CN110533999A - A kind of teaching robot's calibration method and teaching robot - Google Patents
A kind of teaching robot's calibration method and teaching robot Download PDFInfo
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- CN110533999A CN110533999A CN201910823130.8A CN201910823130A CN110533999A CN 110533999 A CN110533999 A CN 110533999A CN 201910823130 A CN201910823130 A CN 201910823130A CN 110533999 A CN110533999 A CN 110533999A
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- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B23/00—Models for scientific, medical, or mathematical purposes, e.g. full-sized devices for demonstration purposes
- G09B23/06—Models for scientific, medical, or mathematical purposes, e.g. full-sized devices for demonstration purposes for physics
- G09B23/18—Models for scientific, medical, or mathematical purposes, e.g. full-sized devices for demonstration purposes for physics for electricity or magnetism
- G09B23/183—Models for scientific, medical, or mathematical purposes, e.g. full-sized devices for demonstration purposes for physics for electricity or magnetism for circuits
- G09B23/185—Models for scientific, medical, or mathematical purposes, e.g. full-sized devices for demonstration purposes for physics for electricity or magnetism for circuits for building block systems
Abstract
The present invention relates to teaching robot's technical field more particularly to a kind of teaching robot's calibration method and teaching robots.Teaching robot's calibration method of the invention is applied to the teaching robot using resistive touch screen, which comprises obtains sensitivity calibration request；Response sensitivity calibration request obtains preset calibration and prompts data, and preset calibration prompt data include the predeterminated position data of calibration prompt point；Data are prompted to show calibration prompt point on resistive touch screen according to preset calibration；Obtain the actual location data of the calibration prompt point of user feedback；It is calculated according to actual location data, the preset calibration prompt data of the calibration prompt point of user feedback, obtains sensitivity calibration data；Sensitivity parameter is updated according to sensitivity calibration data.The present invention allows user's self-healing display screen sensitivity, easy to operate, is shown by colour, increases interest and functionality.
Description
Technical field
The present invention relates to teaching robot's technical field more particularly to a kind of teaching robot's calibration methods and teaching machine
People.
Background technique
As middle and primary schools create the development of visitor's education, (science, technology, engineering and mathematical education quadrivium English are first by STEM
The abbreviation of letter) teaching aid brand and type emerge one after another.Common STEM teaching aid can be divided into dependence by application method and lead in the market
With the robot controller of computer online programming, and the off-line programing robot controller of general purpose computer is not depended on.It uses
The robot controller for relying on general purpose computer online programming improves the threshold and cost of STEM teaching because carrying computer,
Great difficulty is brought to the development of education activities, to make the off-line programing robot controller for not depending on general purpose computer
Start gradually popular.Currently, the off-line programing robot controller for not depending on general purpose computer mostly uses common LCD display
(abbreviation of Liquid Crystal Display, liquid crystal display) cooperates the mode of physical button to be programmed, operation step
It is rapid complicated, and display screen imaging effect is dull, totally uninteresting property, and can not allow when deviation occurs in LCD display sensitivity
User's self-healing, becomes difficult product maintenance.Therefore, developing a kind of user can be with the sensitivity of self-healing display screen, color
Coloured silk is abundant, the off-line programing robot controller for not depending on general purpose computer easy to operate is particularly important.
Summary of the invention
Based on this, it is necessary in view of the above-mentioned problems, proposing a kind of teaching robot's calibration method and teaching robot.
In a first aspect, the invention proposes a kind of teaching robot's calibration method, applied to using resistive touch screen
Teaching robot, which comprises
Obtain sensitivity calibration request；
The sensitivity calibration request is responded, preset calibration is obtained and prompts data, the preset calibration prompts data
Predeterminated position data including calibration prompt point, the calibration prompt point includes at least three prompts being not arranged on the same straight line
Point；
Calibration prompt point is shown on the resistive touch screen according to the preset calibration prompt data；
Obtain the actual location data of the calibration prompt point of user feedback；
It is carried out according to the actual location data of the calibration prompt point of the user feedback, the preset calibration prompt data
It calculates, obtains sensitivity calibration data；
Sensitivity parameter is updated according to the sensitivity calibration data.
In one embodiment, the calibration prompt point includes four prompt points, and four prompt points connection forms four
Side shape；
The actual location data of the calibration prompt point according to the user feedback, the preset calibration prompt data
It is calculated, obtains sensitivity calibration data, specifically included:
Four prompt points are divided into two groups, every group of two prompt points are located at four prompt points connection shape
At quadrangle same diagonal line on；
It is corresponded to according to the actual location data of the first of the user feedback group of calibration prompt point, first group of calibration prompt point
Predeterminated position data progress calculated point by point, obtain X axis coordinate yield value；
It is corresponded to according to the actual location data of the second of the user feedback group of calibration prompt point, second group of calibration prompt point
Predeterminated position data progress calculated point by point, obtain Y axis coordinate yield value；
Sensitivity calibration data is obtained according to the X axis coordinate yield value, the Y axis coordinate yield value.
In one embodiment, described that sensitivity parameter is updated according to the sensitivity calibration data, it specifically includes:
Obtain the actual location data for the checking image that user feeds back according to the sensitivity calibration data；
Inspection figure is obtained according to the actual location data of the checking image of the user feedback, the sensitivity calibration data
The display position data of picture；
Checking image is shown on the resistive touch screen according to the display position data of the checking image；
Obtain the inspection result of user feedback；
When the inspection result of user feedback is successfully, sensitivity parameter is updated according to the sensitivity calibration data.
In one embodiment, described that sensitivity parameter is updated according to the sensitivity calibration data, it specifically includes:
Preset inspection prompt data are obtained, the preset inspection prompt data include examining the default position of prompt image
Set data；
Inspection prompt image is shown on the resistive touch screen according to the preset inspection prompt data；
Obtain the actual location data for the inspection prompt image that user feeds back according to the sensitivity calibration data；
It is obtained examining prompt image according to the actual location data for examining prompt image, the sensitivity calibration data
Display position data；
It is compared, is obtained according to the display position data for examining prompt image, the preset inspection prompt data
To comparison test result；
When the comparison test result is successfully, sensitivity parameter is updated according to the sensitivity calibration data.
In one embodiment, described according to the display position data for examining prompt image, the preset inspection
Prompt data compare, and obtain comparison test as a result, specifically including:
It is compared, is obtained according to the display position data for examining prompt image, the preset inspection prompt data
To calibration variance data；
Obtain preset calibration threshold values；
Then obtained when the calibration variance data is in the preset calibration threshold range comparison test result be at
Function obtains comparison test result then when the calibration variance data exceeds the preset calibration threshold range as failure.
In one embodiment, before the acquisition sensitivity calibration request, further includes:
Obtain starting-up signal；
Respond the starting-up signal, obtain initiation parameter, the initiation parameter include FSMC bus initialization parameter,
Spi bus initiation parameter, touch driving chip initiation parameter, resistive touch screen initiation parameter, graphical interfaces are initial
Change parameter；
The initialization of teaching robot is carried out according to the initiation parameter.
In one embodiment, described to be shown on the resistive touch screen according to the preset calibration prompt data
Before calibration prompt point, further includes:
Obtain the authentication information of user feedback；
Obtain the identity information of registration；
It is compared according to the identity information of the authentication information of the user feedback, the registration, obtains identity and test
Demonstrate,prove result；
When the authentication result is successfully, the sensitivity calibration request is responded, obtains preset calibration prompt
Data.
Second aspect, the invention also provides a kind of teaching robot, the teaching robot includes: resistive touch
Screen touches driving chip, micro-control unit, sensitivity calibration module, the micro-control unit and resistive touch screen electricity
Connection with the reading and writing data for realizing resistive touch screen, the micro-control unit be electrically connected with the touch driving chip with
For controlling the touch driving chip work, the touch driving chip is electrically connected for reading with the resistive touch screen
Take the position data of touch point；
The sensitivity calibration module responds the sensitivity calibration request, obtains for obtaining sensitivity calibration request
Preset calibration prompts data, and the preset calibration prompt data include the predeterminated position data of calibration prompt point, the school
Quasi- prompt point includes the 1 prompt points being not arranged on the same straight line, according to the preset calibration prompt data described
Calibration prompt point is shown on resistive touch screen, the actual location data of the calibration prompt point of user feedback is obtained, according to described
Actual location data, the preset calibration prompt data of the calibration prompt point of user feedback are calculated, and sensitivity is obtained
Calibration data updates sensitivity parameter according to the sensitivity calibration data.
In one embodiment, the teaching robot further include:
Authentication module obtains the identity information of registration, according to institute for obtaining the authentication information of user feedback
The identity information of the authentication information, the registration of stating user feedback compares, and obtains authentication result；
The sensitivity calibration module, for obtaining sensitivity calibration request, when the authentication result is successfully,
The sensitivity calibration request is responded, preset calibration is obtained and prompts data, the preset calibration prompt data include calibration
The predeterminated position data of point are prompted, the calibration prompt point includes the 1 prompt points being not arranged on the same straight line, according to
The preset calibration prompt data show calibration prompt point on the resistive touch screen, and the calibration for obtaining user feedback mentions
Show actual location data a little, according to the actual location data of the calibration prompt point of the user feedback, the preset calibration
Prompt data are calculated, and sensitivity calibration data is obtained, and update sensitivity parameter according to the sensitivity calibration data.
In one embodiment, the sensitivity calibration module includes examining submodule, and the inspection submodule is for obtaining
The actual location data for taking the checking image of user feedback, according to the image actual location data of the user feedback in the electricity
Resistive touch screen display checking image, obtains the inspection result of user feedback, when the inspection result of user feedback is successfully,
Sensitivity parameter is updated according to the sensitivity calibration data.
In conclusion teaching robot's calibration method of the invention uses resistive touch screen, according to the preset school
Quasi- prompt data show calibration prompt point on the resistive touch screen, obtain the actual bit of the calibration prompt point of user feedback
Data are set, are carried out according to the actual location data of the calibration prompt point of the user feedback, the preset calibration prompt data
It calculates, obtains sensitivity calibration data, sensitivity parameter, sensitivity calibration operation letter are updated according to the sensitivity calibration data
It is single, and realize the display screen sensitivity of user self calibration reparation teaching robot；Resistive touch screen is a kind of very color
Color display screen increases the interest and functionality of teaching robot.Therefore, the present invention allows user's self-healing display screen
Sensitivity, it is easy to operate, it is shown by colour, increases interest and functionality.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
It obtains other drawings based on these drawings.
Wherein:
Fig. 1 is the flow chart of teaching robot's calibration method in one embodiment；
Fig. 2 is the flow chart of the meter sensitivity calibration data of teaching robot's calibration method in one embodiment；
Fig. 3 is the flow chart of the meter sensitivity calibration data of teaching robot's calibration method in another embodiment；
Fig. 4 is the flow chart with calibration check function in teaching robot's calibration method in one embodiment；
Fig. 5 is the flow chart with calibration check function in teaching robot's calibration method in another embodiment；
Fig. 6 is the flow chart of the calculating comparison test result of teaching robot's calibration method of Fig. 5；
Fig. 7 is the flow chart with opening initialization function in teaching robot's calibration method in one embodiment；
Fig. 8 is the flow chart with identification verification function in teaching robot's calibration method in one embodiment；
Fig. 9 is the structural block diagram of teaching robot in one embodiment.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Resistive touch screen is a kind of sensor, and the physical location of touch point in display interval (X, Y) is converted to generation by it
The voltage of Table X coordinate and Y-coordinate.Many LCD modules all use resistive touch screen, this screen can with four lines, five lines,
Seven lines or eight lines generate screen bias voltage, while the voltage for touch point of reading back.
In the present invention, resistive touch screen is directly anchored to display screen and information on teaching robot as display information
The touch screen of input, user are directly programmed and are shown using resistive touch screen, are eliminated the need for a large amount of when physical button
Operating procedure；The pattern of various shapes, color can be drawn, can also show photo, increases the interest of teaching robot
And functionality.
As shown in Figure 1, in one embodiment it is proposed that a kind of teaching robot's calibration method, is applied to use resistance
The teaching robot of formula touch screen, described method includes following steps:
S102, sensitivity calibration request is obtained；
The sensitivity calibration request refers to that the request for carrying out sensitivity calibration, the request pass through teaching robot by user
Resistive touch screen sending.
Resistive touch screen can choose TFT display screen ((Thin Film Transistor)), and TFT display screen is film
Transistor LCD is one kind of LCD liquid crystal display screen, is a kind of true colour display screen display screen, and TFT liquid crystal is each pixel
Equipped with a semiconductor switch, each pixel can be directly controlled by a pulse, thus each node is relatively independent, and
The reaction speed of display screen can be not only increased, while can accurately control display level with continuous control, so TFT liquid crystal
Color it is trueer.
S104, the response sensitivity calibration request obtain preset calibration and prompt data, the preset calibration prompt
Data include the predeterminated position data that calibration prompts point, what the calibration prompt point was not arranged on the same straight line including at least three
Prompt point；
The calibration prompt point can be at least one of figure, text, character, single pixel point, for example, round, circle
Circle, triangle, pentalpha, character Z, citing is not especially limited herein.
The calibration prompt point includes the 1 prompt points being not arranged on the same straight line, which refers to pixel
Point, the 1 prompt points being not arranged on the same straight line are conducive to more accurately calculate sensitivity calibration data.
The predeterminated position data of the calibration prompt point are the coordinate bits of the calibration prompt point in the software of teaching robot
It sets.
S106, calibration prompt point is shown on the resistive touch screen according to the preset calibration prompt data；
Specifically, starting touches Calibration interface, according to the preset calibration prompt data on touching Calibration interface
Display calibration prompt point, touches the resistive touch screen that Calibration interface is shown in teaching robot.
Wherein, calibration prompt point carries out next step after being all shown on touch Calibration interface again.In another implementation
In example, calibration prompt point first can touch Calibration interface display portion, and the school of remainder is shown according to user's operation progress
Quasi- prompt point.
S108, the calibration for obtaining user feedback prompt the actual location data of point；
Specifically, user prompts touch resistance-type according to the calibration shown on the resistive touch screen of teaching robot
Touch screen draws calibration prompt point, obtains the actual location data of the calibration prompt point fed back when user draws.
Wherein, the actual location data of the calibration prompt point of user feedback is the actual bit handled without sensitivity parameter
Set Data Data.In another embodiment, the actual location data of the calibration prompt point of user feedback is joined by sensitivity
The actual location data data of number processing.
The actual location data of calibration prompt point refers to that calibration prompt point touches in the display interval of resistive touch screen
The physical location of point (X, Y), be resistive touch screen coordinate system under physical location.Display interval is generally quadrangle, can
With understanding, display interval can also be square, ellipse, triangle, heart etc., and citing is not especially limited herein.
S110, the actual location data of point, the preset calibration is prompted to prompt number according to the calibration of the user feedback
According to being calculated, sensitivity calibration data is obtained；
Specifically, being mentioned according to the actual location data of the calibration prompt point of the user feedback, the preset calibration
The predeterminated position data of the calibration prompt point of registration evidence are calculated, and sensitivity calibration data is obtained.
S112, sensitivity parameter is updated according to the sensitivity calibration data.
Specifically, the sensitivity sensitivity calibration data stored in the memory of covering teaching robot is joined
Number.
The sensitivity parameter is used for the position coordinates that gain is shown, to make the position of resistive touch screen touch and show
The position shown is same or similar.
Teaching robot's calibration method of the present embodiment uses resistive touch screen, prompts number according to the preset calibration
According to calibration prompt point is shown on the resistive touch screen, the actual location data of the calibration prompt point of user feedback is obtained,
It is calculated, is obtained according to the actual location data of the calibration prompt point of the user feedback, the preset calibration prompt data
To sensitivity calibration data, sensitivity parameter is updated according to the sensitivity calibration data, sensitivity calibration is easy to operate, and
Realize the display screen sensitivity of user self calibration reparation teaching robot；Resistive touch screen is that a kind of true color is shown
Screen, increases the interest and functionality of teaching robot.Therefore, the method for the present embodiment shows user's self-healing
Shield sensitivity, it is easy to operate, it is shown by colour, increases interest and functionality.
As shown in Fig. 2, in one embodiment, the calibration prompt point includes four prompt points, four prompts point
Connection forms quadrangle；
The actual location data of the calibration prompt point according to the user feedback, the preset calibration prompt data
It is calculated, obtains sensitivity calibration data, specifically included:
S202, four prompt points are divided into two groups, every group of two prompt points are located at four prompts point
On the same diagonal line for connecting the quadrangle formed；
The actual location data of first group of calibration prompt point is A1 (X12, Y12)、A3(X32, Y32), second group of calibration prompts point
Actual location data be A2 (X22, Y22)、A4(X42, Y42)。
The corresponding predeterminated position data of first group of calibration prompt point are A1 (X11, Y11)、A3(X31, Y31), second group of calibration mentions
Show that a little corresponding predeterminated position data are A2 (X21, Y21)、A4(X41, Y41), for example, A1 (15,15), A3 (225,305), A2
(15,305)、A4(225,15)。
S204, the actual location data according to first group of calibration of user feedback prompt point, first group of calibration prompt
The corresponding predeterminated position data progress of point is calculated point by point, obtains X axis coordinate yield value；
If X axis coordinate yield value is Xgain, calculation formula is as follows:
Such as:
S206, the actual location data according to second group of calibration of user feedback prompt point, second group of calibration prompt
The corresponding predeterminated position data progress of point is calculated point by point, obtains Y axis coordinate yield value；
If Y axis coordinate yield value is Ygain, calculation formula is as follows:
Such as:
S208, sensitivity calibration data is obtained according to the X axis coordinate yield value, the Y axis coordinate yield value.
Specifically, sensitivity calibration data includes the X axis coordinate yield value, the Y axis coordinate yield value.
It is understood that step S202 prompts the physical location number of point to the calibration of the step S208 user feedback used
According to be without sensitivity parameter handle actual location data data.In another embodiment, the user feedback of use
When the actual location data of calibration prompt point is the actual location data data handled by sensitivity parameter, by sensitivity
The X-coordinate of the actual location data of parameter processing obtains not divided by the X axis coordinate yield value in the sensitivity parameter for processing
The X-coordinate of processed actual location data, the Y-coordinate of the actual location data by sensitivity parameter processing divided by being used for
Y axis coordinate yield value in the sensitivity parameter of processing obtains the Y-coordinate of untreated actual location data, then with without place
The X-coordinate of the actual location data of reason, the Y-coordinate of untreated actual location data substitute into step step S202 to step
S208 carries out sensitivity calibration data calculating.
As shown in figure 3, in one embodiment, the calibration prompt point includes four prompt points, four prompts point
Connection forms quadrangle；
The actual location data of the calibration prompt point according to the user feedback, the preset calibration prompt data
It is calculated, obtains sensitivity calibration data, specifically included:
S302, four prompt points are divided into two groups, every group of two prompt points are located at four prompts point
On the same diagonal line for connecting the quadrangle formed；
The quadrangle that four prompts point connection is formed can be rectangle, parallelogram, trapezoidal etc., not make to have herein
Body limits.
Such as: when the quadrangle that four prompts point connection is formed is rectangle, the actual bit of first group of calibration prompt point
Setting data is A1 (X12, Y12)、A3(X32, Y32), the actual location data of second group of calibration prompt point is A2 (X22, Y12)、A4
(X42, Y42)；The corresponding predeterminated position data of first group of calibration prompt point are A1 (X11, Y11)、A3(X31, Y31), second group of calibration
The corresponding predeterminated position data of prompt point are A2 (X21, Y21)、A4(X41, Y41), for example, A1 (15,15), A3 (225,305), A2
(15,305)、A4(225,15)。
S304, the actual location data according to first group of calibration of user feedback prompt point, first group of calibration prompt
The corresponding predeterminated position data progress of point is calculated point by point, obtains X axis coordinate gain corresponding with first group of calibration prompt point
Value, Y axis coordinate yield value；
If the corresponding X axis coordinate yield value of first group of calibration prompt point is X1gain, calculation formula is as follows:
Such as:
If the corresponding Y axis coordinate yield value of first group of calibration prompt point is Y1gain, calculation formula is as follows:
Such as:
S306, the actual location data according to second group of calibration of user feedback prompt point, second group of calibration prompt
The corresponding predeterminated position data progress of point is calculated point by point, obtains X axis coordinate gain corresponding with second group of calibration prompt point
Value, Y axis coordinate yield value；
If the corresponding X axis coordinate yield value of first group of calibration prompt point is X2gain, calculation formula is as follows:
Such as:
If the corresponding Y axis coordinate yield value of second group of calibration prompt point is Y2gain, calculation formula is as follows:
Such as:
S308, according to first group of calibration prompt corresponding X axis coordinate yield value of point and Y axis coordinate yield value, described
The corresponding X axis coordinate yield value of first group of calibration prompt point and Y axis coordinate yield value obtain sensitivity calibration data.
The sensitivity calibration data includes the X axis coordinate yield value, the Y axis coordinate yield value.
Wherein, point is prompted according to the corresponding X axis coordinate yield value of first group of calibration prompt point, second group of calibration
Corresponding X axis coordinate yield value weighted sum obtains X axis coordinate yield value, according to the corresponding Y of first group of calibration prompt point
Axial coordinate yield value, the corresponding X axis coordinate yield value weighted sum of second group of calibration prompt point obtain Y axis coordinate gain
Value.In another embodiment, according to the corresponding X axis coordinate yield value of first group of calibration prompt point, second group of school
The corresponding X axis coordinate yield value of quasi- prompt point is maximized as X axis coordinate yield value, according to first group of calibration prompt point pair
Y axis coordinate yield value, the corresponding Y axis coordinate yield value of second group of calibration prompt point answered are maximized as Y axis coordinate increasing
Benefit value.It is understood that can also have other algorithms, citing is not especially limited herein.
For example, setting X axis coordinate yield value as Xgain, Y axis coordinate yield value is Ygain, calculation formula is as follows:
Xgain=a × X1gain+b×X2gain
A+b=1
Ygain=c × Y1gain+d×Y2gain
C+d=1
Wherein, a is equal with c, and b is equal with d；A and c is unequal in another embodiment, and b is unequal with d.
As shown in figure 4, in one embodiment it is proposed that a kind of teaching robot's calibration method, specifically includes such as lower section
Method step:
S402, sensitivity calibration request is obtained；
S404, the response sensitivity calibration request obtain preset calibration and prompt data, the preset calibration prompt
Data include the predeterminated position data that calibration prompts point, what the calibration prompt point was not arranged on the same straight line including at least three
Prompt point；
S406, calibration prompt point is shown on the resistive touch screen according to the preset calibration prompt data；
S408, the calibration for obtaining user feedback prompt the actual location data of point；
S410, the actual location data of point, the preset calibration is prompted to prompt number according to the calibration of the user feedback
According to being calculated, sensitivity calibration data is obtained；
S412, the actual location data for obtaining the checking image that user feeds back according to the sensitivity calibration data；
Specifically, starting calibration check interface, calibration check interface display teaching robot resistive touch
Screen, user touch on the resistive touch screen using the sensitivity calibration data as sensitivity parameter and draw arbitrary graphic,
Obtain the actual location data for the image that user draws.
S414, it is obtained according to the actual location data of the checking image of the user feedback, the sensitivity calibration data
The display position data of checking image；
Specifically, the actual location data of the checking image of the user feedback is carried out according to sensitivity calibration data
Gain process is dropped, the display position data of checking image are obtained.
The drop gain process is the X-coordinate the actual location data of the checking image of the user feedback divided by X-axis
Coordinate yield value obtains the X-coordinate of the display position data of checking image, the actual bit of the checking image of the user feedback
Set data Y-coordinate obtained divided by Y axis coordinate yield value checking image display position data Y-coordinate.
S416, checking image is shown on the resistive touch screen according to the display position data of the checking image；
Specifically, the display position data according to the checking image show what user drew on calibration check interface
Image.
S418, the inspection result for obtaining user feedback；
Specifically, user observes the deviation for touching the figure drawn and showing image, user feedback inspection result is examined
As a result include successfully, fail.
S420, when the inspection result of user feedback is successfully, according to the sensitivity calibration data update sensitivity ginseng
Number.
Specifically, then being updated according to the sensitivity calibration data when the inspection result of user feedback is successfully sensitive
Parameter is spent, does not change sensitivity parameter when the inspection result of user feedback is failure.In another embodiment, when user is anti-
The inspection result of feedback does not change sensitivity parameter and is directly entered step 306 when being failure, so that user re-starts
Verification.
The present embodiment is by subscriber checking and confirmation inspection result, so that calibration result meets the use habit of user.
As shown in figure 5, in another embodiment, proposing a kind of teaching robot's calibration method, specifically including as follows
Method and step:
S502, sensitivity calibration request is obtained；
S504, the response sensitivity calibration request obtain preset calibration and prompt data, the preset calibration prompt
Data include the predeterminated position data that calibration prompts point, what the calibration prompt point was not arranged on the same straight line including at least three
Prompt point；
S506, calibration prompt point is shown on the resistive touch screen according to the preset calibration prompt data；
S508, the calibration for obtaining user feedback prompt the actual location data of point；
S510, the actual location data of point, the preset calibration is prompted to prompt number according to the calibration of the user feedback
According to being calculated, sensitivity calibration data is obtained；
S512, preset inspection prompt data are obtained, the preset inspection prompt data include examining prompt image
Predeterminated position data；
Inspection prompt image can at least one of figure, text, character, for example, circle, circle, triangle,
Pentalpha, character Z, citing is not especially limited herein.
S514, inspection prompt image is shown on the resistive touch screen according to the preset inspection prompt data；
Specifically, starting calibration check interface, according to the preset inspection prompt data on calibration check interface
Prompt image, resistive touch screen of the calibration check interface display in teaching robot are examined in display.
Wherein, next step is carried out again after examining prompt image to be all shown on touch Calibration interface.In another reality
It applies in example, examines prompt image first can touch Calibration interface display portion, remainder is shown according to user's operation progress
Inspection prompt image.
S516, the actual location data for obtaining the inspection prompt image that user feeds back according to the sensitivity calibration data；
Specifically, user touches on the resistive touch screen using the sensitivity calibration data as sensitivity parameter
Inspection prompt image is drawn, the actual location data for the inspection prompt image that user draws is obtained.
S518, it obtains examining and mention according to the actual location data of the inspection prompt image, the sensitivity calibration data
The display position data of diagram picture；
Specifically, the actual location data for examining prompt image is dropped according to the sensitivity calibration data
Gain process obtains the display position data for examining prompt image.
The drop gain process is that the X-coordinate of the actual location data for examining prompt image is increased divided by X axis coordinate
Beneficial value obtains examining the X-coordinate of the display position data of prompt image, the Y of the actual location data for examining prompt image
Coordinate obtains examining the Y-coordinate of the display position data of prompt image divided by Y axis coordinate yield value.
S520, data are prompted to carry out pair according to the display position data for examining prompt image, preset inspections
Than obtaining comparison test result；
Specifically, the X-coordinate for the display position data for examining prompt image and the preset inspection are prompted data
X-coordinate compare, obtain the inspection result of X-coordinate；Examine prompt image display position data Y-coordinate with it is described
The preset Y-coordinate for examining prompt data compares, and obtains the inspection result of Y-coordinate；The inspection result of X-coordinate, Y-coordinate
Inspection result is comparison test result.
It is no when the inspection result of X-coordinate is that then comparison test result is success when equal, Y-coordinate inspection result is equal
Then comparison test result is failure.
S522, when the comparison test result is successfully, according to the sensitivity calibration data update sensitivity parameter.
Specifically, then updating sensitivity according to the sensitivity calibration data when the comparison test result is successfully
Parameter does not change sensitivity parameter when the comparison test result is failure.In another embodiment, when the comparison is examined
Result is tested not change sensitivity parameter when failure and being directly entered step 406, so that user carries out re-starting verification.
The present embodiment quickly confirms the accuracy of calibration by automatic comparison, and the user experience is improved.
As shown in fig. 6, in one embodiment, it is described according to the display position data for examining prompt image, it is described
Preset inspection prompt data compare, and obtain comparison test as a result, specifically including:
S602, data are prompted to carry out pair according to the display position data for examining prompt image, preset inspections
Than obtaining calibration variance data；
Specifically, the X-coordinate for the display position data for examining prompt image and the preset inspection are prompted data
X-coordinate subtracted each other, obtain the variance data of X-coordinate；Examine prompt image display position data Y-coordinate with it is described
The preset Y-coordinate for examining prompt data is subtracted each other, and the variance data of Y-coordinate is obtained；The variance data of X-coordinate, Y-coordinate
Variance data is comparison test result.
S604, preset calibration threshold values is obtained；
The preset calibration threshold values is used to measure the calibration effect of teaching robot's calibration method.For example, the difference of X-coordinate
Different is 0.05, and the difference of Y-coordinate is 0.05；Or the width of the X axis of the display interval of the difference and resistive touch screen of X-coordinate
Degree, the width of the Y-axis of the display interval of the difference and resistive touch screen of Y-coordinate are illustrated herein, are not especially limited.
The preset calibration threshold values can be by manufacturer's default setting of teaching robot, can also be by user setting
Change.
S606, comparison test result is then obtained when the calibration variance data is in the preset calibration threshold range
For success, comparison test result is obtained then when the calibration variance data exceeds the preset calibration threshold range to lose
It loses.
By preset calibration threshold values, the efficiency of automatic comparison is improved, the user experience is improved.
As shown in fig. 7, in one embodiment it is proposed that a kind of teaching robot's calibration method, the method includes such as
Lower step:
S702, starting-up signal is obtained；
Specifically, the power supply that user opens teaching robot triggers starting-up signal.
S704, the response starting-up signal, obtain initiation parameter, the initiation parameter includes FSMC bus initialization
Parameter, touches driving chip initiation parameter, resistive touch screen initiation parameter, graphical interfaces at spi bus initiation parameter
Initiation parameter；
The initiation parameter is arranged by the manufacturer of teaching robot, initial for carrying out standard to teaching robot
Change.
The FSMC bus refers to variable static memory interface bus.
The spi bus refers to serial peripheral interface bus.
S706, the initialization that teaching robot is carried out according to the initiation parameter；
Specifically, being initialized according to FSMC bus initialization parameter to FSMC bus, initialized according to spi bus
Parameter initializes spi bus, initializes according to driving chip initiation parameter is touched to driving chip is touched, root
Resistive touch screen is initialized according to resistive touch screen initiation parameter, according to graphical interfaces initiation parameter to figure
Interface is updated.
S708, sensitivity calibration request is obtained；
S710, the response sensitivity calibration request obtain preset calibration and prompt data, the preset calibration prompt
Data include the predeterminated position data that calibration prompts point, what the calibration prompt point was not arranged on the same straight line including at least three
Prompt point；
S712, calibration prompt point is shown on the resistive touch screen according to the preset calibration prompt data；
S714, the calibration for obtaining user feedback prompt the actual location data of point；
S716, the actual location data of point, the preset calibration is prompted to prompt number according to the calibration of the user feedback
According to being calculated, sensitivity calibration data is obtained；
S718, sensitivity parameter is updated according to the sensitivity calibration data.
It in the present embodiment, can be to avoid history when making each teaching of use robot of user by the way that initiation parameter is arranged
The interference of usage record and habit, the user experience is improved.
As shown in figure 8, in another embodiment, a kind of teaching robot's calibration method is proposed, the method includes
Following steps:
S802, sensitivity calibration request is obtained；
S804, the authentication information for obtaining user feedback；
Specifically, obtaining the password of user's input.
S806, the identity information for obtaining registration；
The identity information of the registration refers to that user has been registered in the password in teaching robot.
S808, it is compared according to the authentication information of the user feedback, the identity information of the registration, obtains body
Part verification result；
Specifically, then identity is tested when the identity information of the authentication information of the user feedback, the registration is identical
Demonstrate,proving result is successfully；The authentication information of the user feedback, the registration identity information it is not identical when then authentication
It as a result is failure.
S810, when the authentication result is successfully, respond sensitivity calibration request, obtain preset calibration
Prompt data；
Specifically, responding the sensitivity calibration request when the authentication result is successfully, obtaining preset
Calibration prompt data；When the authentication result is failure, it is not responding to the sensitivity calibration request, and feedback information is given
User.
S812, calibration prompt point is shown on the resistive touch screen according to the preset calibration prompt data；
S814, the calibration for obtaining user feedback prompt the actual location data of point；
S816, the actual location data of point, the preset calibration is prompted to prompt number according to the calibration of the user feedback
According to being calculated, sensitivity calibration data is obtained；
S818, sensitivity parameter is updated according to the sensitivity calibration data.
It just can be carried out sensitivity calibration when being in the present embodiment successfully by authentication result, other users avoided to miss
Operation, the user experience is improved.
As shown in figure 9, in one embodiment it is proposed that a kind of teaching robot, the teaching robot include: resistance
Formula touch screen 903 touches driving chip 902, micro-control unit 901, sensitivity calibration module, the micro-control unit 901 with
The electrical connection of resistive touch screen 903 is with the reading and writing data for realizing resistive touch screen 903, the micro-control unit
901 are electrically connected to work for controlling the touch driving chip 902 with the touch driving chip 902, the touch driving
Chip 902 is electrically connected with the resistive touch screen 903 with the position data for reading touch point；
The sensitivity calibration module responds the sensitivity calibration request, obtains for obtaining sensitivity calibration request
Preset calibration prompts data, and the preset calibration prompt data include the predeterminated position data of calibration prompt point, the school
Quasi- prompt point includes the 1 prompt points being not arranged on the same straight line, according to the preset calibration prompt data described
Calibration prompt point is shown on resistive touch screen 903, the actual location data of the calibration prompt point of user feedback is obtained, according to institute
The calibration for stating user feedback prompts the actual location data of point, the preset calibration prompt data to be calculated, and obtains sensitive
Calibration data is spent, sensitivity parameter is updated according to the sensitivity calibration data.
The chip of model XPT2046 can be selected in the prior art by touching driving chip 902, and illustrating herein, it is specific not make
It limits.
Micro-control unit 901 can select the microcontroller of STM32F103 in the prior art, and illustrating herein, it is specific not make
It limits.
Specifically, the micro-control unit 901 by FSMC bus be electrically connected with the resistive touch screen 903 with
In the reading and writing data for realizing resistive touch screen 903, the micro-control unit 901 is driven by the spi bus and the touch
The dynamic electrical connection of chip 902 for controlling the touch driving chip 902 to work；The touch driving chip 902 and the electricity
Resistive touch screen 903 is electrically connected by signal wire with the position data for reading touch point.
The teaching robot of the present embodiment uses resistive touch screen 903, and sensitivity calibration module is according to described preset
Calibration prompt data show calibration prompt point on the resistive touch screen 903, obtain the calibration prompt point of user feedback
Actual location data prompts number according to the actual location data of the calibration prompt point of the user feedback, the preset calibration
According to being calculated, sensitivity calibration data is obtained, sensitivity parameter, sensitivity calibration are updated according to the sensitivity calibration data
It is easy to operate, and realize the display screen sensitivity of user self calibration reparation teaching robot；Resistive touch screen 903 is
A kind of true color display screen increases the interest and functionality of teaching robot.Therefore, the teaching robot of the present embodiment makes
User can be easy to operate with self-healing display screen sensitivity, is shown by colour, increases interest and functionality.
In one embodiment, the teaching robot further include:
Authentication module obtains the identity information of registration, according to institute for obtaining the authentication information of user feedback
The identity information of the authentication information, the registration of stating user feedback compares, and obtains authentication result；
The sensitivity calibration module, for obtaining sensitivity calibration request, when the authentication result is successfully,
The sensitivity calibration request is responded, preset calibration is obtained and prompts data, the preset calibration prompt data include calibration
The predeterminated position data of point are prompted, the calibration prompt point includes the 1 prompt points being not arranged on the same straight line, according to
The preset calibration prompt data show calibration prompt point on the resistive touch screen 903, obtain the school of user feedback
The actual location data of quasi- prompt point, according to the actual location data, described preset of the calibration prompt point of the user feedback
Calibration prompt data are calculated, and sensitivity calibration data is obtained, and update sensitivity parameter according to the sensitivity calibration data.
In one embodiment, the sensitivity calibration module includes examining submodule, and the inspection submodule is for obtaining
The actual location data for taking the checking image of user feedback, according to the image actual location data of the user feedback in the electricity
Checking image is shown on resistive touch screen 903, obtains the inspection result of user feedback, when the inspection result of user feedback is successfully
When, sensitivity parameter is updated according to the sensitivity calibration data.
It should be noted that above-mentioned teaching robot's calibration method, teaching robot belong to a total inventive concept, religion
Content in robot calibration method, teaching robot's embodiment can be mutually applicable in.
Each technical characteristic of above embodiments can be combined arbitrarily, for simplicity of description, not to above-described embodiment
In each technical characteristic it is all possible combination be all described, as long as however, the combination of these technical characteristics be not present lance
Shield all should be considered as described in this specification.
The several embodiments of the application above described embodiment only expresses, the description thereof is more specific and detailed, but simultaneously
The limitation to the application the scope of the patents therefore cannot be interpreted as.It should be pointed out that for those of ordinary skill in the art
For, without departing from the concept of this application, various modifications and improvements can be made, these belong to the guarantor of the application
Protect range.Therefore, the scope of protection shall be subject to the appended claims for the application patent.
Claims (10)
1. a kind of teaching robot's calibration method, applied to the teaching robot using resistive touch screen, which comprises
Obtain sensitivity calibration request；
The sensitivity calibration request is responded, preset calibration is obtained and prompts data, the preset calibration prompt data include
The predeterminated position data of calibration prompt point, the calibration prompt point includes the 1 prompt points being not arranged on the same straight line；
Calibration prompt point is shown on the resistive touch screen according to the preset calibration prompt data；
Obtain the actual location data of the calibration prompt point of user feedback；
It is counted according to the actual location data of the calibration prompt point of the user feedback, the preset calibration prompt data
It calculates, obtains sensitivity calibration data；
Sensitivity parameter is updated according to the sensitivity calibration data.
2. the method according to claim 1, wherein the calibration prompt point include four prompt points, described four
A prompt point connection forms quadrangle；
Actual location data, the preset calibration prompt data of the calibration prompt point according to the user feedback carry out
It calculates, obtains sensitivity calibration data, specifically include:
Four prompt points are divided into two groups, the prompt point of two of every group is located at what described four prompt point connections were formed
On the same diagonal line of quadrangle；
It is corresponding pre- according to the actual location data of the first of the user feedback group of calibration prompt point, first group of calibration prompt point
If position data progress is calculated point by point, X axis coordinate yield value is obtained；
It is corresponding pre- according to the actual location data of the second of the user feedback group of calibration prompt point, second group of calibration prompt point
If position data progress is calculated point by point, Y axis coordinate yield value is obtained；
Sensitivity calibration data is obtained according to the X axis coordinate yield value, the Y axis coordinate yield value.
3. the method according to claim 1, wherein described update sensitivity according to the sensitivity calibration data
Parameter specifically includes:
Obtain the actual location data for the checking image that user feeds back according to the sensitivity calibration data；
Checking image is obtained according to the actual location data of the checking image of the user feedback, the sensitivity calibration data
Display position data；
Checking image is shown on the resistive touch screen according to the display position data of the checking image；
Obtain the inspection result of user feedback；
When the inspection result of user feedback is successfully, sensitivity parameter is updated according to the sensitivity calibration data.
4. the method according to claim 1, wherein described update sensitivity according to the sensitivity calibration data
Parameter specifically includes:
Preset inspection prompt data are obtained, the preset inspection prompt data include examining the predeterminated position number of prompt image
According to；
Inspection prompt image is shown on the resistive touch screen according to the preset inspection prompt data；
Obtain the actual location data for the inspection prompt image that user feeds back according to the sensitivity calibration data；
It is obtained examining the aobvious of prompt image according to the actual location data for examining prompt image, the sensitivity calibration data
Show position data；
It prompts data to compare according to the display position data for examining prompt image, preset inspections, obtains pair
Compare inspection result；
When the comparison test result is successfully, sensitivity parameter is updated according to the sensitivity calibration data.
5. according to the method described in claim 4, it is characterized in that, described according to the display position number for examining prompt image
It is compared according to, preset inspection prompt data, obtains comparison test as a result, specifically including:
It is compared according to the display position data for examining prompt image, the preset inspection prompt data, obtains school
Quasi- variance data；
Obtain preset calibration threshold values；
Then obtained when the calibration variance data is in the preset calibration threshold range comparison test result be successfully, when
The calibration variance data obtains comparison test result then as failure when exceeding the preset calibration threshold range.
6. method according to any one of claims 1 to 5, which is characterized in that before the acquisition sensitivity calibration request,
Further include:
Obtain starting-up signal；
The starting-up signal is responded, obtains initiation parameter, the initiation parameter includes FSMC bus initialization parameter, SPI
Bus initialization parameter touches driving chip initiation parameter, resistive touch screen initiation parameter, graphical interfaces initialization ginseng
Number；
The initialization of teaching robot is carried out according to the initiation parameter.
7. method according to any one of claims 1 to 5, which is characterized in that described to be prompted according to the preset calibration
Data are shown on the resistive touch screen before calibration prompt point, further includes:
Obtain the authentication information of user feedback；
Obtain the identity information of registration；
It is compared according to the identity information of the authentication information of the user feedback, the registration, obtains authentication knot
Fruit；
When the authentication result is successfully, the sensitivity calibration request is responded, preset calibration is obtained and prompts data.
8. a kind of teaching robot, which is characterized in that the teaching robot include: resistive touch screen, touch driving chip,
Micro-control unit, sensitivity calibration module, the micro-control unit are electrically connected with the resistive touch screen for realizing electricity
The reading and writing data of resistive touch screen, the micro-control unit are electrically connected for controlling the touch with the touch driving chip
Driving chip work, the touch driving chip are electrically connected with the resistive touch screen with the positional number for reading touch point
According to；
The sensitivity calibration module responds the sensitivity calibration request, obtains default for obtaining sensitivity calibration request
Calibration prompt data, the preset calibration prompt data include the predeterminated position data of calibration prompt point, and the calibration mentions
Show a little include the 1 prompt points being not arranged on the same straight line, according to the preset calibration prompt data in the resistance
Formula touches screen display calibration prompt point, the actual location data of the calibration prompt point of user feedback is obtained, according to the user
Actual location data, the preset calibration prompt data of the calibration prompt point of feedback are calculated, and sensitivity calibration is obtained
Data update sensitivity parameter according to the sensitivity calibration data.
9. teaching robot according to claim 8, which is characterized in that the teaching robot further include:
Authentication module obtains the identity information of registration, according to the use for obtaining the authentication information of user feedback
The authentication information of family feedback, the identity information of the registration compare, and obtain authentication result；
The sensitivity calibration module, for obtaining sensitivity calibration request, when the authentication result is successfully, response
The sensitivity calibration request obtains preset calibration and prompts data, and the preset calibration prompt data include calibration prompt
The predeterminated position data of point, the calibration prompt point includes the 1 prompt points being not arranged on the same straight line, according to described
Preset calibration prompt data show calibration prompt point on the resistive touch screen, obtain the calibration prompt point of user feedback
Actual location data, according to the actual location data of the calibration prompt point of the user feedback, preset calibration prompt
Data are calculated, and sensitivity calibration data is obtained, and update sensitivity parameter according to the sensitivity calibration data.
10. teaching robot according to claim 8, which is characterized in that the sensitivity calibration module includes syndrome
Module, the actual location data of the checking image for examining submodule to be used to obtain user feedback, according to the user feedback
Image actual location data show checking image on the resistive touch screen, obtain the inspection result of user feedback, when
When the inspection result of user feedback is successfully, sensitivity parameter is updated according to the sensitivity calibration data.
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| CN201811029379.3A CN109036046A (en) | 2018-09-05 | 2018-09-05 | A kind of STEM touch screen programmable electronic building blocks controller |
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| CN110533999B CN110533999B (en) | 2021-11-19 |
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| CN201910823130.8A Active CN110533999B (en) | 2018-09-05 | 2019-09-02 | Teaching robot calibration method and teaching robot |
| CN201910832690.XA Pending CN110580844A (en) | 2018-09-05 | 2019-09-04 | self-balancing control method and device for two-wheeled robot, computer equipment and storage medium |
| CN201910832892.4A Pending CN110599875A (en) | 2018-09-05 | 2019-09-04 | Multi-mode remote controller and control method thereof |
| CN201910832275.4A Pending CN110580842A (en) | 2018-09-05 | 2019-09-04 | teaching robot control method and system and teaching robot |
| CN201910832280.5A Pending CN110580843A (en) | 2018-09-05 | 2019-09-04 | robot control method, device, equipment and readable medium |
| CN201910832879.9A Pending CN110599874A (en) | 2018-09-05 | 2019-09-04 | Programming method and device of robot controller, computer equipment and storage medium |
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| CN201910832892.4A Pending CN110599875A (en) | 2018-09-05 | 2019-09-04 | Multi-mode remote controller and control method thereof |
| CN201910832275.4A Pending CN110580842A (en) | 2018-09-05 | 2019-09-04 | teaching robot control method and system and teaching robot |
| CN201910832280.5A Pending CN110580843A (en) | 2018-09-05 | 2019-09-04 | robot control method, device, equipment and readable medium |
| CN201910832879.9A Pending CN110599874A (en) | 2018-09-05 | 2019-09-04 | Programming method and device of robot controller, computer equipment and storage medium |
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| CN110599875A (en) | 2019-12-20 |
| CN110580842A (en) | 2019-12-17 |
| CN110599874A (en) | 2019-12-20 |
| CN110580844A (en) | 2019-12-17 |
| CN110533999B (en) | 2021-11-19 |
| CN109036046A (en) | 2018-12-18 |
| CN110580843A (en) | 2019-12-17 |
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