is solidified in the hardware memory of little process chip of touch-screen, or is stored in the touch-screen parameter configuration files in the PC.
After obtaining storage behind the new calibration parameter, enable by said method, when touch-screen normally uses, carry out calibrating coordinates interative computation as long as coordinate is handled physical coordinates that the computing module computing obtains in conjunction with calibration parameter, just can obtain the logical coordinates of the touch-screen of correspondence based on the calibrating coordinates algorithm.
Specify the realization of touch-screen automatic calibrating method of the present invention below in conjunction with the specific implementation form of touch-screen.
Embodiment 1
As shown in Figure 3, this imageing sensor formula touch-screen imageing sensor formula touch-screen that is the front projection formula.Projector 4 and camera 1 etc. are positioned over the place ahead of writing screen 3, and optics lettering pen 2 (not shown)s adopt red laser, but the remote control mouse, and the monochromatic filter that camera 1 adopts is the optical filter of red laser wave band 650 nano narrow bands.Its automatically calibration adopt the above-mentioned automatic calibrating method of the present invention, as shown in Figure 2, wherein, the operation of step (3), (4) and (5) has repeated 13 times, as shown in Figure 3, the circular speck of being drawn for these 13 times is followed successively by the circle of writing in the screen 3 7～19.
Embodiment 2
As shown in Figure 4, this imageing sensor formula touch-screen is a back projection imageing sensor formula touch-screen, and this back projection imageing sensor formula touch-screen is provided with rear reflector 20 and rear-projection base 21.Projector 4 and camera 1 etc. are positioned over the rear of writing screen 3, as be positioned in the rear-projection case, optics lettering pen 2 adopts infrared lettering pen writing screen 3 enterprising running hand write operations, and the monochromatic filter that camera 1 adopts is the bandpass filter of 850-940 nanometer.Its automatically calibration adopt the above-mentioned automatic calibrating method of the present invention, as shown in Figure 2, wherein, the operation of (3), (4) and (5) has repeated 13 times, as shown in Figure 4, the circular speck of being drawn for these 13 times is followed successively by the circle of writing in the screen 22～34.
Be illustrated in figure 5 as the touch system that a plurality of large scale touch-screens are spliced into, projector 4 and camera 1 etc. is positioned in the rear-projection case of writing screen 3 rears, has been made of the tiled display touch system of a n*m several such rear-projections.Fig. 5 is specially the touch system that 2 large scale touch-screens are spliced into, and comprises touch-screen A and B.This touch system has also comprised the chip interface data analog input card 36 of Video Segmentation integrated circuit board 35 and the little process chip 5 of camera, chip interface data analog input card 36 is connected to camera 1 among touch-screen A and the B by little process chip 5, chip interface data analog input card 36 is provided with a plurality of interfaces, each interface is connected to the chip interface of a little process chip 5 by serial RS485 or RS232 bus, thereby connect a camera 1 by little process chip 5, can pass through the interface position of the unit of display accordingly, the coordinate transform of camera 1 output be become the coordinate of splicing system.Video Segmentation integrated circuit board 35 is connected with PC 6, projector 4 by VGA or DVI interface.
The above-mentioned automatic calibrating method of the present invention is all adopted in touch-screen A in the above-mentioned splicing system and the automatic calibration of B, and as shown in Figure 2, wherein, the operation of (3), (4) and (5) has repeated 13 times.And, calibration process between each touch-screen can be that what to walk abreast also can be serial, the chip interface data analog input card 36 of the little process chip 5 of camera and the communication between each camera are independent and parallel, as shown in Figure 5, the circular speck of being drawn for 13 times in touch-screen A repetition is followed successively by the circle of writing in the screen 37～49, and the circular speck of being drawn for 13 times in touch-screen B repetition is followed successively by the circle of writing in the screen 50～62.
The foregoing description is a preferred implementation of the present invention; but embodiments of the present invention are not limited by the examples; other any do not deviate from change, the modification done under spirit of the present invention and the principle, substitutes, combination, simplify; all should be the substitute mode of equivalence, be included within protection scope of the present invention.
Claims (10)
1, the automatic calibrating method of imageing sensor formula touch-screen is characterized in that: at first at PC the automatic alignment routine that is used for touch screen calibration is installed, this automatic calibrating method step is as follows:
(1) the A/D conversion gain value of magnification of PC imageing sensor is set to initial value, makes image processing module can not capture effective speck coordinate data under surround lighting and the normal display environment of touch-screen, simultaneously, forbids the calibration parameter of former storage;
(2) described automatic alignment routine is being write the circle row speck that the radius of drawing white or monochrome on the screen is r by projector, and alignment routine writes down the central coordinate of circle of the capable speck of this circle as the logical coordinates that is intended for calibrating automatically;
(3) alignment routine sends to little process chip and regulates the instruction of imageing sensor A/D conversion gain value of magnification automatically automatically;
(4) the automatic adjusting imageing sensor A/D conversion gain value of magnification instruction transmitted of little process chip execution in step (3), handle computing module up to coordinate and detect the number of pixels of effective speck coordinate and speck greater than default empirical value, coordinate is handled computing module and is gone out effective speck center of gravity physical coordinates and send described automatic alignment routine to according to the effective speck coordinate Calculation of detect to carry out record, then, PC imageing sensor A/D conversion gain value of magnification is set to the described initial value of step (1);
(5) repeatedly order repeating step (2), (3) and (4) operation guarantees that all logical coordinatess that are intended for calibrating all collect corresponding speck center of gravity physical coordinates;
(6) automatically alignment routine is carried out computing according to each logical coordinates that is intended for calibrating that is write down and the corresponding speck center of gravity physical coordinates that is obtained thereof and is obtained new calibration parameter, and storage, enables new calibration parameter.
2, the automatic calibrating method of imageing sensor formula touch-screen according to claim 1, it is characterized in that: the described calibration parameter that bans use of former storage of step (1), if former calibration parameter solidifies in the hardware memory of little process chip of touch-screen, then handle computing module and forbid the calibration parameter of this former storage by coordinate; If former calibration parameter is stored in the touch-screen parameter configuration files in the PC, then by described automatic this former calibration parameter of alignment routine forbidding.
3, the automatic calibrating method of imageing sensor formula touch-screen according to claim 1 and 2, it is characterized in that: the described automatic alignment routine of step (1) is passed through projector, writing the circular speck that the radius of drawing on the screen is r, its radius r is greater than 10 picture numbers.
4, the automatic calibrating method of imageing sensor formula touch-screen according to claim 3, it is characterized in that: the automatic adjusting imageing sensor A/D conversion gain value of magnification instruction that the described execution in step of step (4) (3) transmits, handle computing module up to coordinate and detect the number of pixels of effective speck coordinate and speck greater than default empirical value, specifically: little process chip constantly increases progressively the value of magnification of the A/D conversion gain register of setting imageing sensor, handles computing module up to coordinate and detects the number of pixels of effective speck coordinate and speck greater than default empirical value.
5, the automatic calibrating method of imageing sensor formula touch-screen according to claim 1, it is characterized in that: the automatic adjusting imageing sensor A/D conversion gain value of magnification instruction that the described execution in step of step (4) (3) transmits, handle computing module up to coordinate and detect the number of pixels of effective speck coordinate and speck greater than default empirical value, specifically: little process chip constantly increases progressively the value of magnification of the A/D conversion gain register of setting imageing sensor, handles computing module up to coordinate and detects the number of pixels of effective speck coordinate and speck greater than default empirical value.
6, the automatic calibrating method of imageing sensor formula touch-screen according to claim 5 is characterized in that: the brightness of image threshold values of described setting is the fixing empirical value that image processing module is set.
7, according to the automatic calibrating method of claim 1,2,4,5 or 6 described imageing sensor formula touch-screens, it is characterized in that: the described default empirical value of step (4) is the experiment experience value.
8, the automatic calibrating method of imageing sensor formula touch-screen according to claim 7, it is characterized in that: the described automatic alignment routine of step (6) is carried out computing according to each logical coordinates that is intended for calibrating that is write down and the corresponding speck center of gravity physical coordinates that is obtained thereof and is obtained new calibration parameter, specifically adopts the method for undetermined coefficients.
9, the automatic calibrating method of imageing sensor formula touch-screen according to claim 1, it is characterized in that: the described automatic alignment routine of step (6) is carried out computing according to each logical coordinates that is intended for calibrating that is write down and the corresponding speck center of gravity physical coordinates that is obtained thereof and is obtained new calibration parameter, specifically adopts the method for undetermined coefficients.
10, according to the automatic calibrating method of claim 1,2,4,5,6,8 or 9 described imageing sensor formula touch-screens, it is characterized in that: the new calibration parameter of the described storage of step (6), specifically be that new calibration parameter is solidified in the hardware memory of little process chip of touch-screen, or be stored in the touch-screen parameter configuration files in the PC.
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| CN102495697A (en) * | 2011-12-06 | 2012-06-13 | 无锡海森诺科技有限公司 | Automatic calibration method and system based on camera type touch control device |
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| US20060209041A1 (en) * | 2005-03-18 | 2006-09-21 | Elo Touchsystems, Inc. | Method and apparatus for automatic calibration of a touch monitor |
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| TW200704944A (en) * | 2005-07-27 | 2007-02-01 | Mitac Int Corp | Touch screen device with automatic calibration prompting function and method thereof |
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| CN109669566A (en) * | 2017-10-13 | 2019-04-23 | 华为技术有限公司 | A kind of method and device of control report point output |
| CN109669566B (en) * | 2017-10-13 | 2020-09-29 | 华为技术有限公司 | Method and device for controlling report point output |
| CN110533999A (en) * | 2018-09-05 | 2019-12-03 | 南京阿波罗机器人科技有限公司 | A kind of teaching robot's calibration method and teaching robot |
| CN112000245A (en) * | 2020-08-27 | 2020-11-27 | 深圳市信濠光电科技股份有限公司 | Calibration system based on touch screen pressure |
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