CN110533999B - Teaching robot calibration method and teaching robot - Google Patents
Teaching robot calibration method and teaching robot Download PDFInfo
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- CN110533999B CN110533999B CN201910823130.8A CN201910823130A CN110533999B CN 110533999 B CN110533999 B CN 110533999B CN 201910823130 A CN201910823130 A CN 201910823130A CN 110533999 B CN110533999 B CN 110533999B
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- 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
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- 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 invention relates to the technical field of teaching robots, in particular to a teaching robot calibration method and a teaching robot. The teaching robot calibration method is applied to a teaching robot adopting a resistance type touch screen, and comprises the following steps: acquiring a sensitivity calibration request; responding to the sensitivity calibration request, and acquiring preset calibration prompt data, wherein the preset calibration prompt data comprises preset position data of a calibration prompt point; displaying a calibration prompt point on the resistive touch screen according to preset calibration prompt data; acquiring actual position data of a calibration prompt point fed back by a user; calculating according to actual position data of the calibration prompt points fed back by the user and preset calibration prompt data to obtain sensitivity calibration data; the sensitivity parameters are updated according to the sensitivity calibration data. The invention enables the user to restore the sensitivity of the display screen by himself, has simple operation and increases the interest and functionality through color display.
Description
Technical Field
The invention relates to the technical field of teaching robots, in particular to a teaching robot calibration method and a teaching robot.
Background
With the development of creative education for primary and secondary schools, the brand and kind of the STEM (abbreviation of English initials of four disciplines of science, technology, engineering and mathematics education) teaching aid is endlessly established. Common STEM teaching aids in the market can be divided into robot controllers relying on-line programming of a general-purpose computer and robot controllers relying on off-line programming of the general-purpose computer according to a using method. The robot controller which relies on the on-line programming of the general computer is used, and the carrying of the computer improves the threshold and the cost of STEM teaching, thereby bringing great difficulty to the development of teaching activities, and leading the off-line programming robot controller which does not rely on the general computer to start to be gradually popular. At present, an off-line programming robot controller which does not depend on a general computer mostly adopts a mode that a common LCD Display screen (Liquid Crystal Display for short) is matched with a physical key to carry out programming, the operation steps are complex, the imaging effect of the Display screen is monotonous, the Display screen is not interesting, and a user cannot repair the Display screen by himself when the sensitivity of the LCD Display screen is deviated, so that the product maintenance is difficult. Therefore, it is very important to develop an offline programming robot controller which can automatically restore the sensitivity, rich colors and simple operation of the display screen and is independent of a general computer.
Disclosure of Invention
In view of the above, it is necessary to provide a teaching robot calibration method and a teaching robot.
In a first aspect, the present invention provides a teaching robot calibration method, applied to a teaching robot using a resistive touch screen, the method including:
acquiring a sensitivity calibration request;
responding to the sensitivity calibration request, and acquiring preset calibration prompt data, wherein the preset calibration prompt data comprises preset position data of calibration prompt points, and the calibration prompt points comprise at least three prompt points which are not on the same straight line;
displaying a calibration prompt point on the resistive touch screen according to the preset calibration prompt data;
acquiring actual position data of a calibration prompt point fed back by a user;
calculating according to the actual position data of the calibration prompt point fed back by the user and the preset calibration prompt data to obtain sensitivity calibration data;
and updating the sensitivity parameters according to the sensitivity calibration data.
In one embodiment, the calibration cue points comprise four cue points, the four cue points connected to form a quadrilateral;
calculating according to the actual position data of the calibration prompt point fed back by the user and the preset calibration prompt data to obtain sensitivity calibration data, and specifically comprising the following steps:
dividing the four prompt points into two groups, wherein the two prompt points in each group are positioned on the same diagonal line of a quadrangle formed by connecting the four prompt points;
calculating point by point according to the actual position data of the first group of calibration prompt points fed back by the user and the preset position data corresponding to the first group of calibration prompt points to obtain an X-axis coordinate gain value;
calculating point by point according to the actual position data of the second group of calibration prompt points fed back by the user and the preset position data corresponding to the second group of calibration prompt points to obtain a Y-axis coordinate gain value;
and obtaining sensitivity calibration data according to the X-axis coordinate gain value and the Y-axis coordinate gain value.
In an embodiment, the updating the sensitivity parameter according to the sensitivity calibration data specifically includes:
acquiring actual position data of a test image fed back by a user according to the sensitivity calibration data;
obtaining display position data of the inspection image according to the actual position data of the inspection image fed back by the user and the sensitivity calibration data;
displaying an inspection image on the resistive touch screen according to the display position data of the inspection image;
obtaining a test result fed back by a user;
and when the test result fed back by the user is successful, updating the sensitivity parameter according to the sensitivity calibration data.
In an embodiment, the updating the sensitivity parameter according to the sensitivity calibration data specifically includes:
acquiring preset inspection prompt data, wherein the preset inspection prompt data comprise preset position data of an inspection prompt image;
displaying a test prompt image on the resistive touch screen according to the preset test prompt data;
acquiring actual position data of a test prompt image fed back by a user according to the sensitivity calibration data;
obtaining display position data of the inspection prompt image according to the actual position data of the inspection prompt image and the sensitivity calibration data;
comparing the display position data of the inspection prompt image with the preset inspection prompt data to obtain a comparison inspection result;
and when the comparison and verification result is successful, updating the sensitivity parameters according to the sensitivity calibration data.
In an embodiment, the comparing according to the display position data of the inspection prompt image and the preset inspection prompt data to obtain a comparison inspection result specifically includes:
comparing the display position data of the inspection prompt image with the preset inspection prompt data to obtain calibration difference data;
acquiring a preset calibration threshold value;
and when the calibration difference data is within the preset calibration threshold range, obtaining a comparison and verification result as success, and when the calibration difference data exceeds the preset calibration threshold range, obtaining a comparison and verification result as failure.
In one embodiment, before acquiring the sensitivity calibration request, the method further includes:
acquiring a starting signal;
responding to the starting signal, and acquiring initialization parameters, wherein the initialization parameters comprise an FSMC bus initialization parameter, an SPI bus initialization parameter, a touch driving chip initialization parameter, a resistance type touch screen initialization parameter and a graphical interface initialization parameter;
and initializing the teaching robot according to the initialization parameters.
In one embodiment, before displaying a calibration prompt point on the resistive touch screen according to the preset calibration prompt data, the method further includes:
acquiring identity authentication information fed back by a user;
acquiring registered identity information;
comparing the identity authentication information fed back by the user with the registered identity information to obtain an identity authentication result;
and when the identity verification result is successful, responding to the sensitivity calibration request and acquiring preset calibration prompt data.
In a second aspect, the present invention further provides a teaching robot, including: the system comprises a resistance-type touch screen, a touch driving chip, a micro control unit and a sensitivity calibration module, wherein the micro control unit is electrically connected with the resistance-type touch screen for realizing data reading and writing of the resistance-type touch screen, the micro control unit is electrically connected with the touch driving chip for controlling the touch driving chip to work, and the touch driving chip is electrically connected with the resistance-type touch screen for reading position data of a touch point;
the sensitivity calibration module is used for acquiring a sensitivity calibration request, responding to the sensitivity calibration request and acquiring preset calibration prompt data, the preset calibration prompt data comprise preset position data of calibration prompt points, the calibration prompt points comprise at least three prompt points which are not on the same straight line, the calibration prompt points are displayed on the resistive touch screen according to the preset calibration prompt data, actual position data of the calibration prompt points fed back by a user are acquired, the actual position data of the calibration prompt points fed back by the user and the preset calibration prompt data are calculated to obtain sensitivity calibration data, and the sensitivity parameters are updated according to the sensitivity calibration data.
In one embodiment, the teaching robot further comprises:
the identity authentication module is used for acquiring identity authentication information fed back by a user, acquiring registered identity information, and comparing the identity authentication information fed back by the user with the registered identity information to obtain an identity authentication result;
the sensitivity calibration module is used for acquiring a sensitivity calibration request, responding to the sensitivity calibration request when the identity verification result is successful, acquiring preset calibration prompt data, wherein the preset calibration prompt data comprise preset position data of calibration prompt points, the calibration prompt points comprise at least three prompt points which are not on the same straight line, displaying the calibration prompt points on the resistive touch screen according to the preset calibration prompt data, acquiring actual position data of the calibration prompt points fed back by a user, calculating according to the actual position data of the calibration prompt points fed back by the user and the preset calibration prompt data, acquiring sensitivity calibration data, and updating the sensitivity parameters according to the sensitivity calibration data.
In one embodiment, the sensitivity calibration module includes a verification sub-module, and the verification sub-module is configured to acquire actual position data of a verification image fed back by a user, display the verification image on the resistive touch screen according to the actual position data of the image fed back by the user, acquire a verification result fed back by the user, and update the sensitivity parameter according to the sensitivity calibration data when the verification result fed back by the user is successful.
In summary, the teaching robot calibration method of the invention adopts a resistive touch screen, displays calibration prompt points on the resistive touch screen according to the preset calibration prompt data, acquires the actual position data of the calibration prompt points fed back by a user, calculates according to the actual position data of the calibration prompt points fed back by the user and the preset calibration prompt data to obtain sensitivity calibration data, updates sensitivity parameters according to the sensitivity calibration data, is simple in sensitivity calibration operation, and realizes that the user self-calibrates and restores the sensitivity of the display screen of the teaching robot; the resistance-type touch screen is a true color display screen, and the interestingness and the functionality of the teaching robot are improved. Therefore, the invention enables the user to restore the sensitivity of the display screen by himself, has simple operation and increases the interest and functionality through color display.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Wherein:
FIG. 1 is a flow diagram of a teaching robot calibration method in one embodiment;
FIG. 2 is a flow diagram of computing sensitivity calibration data for a teaching robot calibration method in one embodiment;
FIG. 3 is a flow chart of computing sensitivity calibration data for a teaching robot calibration method in another embodiment;
FIG. 4 is a flow chart of a calibration verification function in a teaching robot calibration method according to an embodiment;
FIG. 5 is a flow chart of a calibration verification function in a calibration method for a teaching robot according to another embodiment;
FIG. 6 is a flow chart of the calculation of comparative test results for the teaching robot calibration method of FIG. 5;
FIG. 7 is a flowchart illustrating a start-up initialization function in a calibration method for a teaching robot according to an embodiment;
FIG. 8 is a flowchart illustrating the teaching robot calibration method with authentication functionality in one embodiment;
fig. 9 is a block diagram of the teaching robot in one embodiment.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
A resistive touch screen is a sensor that converts the physical location of a touch point (X, Y) in a display region into voltages representing X and Y coordinates. Many LCD modules employ resistive touch screens that can use four, five, seven or eight lines to generate the screen bias voltage while reading back the voltage at the touch point.
In the invention, the resistance-type touch screen is directly fixed on the teaching robot as a display screen for displaying information and a touch screen for inputting information, and a user directly uses the resistance-type touch screen to program and display, thereby saving a large number of operation steps when using physical keys; the teaching robot can draw patterns in various shapes and colors, can display photos, and increases the interestingness and functionality of the teaching robot.
As shown in fig. 1, in one embodiment, a teaching robot calibration method is provided, which is applied to a teaching robot using a resistive touch screen, and includes the following steps:
s102, acquiring a sensitivity calibration request;
the sensitivity calibration request refers to a request for performing sensitivity calibration, which is issued by a user through a resistive touch screen of the teaching robot.
The resistance type touch screen can select a TFT display screen (Thin Film Transistor), the TFT display screen is a Thin Film Transistor type liquid crystal display screen, is one of LCD liquid crystal display screens and is a true color display screen, the TFT liquid crystal is provided with a semiconductor switch for each pixel, and each pixel can be directly controlled through point pulse, so that each node is relatively independent, and can be continuously controlled, the reaction speed of the display screen is improved, and meanwhile, the display color level can be accurately controlled, so that the color of the TFT liquid crystal is more true.
S104, responding to the sensitivity calibration request, and acquiring preset calibration prompt data, wherein the preset calibration prompt data comprises preset position data of calibration prompt points, and the calibration prompt points comprise at least three prompt points which are not on the same straight line;
the calibration hint point may be at least one of a figure, a text, a character, and a single pixel point, such as a circle, a triangle, a pentagram, and a character Z, which is not limited by this example.
The calibration prompt points comprise at least three prompt points which are not on the same straight line, the prompt points refer to pixel points, and the at least three prompt points which are not on the same straight line are beneficial to more accurately calculating the sensitivity calibration data.
And the preset position data of the calibration prompt points are the coordinate positions of the calibration prompt points in the software of the teaching robot.
S106, displaying a calibration prompt point on the resistive touch screen according to the preset calibration prompt data;
specifically, a touch calibration interface is started, calibration prompt points are displayed on the touch calibration interface according to the preset calibration prompt data, and the touch calibration interface is displayed on a resistance type touch screen of the teaching robot.
And the next step is carried out after all the calibration prompt points are displayed on the touch calibration interface. In another embodiment, the calibration hint points may be displayed on the touch calibration interface display portion first, and the remaining calibration hint points are displayed according to the user operation progress.
S108, acquiring actual position data of the calibration prompt points fed back by the user;
specifically, the user touches the resistive touch screen according to the calibration prompt point displayed on the resistive touch screen of the teaching robot to draw the calibration prompt point, and actual position data of the calibration prompt point fed back when the user draws is obtained.
And the actual position data of the calibration prompt points fed back by the user is the actual position data which is not processed by the sensitivity parameters. In another embodiment, the actual position data of the calibration hint points fed back by the user is actual position data processed by the sensitivity parameters.
The actual position data of the calibration prompt point refers to the physical position of the calibration prompt point at the touch point (X, Y) in the display interval of the resistive touch screen, and is the physical position of the resistive touch screen in the coordinate system. The display area is generally a quadrilateral, and it is understood that the display area may also be a square, an ellipse, a triangle, a heart, etc., which is not limited by the examples herein.
S110, calculating according to actual position data of the calibration prompt points fed back by the user and the preset calibration prompt data to obtain sensitivity calibration data;
specifically, the sensitivity calibration data is obtained by calculating according to the actual position data of the calibration prompt point fed back by the user and the preset position data of the calibration prompt point of the preset calibration prompt data.
And S112, updating the sensitivity parameters according to the sensitivity calibration data.
Specifically, the sensitivity calibration data is stored over the sensitivity parameters in the memory of the teaching robot.
The sensitivity parameter is used for gaining the position coordinate of the display, so that the touch position of the resistive touch screen is the same as or similar to the display position.
The teaching robot calibration method of the embodiment adopts a resistive touch screen, displays calibration prompt points on the resistive touch screen according to preset calibration prompt data, acquires actual position data of the calibration prompt points fed back by a user, calculates according to the actual position data of the calibration prompt points fed back by the user and the preset calibration prompt data to obtain sensitivity calibration data, updates sensitivity parameters according to the sensitivity calibration data, is simple in sensitivity calibration operation, and realizes that the user self-calibrates and restores the sensitivity of the display screen of the teaching robot; the resistance-type touch screen is a true color display screen, and the interestingness and the functionality of the teaching robot are improved. Therefore, the method of the embodiment enables a user to restore the sensitivity of the display screen by himself, is simple to operate, and increases interestingness and functionality through color display.
As shown in FIG. 2, in one embodiment, the calibration hint points include four hint points that are connected to form a quadrilateral;
calculating according to the actual position data of the calibration prompt point fed back by the user and the preset calibration prompt data to obtain sensitivity calibration data, and specifically comprising the following steps:
s202, dividing the four prompt points into two groups, wherein the two prompt points in each group are positioned on the same diagonal line of a quadrangle formed by connecting the four prompt points;
the actual position data for the first set of calibration hint points is A1 (X)12，Y12)、A3(X32，Y32) The actual position data of the second set of calibration hint points is A2 (X)22，Y22)、A4(X42，Y42)。
The preset position data corresponding to the first set of calibration prompt points is A1 (X)11，Y11)、A3(X31，Y31) The preset position data corresponding to the second set of calibration prompt points is A2 (X)21，Y21)、A4(X41，Y41) For example, a1(15,15), A3(225,305), a2(15,305), a4(225, 15).
S204, calculating point by point according to the actual position data of the first group of calibration prompt points fed back by the user and the preset position data corresponding to the first group of calibration prompt points to obtain an X-axis coordinate gain value;
let X-axis coordinate gain value be XgainThe calculation formula is as follows:
such as:
s206, calculating point by point according to the actual position data of the second group of calibration prompt points fed back by the user and the preset position data corresponding to the second group of calibration prompt points to obtain a Y-axis coordinate gain value;
setting the gain value of Y-axis coordinate as YgainThe calculation formula is as follows:
such as:
and S208, obtaining sensitivity calibration data according to the X-axis coordinate gain value and the Y-axis coordinate gain value.
Specifically, the sensitivity calibration data includes the X-axis coordinate gain value and the Y-axis coordinate gain value.
It is to be understood that the actual position data of the calibration hint points employed in steps S202 to S208 by user feedback is actual position data that has not been subjected to sensitivity parameter processing. In another embodiment, when the actual position data of the calibration hint point fed back by the user is the actual position data processed by the sensitivity parameter, the X coordinate of the actual position data processed by the sensitivity parameter is divided by the X-axis coordinate gain value in the sensitivity parameter used for processing to obtain the X coordinate of the unprocessed actual position data, the Y coordinate of the actual position data processed by the sensitivity parameter is divided by the Y-axis coordinate gain value in the sensitivity parameter used for processing to obtain the Y coordinate of the unprocessed actual position data, and the X coordinate of the unprocessed actual position data and the Y coordinate of the unprocessed actual position data are substituted into steps S202 to S208 to calculate the sensitivity calibration data.
As shown in FIG. 3, in one embodiment, the calibration hint points include four hint points that are connected to form a quadrilateral;
calculating according to the actual position data of the calibration prompt point fed back by the user and the preset calibration prompt data to obtain sensitivity calibration data, and specifically comprising the following steps:
s302, dividing the four prompt points into two groups, wherein the two prompt points in each group are positioned on the same diagonal line of a quadrangle formed by connecting the four prompt points;
the quadrangle formed by connecting the four cue points may be a rectangle, a parallelogram, a trapezoid, etc., and is not limited herein.
Such as: when the quadrangle formed by the connection of the four cue points is a rectangle, the actual position data of the first group of calibration cue points is A1 (X)12，Y12)、A3(X32，Y32) The actual position data of the second set of calibration hint points is A2 (X)22，Y12)、A4(X42，Y42) (ii) a The preset position data corresponding to the first set of calibration prompt points is A1 (X)11，Y11)、A3(X31，Y31) The preset position data corresponding to the second set of calibration prompt points is A2 (X)21，Y21)、A4(X41，Y41) For example, a1(15,15), A3(225,305), a2(15,305), a4(225, 15).
S304, calculating point by point according to the actual position data of the first group of calibration prompt points fed back by the user and the preset position data corresponding to the first group of calibration prompt points to obtain an X-axis coordinate gain value and a Y-axis coordinate gain value corresponding to the first group of calibration prompt points;
setting the gain value of the X-axis coordinate corresponding to the first group of calibration prompt points as X1gainThe calculation formula is as follows:
such as:
setting the gain value of the Y-axis coordinate corresponding to the first group of calibration prompt points as Y1gainThe calculation formula is as follows:
such as:
s306, calculating point by point according to actual position data of the second group of calibration prompt points fed back by the user and preset position data corresponding to the second group of calibration prompt points to obtain an X-axis coordinate gain value and a Y-axis coordinate gain value corresponding to the second group of calibration prompt points;
setting the gain value of the X-axis coordinate corresponding to the first group of calibration prompt points as X2gainThe calculation formula is as follows:
such as:
setting the gain value of the Y-axis coordinate corresponding to the second group of calibration prompt points as Y2gainThe calculation formula is as follows:
such as:
and S308, obtaining sensitivity calibration data according to the X-axis coordinate gain value and the Y-axis coordinate gain value corresponding to the first group of calibration prompt points and the X-axis coordinate gain value and the Y-axis coordinate gain value corresponding to the first group of calibration prompt points.
The sensitivity calibration data includes the X-axis coordinate gain value and the Y-axis coordinate gain value.
And weighting and summing the X-axis coordinate gain values corresponding to the first group of calibration prompt points and the X-axis coordinate gain values corresponding to the second group of calibration prompt points to obtain X-axis coordinate gain values, and weighting and summing the Y-axis coordinate gain values corresponding to the first group of calibration prompt points and the X-axis coordinate gain values corresponding to the second group of calibration prompt points to obtain Y-axis coordinate gain values. In another embodiment, the maximum value is taken as the X-axis coordinate gain value according to the X-axis coordinate gain values corresponding to the first set of calibration prompt points and the X-axis coordinate gain values corresponding to the second set of calibration prompt points, and the maximum value is taken as the Y-axis coordinate gain value according to the Y-axis coordinate gain values corresponding to the first set of calibration prompt points and the Y-axis coordinate gain values corresponding to the second set of calibration prompt points. It is understood that other algorithms are possible, and are not specifically limited by the examples herein.
For example, let X-axis coordinate gain be XgainThe gain value of Y-axis coordinate is YgainThe 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 to c, and b is equal to d; in another embodiment a is not equal to c and b is not equal to d.
As shown in fig. 4, in an embodiment, a teaching robot calibration method is provided, which specifically includes the following steps:
s402, acquiring a sensitivity calibration request;
s404, responding to the sensitivity calibration request, and acquiring preset calibration prompt data, wherein the preset calibration prompt data comprises preset position data of calibration prompt points, and the calibration prompt points comprise at least three prompt points which are not on the same straight line;
s406, displaying a calibration prompt point on the resistive touch screen according to the preset calibration prompt data;
s408, acquiring actual position data of the calibration prompt point fed back by the user;
s410, calculating according to the actual position data of the calibration prompt point fed back by the user and the preset calibration prompt data to obtain sensitivity calibration data;
s412, acquiring actual position data of the inspection image fed back by the user according to the sensitivity calibration data;
specifically, a calibration and inspection interface is started, the calibration and inspection interface is displayed on a resistive touch screen of the teaching robot, and a user touches and draws any figure on the resistive touch screen with the sensitivity calibration data as a sensitivity parameter to acquire actual position data of an image drawn by the user.
S414, obtaining display position data of the inspection image according to the actual position data of the inspection image fed back by the user and the sensitivity calibration data;
specifically, the actual position data of the inspection image fed back by the user is subjected to gain reduction processing according to the sensitivity calibration data to obtain the display position data of the inspection image.
And the gain reduction processing is to divide the X coordinate of the actual position data of the inspection image fed back by the user by the X-axis coordinate gain value to obtain the X coordinate of the display position data of the inspection image, and divide the Y coordinate of the actual position data of the inspection image fed back by the user by the Y-axis coordinate gain value to obtain the Y coordinate of the display position data of the inspection image.
S416, displaying an inspection image on the resistive touch screen according to the display position data of the inspection image;
specifically, an image drawn by a user is displayed on a calibration verification interface according to the display position data of the verification image.
S418, obtaining a detection result fed back by the user;
specifically, the user observes the deviation between the touch-drawn pattern and the display image, and the user feeds back the verification result including success and failure.
And S420, when the detection result fed back by the user is successful, updating the sensitivity parameter according to the sensitivity calibration data.
Specifically, when the test result fed back by the user is successful, the sensitivity parameter is updated according to the sensitivity calibration data, and when the test result fed back by the user is failed, the sensitivity parameter is not changed. In another embodiment, the sensitivity parameter is not changed when the verification result fed back by the user is failure and the step 306 is directly entered for the user to perform the verification again.
The embodiment verifies and confirms the verification result through the user so that the calibration result conforms to the use habit of the user.
As shown in fig. 5, in another embodiment, a teaching robot calibration method is provided, which specifically includes the following steps:
s502, acquiring a sensitivity calibration request;
s504, responding to the sensitivity calibration request, and acquiring preset calibration prompt data, wherein the preset calibration prompt data comprises preset position data of calibration prompt points, and the calibration prompt points comprise at least three prompt points which are not on the same straight line;
s506, displaying a calibration prompt point on the resistive touch screen according to the preset calibration prompt data;
s508, acquiring actual position data of the calibration prompt points fed back by the user;
s510, calculating according to actual position data of the calibration prompt points fed back by the user and the preset calibration prompt data to obtain sensitivity calibration data;
s512, acquiring preset inspection prompt data, wherein the preset inspection prompt data comprise preset position data of an inspection prompt image;
the verification prompt image may be at least one of a figure, a character and a character, such as a circle, a triangle, a pentagram and a character Z, which is not limited by the examples.
S514, displaying a checking prompt image on the resistive touch screen according to the preset checking prompt data;
specifically, a calibration and inspection interface is started, an inspection prompt image is displayed on the calibration and inspection interface according to the preset inspection prompt data, and the calibration and inspection interface is displayed on a resistance type touch screen of the teaching robot.
And the next step is carried out after the verification prompt image is completely displayed on the touch calibration interface. In another embodiment, the verification prompt image may be displayed on the touch calibration interface display portion, and the remaining verification prompt image may be displayed according to the user operation progress.
S516, acquiring actual position data of a test prompt image fed back by a user according to the sensitivity calibration data;
specifically, the user touches and draws the verification prompt image on the resistive touch screen with the sensitivity calibration data as the sensitivity parameter, and the actual position data of the verification prompt image drawn by the user is acquired.
S518, obtaining display position data of the inspection prompt image according to the actual position data of the inspection prompt image and the sensitivity calibration data;
specifically, the actual position data of the verification prompt image is subjected to gain reduction processing according to the sensitivity calibration data to obtain the display position data of the verification prompt image.
The gain reduction processing is to divide the X coordinate of the actual position data of the inspection prompt image by the X-axis coordinate gain value to obtain the X coordinate of the display position data of the inspection prompt image, and divide the Y coordinate of the actual position data of the inspection prompt image by the Y-axis coordinate gain value to obtain the Y coordinate of the display position data of the inspection prompt image.
S520, comparing the display position data of the inspection prompt image with the preset inspection prompt data to obtain a comparison inspection result;
specifically, comparing the X coordinate of the display position data of the inspection prompt image with the X coordinate of the preset inspection prompt data to obtain an inspection result of the X coordinate; comparing the Y coordinate of the display position data of the inspection prompt image with the Y coordinate of the preset inspection prompt data to obtain an inspection result of the Y coordinate; and the test result of the X coordinate and the test result of the Y coordinate are comparison test results.
And when the detection results of the X coordinates are equal and the detection results of the Y coordinates are equal, comparing the detection results to be successful, otherwise, comparing the detection results to be failed.
And S522, updating the sensitivity parameters according to the sensitivity calibration data when the comparison and verification result is successful.
Specifically, the sensitivity parameter is updated according to the sensitivity calibration data when the comparison check result is successful, and the sensitivity parameter is not changed when the comparison check result is failed. In another embodiment, the sensitivity parameter is not changed when the comparison check result is failure and step 406 is directly entered for the user to perform a re-verification.
This embodiment is through automatic comparison so that confirm the accuracy of calibration fast, has promoted user experience.
As shown in fig. 6, in an embodiment, the comparing according to the display position data of the inspection prompt image and the preset inspection prompt data to obtain a comparison inspection result specifically includes:
s602, comparing the display position data of the inspection prompt image with the preset inspection prompt data to obtain calibration difference data;
specifically, subtracting the X coordinate of the display position data of the inspection prompt image from the X coordinate of the preset inspection prompt data to obtain difference data of the X coordinate; subtracting the Y coordinate of the display position data of the inspection prompt image from the preset Y coordinate of the inspection prompt data to obtain difference data of the Y coordinate; and the difference data of the X coordinate and the difference data of the Y coordinate are comparison test results.
S604, acquiring a preset calibration threshold value;
the preset calibration threshold value is used for measuring the calibration effect of the teaching robot calibration method. For example, the difference in X-coordinate is 0.05, the difference in Y-coordinate is 0.05; or the difference between the X coordinate and the width of the display area of the resistive touch screen in the X axis direction, and the difference between the Y coordinate and the width of the display area of the resistive touch screen in the Y axis direction, which are exemplified herein without specific limitations.
The preset calibration threshold value can be set by a manufacturer of the teaching robot in a default mode or can be set and changed by a user.
And S606, when the calibration difference data is within the preset calibration threshold range, obtaining a comparison and verification result as successful, and when the calibration difference data exceeds the preset calibration threshold range, obtaining a comparison and verification result as failed.
Through the preset calibration threshold value, the efficiency of automatic comparison is improved, and the user experience is improved.
As shown in fig. 7, in one embodiment, a teaching robot calibration method is proposed, the method comprising the steps of:
s702, acquiring a starting signal;
specifically, the user turns on the power of the teaching robot, that is, triggers a power-on signal.
S704, responding to the starting signal, and acquiring initialization parameters, wherein the initialization parameters comprise an FSMC bus initialization parameter, an SPI bus initialization parameter, a touch driving chip initialization parameter, a resistance type touch screen initialization parameter and a graphical interface initialization parameter;
the initialization parameters are set by a manufacturer of the teaching robot and are used for carrying out standard initialization on the teaching robot.
The FSMC bus refers to a variable static memory interface bus.
The SPI bus refers to a serial peripheral interface bus.
S706, initializing the teaching robot according to the initialization parameters;
specifically, the FSMC bus is initialized according to the initialization parameters of the FSMC bus, the SPI bus is initialized according to the initialization parameters of the SPI bus, the touch driving chip is initialized according to the initialization parameters of the touch driving chip, the resistance type touch screen is initialized according to the initialization parameters of the resistance type touch screen, and the graphical interface is updated according to the initialization parameters of the graphical interface.
S708, acquiring a sensitivity calibration request;
s710, responding to the sensitivity calibration request, and acquiring preset calibration prompt data, wherein the preset calibration prompt data comprises preset position data of calibration prompt points, and the calibration prompt points comprise at least three prompt points which are not on the same straight line;
s712, displaying a calibration prompt point on the resistive touch screen according to the preset calibration prompt data;
s714, acquiring actual position data of the calibration prompt points fed back by the user;
s716, calculating according to the actual position data of the calibration prompt point fed back by the user and the preset calibration prompt data to obtain sensitivity calibration data;
and S718, updating the sensitivity parameters according to the sensitivity calibration data.
In this embodiment, through setting up initialization parameter, can avoid the interference of historical use record and custom when making the user use the teaching robot each time, promoted user experience.
In another embodiment, as shown in fig. 8, a teaching robot calibration method is provided, the method comprising the steps of:
s802, acquiring a sensitivity calibration request;
s804, acquiring the identity authentication information fed back by the user;
specifically, a password input by the user is acquired.
S806, acquiring registered identity information;
the registered identity information refers to a password which is registered in the teaching robot by the user.
S808, comparing the identity authentication information fed back by the user with the registered identity information to obtain an identity authentication result;
specifically, if the authentication information fed back by the user and the registered authentication information are the same, the authentication result is successful; and if the authentication information fed back by the user and the registered authentication information are different, the authentication result is failure.
S810, when the identity authentication result is successful, responding to the sensitivity calibration request, and acquiring preset calibration prompt data;
specifically, when the identity verification result is successful, responding to the sensitivity calibration request, and acquiring preset calibration prompt data; and when the identity authentication result is failure, the sensitivity calibration request is not responded, and information is fed back to the user.
S812, displaying a calibration prompt point on the resistive touch screen according to the preset calibration prompt data;
s814, acquiring actual position data of the calibration prompt point fed back by the user;
s816, calculating according to the actual position data of the calibration prompt points fed back by the user and the preset calibration prompt data to obtain sensitivity calibration data;
and S818, updating the sensitivity parameters according to the sensitivity calibration data.
In the embodiment, the sensitivity calibration can be performed only when the authentication result is successful, so that misoperation of other users is avoided, and the user experience is improved.
As shown in fig. 9, in one embodiment, a teaching robot is proposed, the teaching robot comprising: the touch control system comprises a resistive touch screen 903, a touch driving chip 902, a micro control unit 901 and a sensitivity calibration module, wherein the micro control unit 901 is electrically connected with the resistive touch screen 903 for realizing data reading and writing of the resistive touch screen 903, the micro control unit 901 is electrically connected with the touch driving chip 902 for controlling the touch driving chip 902 to work, and the touch driving chip 902 is electrically connected with the resistive touch screen 903 for reading position data of a touch point;
the sensitivity calibration module is used for acquiring a sensitivity calibration request, responding to the sensitivity calibration request and acquiring preset calibration prompt data, the preset calibration prompt data comprise preset position data of calibration prompt points, the calibration prompt points comprise at least three prompt points which are not on the same straight line, the calibration prompt points are displayed on the resistive touch screen 903 according to the preset calibration prompt data, actual position data of the calibration prompt points fed back by a user are acquired, the actual position data of the calibration prompt points fed back by the user are calculated according to the preset calibration prompt data, the sensitivity calibration data are obtained, and the sensitivity parameters are updated according to the sensitivity calibration data.
The touch driving chip 902 may be a chip of a model XPT2046 selected in the prior art, which is not limited in this embodiment.
The micro control unit 901 may be a microcontroller selected from the STM32F103 in the prior art, and is not limited in particular by way of example.
Specifically, the micro control unit 901 is electrically connected with the resistive touch screen 903 through an FSMC bus for implementing data read-write of the resistive touch screen 903, and the micro control unit 901 is electrically connected with the touch driver chip 902 through the SPI bus for controlling the touch driver chip 902 to operate; the touch driving chip 902 and the resistive touch screen 903 are electrically connected through a signal line for reading position data of a touch point.
The teaching robot of the embodiment adopts the resistive touch screen 903, the sensitivity calibration module displays the calibration prompt point on the resistive touch screen 903 according to the preset calibration prompt data, acquires the actual position data of the calibration prompt point fed back by a user, calculates according to the actual position data of the calibration prompt point fed back by the user and the preset calibration prompt data to obtain the sensitivity calibration data, updates the sensitivity parameter according to the sensitivity calibration data, is simple in sensitivity calibration operation, and realizes that the user self-calibrates and restores the sensitivity of the display screen of the teaching robot; the resistive touch screen 903 is a true color display screen, and increases the interest and functionality of the teaching robot. Therefore, the teaching robot of this embodiment makes the user restore display screen sensitivity by oneself, easy operation, through the colour display, has increased interest and functionality.
In one embodiment, the teaching robot further comprises:
the identity authentication module is used for acquiring identity authentication information fed back by a user, acquiring registered identity information, and comparing the identity authentication information fed back by the user with the registered identity information to obtain an identity authentication result;
the sensitivity calibration module is used for acquiring a sensitivity calibration request, responding to the sensitivity calibration request when the identity verification result is successful, acquiring preset calibration prompt data, wherein the preset calibration prompt data comprise preset position data of calibration prompt points, the calibration prompt points comprise at least three prompt points which are not on the same straight line, and calculating according to the preset calibration prompt data, the calibration prompt points are displayed on the resistive touch screen 903, the actual position data of the calibration prompt points fed back by a user are acquired, the actual position data of the calibration prompt points fed back by the user and the preset calibration prompt data to obtain sensitivity calibration data, and the sensitivity parameters are updated according to the sensitivity calibration data.
In one embodiment, the sensitivity calibration module includes a verification sub-module, and the verification sub-module is configured to obtain actual position data of a verification image fed back by a user, display the verification image on the resistive touch screen 903 according to the actual position data of the image fed back by the user, obtain a verification result fed back by the user, and update the sensitivity parameter according to the sensitivity calibration data when the verification result fed back by the user is successful.
It should be noted that the teaching robot calibration method and the teaching robot belong to a general inventive concept, and the contents in the teaching robot calibration method and the teaching robot embodiment are applicable to each other.
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present application. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (8)
1. A teaching robot calibration method is applied to a teaching robot adopting a resistive touch screen, and comprises the following steps:
acquiring a sensitivity calibration request;
responding to the sensitivity calibration request, and acquiring preset calibration prompt data, wherein the preset calibration prompt data comprises preset position data of calibration prompt points, the calibration prompt points comprise four prompt points, and the four prompt points are connected to form a quadrangle;
displaying a calibration prompt point on the resistive touch screen according to the preset calibration prompt data;
acquiring actual position data of a calibration prompt point fed back by a user;
dividing the four prompt points into two groups, wherein the two prompt points in each group are positioned on the same diagonal line of a quadrangle formed by connecting the four prompt points;
calculating point by point according to the actual position data of the first group of calibration prompt points fed back by the user and the preset position data corresponding to the first group of calibration prompt points to obtain an X-axis coordinate gain value;
calculating point by point according to the actual position data of the second group of calibration prompt points fed back by the user and the preset position data corresponding to the second group of calibration prompt points to obtain a Y-axis coordinate gain value;
obtaining sensitivity calibration data according to the X-axis coordinate gain value and the Y-axis coordinate gain value;
acquiring actual position data of a test image fed back by a user according to the sensitivity calibration data;
obtaining display position data of the inspection image according to the actual position data of the inspection image fed back by the user and the sensitivity calibration data; performing gain reduction processing on the actual position data of the inspection image fed back by the user according to the sensitivity calibration data to obtain display position data of the inspection image; the gain reduction processing is to divide the X coordinate of the actual position data of the inspection image fed back by the user by the X-axis coordinate gain value to obtain the X coordinate of the display position data of the inspection image, and divide the Y coordinate of the actual position data of the inspection image fed back by the user by the Y-axis coordinate gain value to obtain the Y coordinate of the display position data of the inspection image;
displaying an inspection image on the resistive touch screen according to the display position data of the inspection image;
obtaining a test result fed back by a user;
and when the test result fed back by the user is successful, updating the sensitivity parameter according to the sensitivity calibration data.
2. The method according to claim 1, wherein the updating the sensitivity parameter according to the sensitivity calibration data specifically comprises:
acquiring preset inspection prompt data, wherein the preset inspection prompt data comprise preset position data of an inspection prompt image;
displaying a test prompt image on the resistive touch screen according to the preset test prompt data;
acquiring actual position data of a test prompt image fed back by a user according to the sensitivity calibration data;
obtaining display position data of the inspection prompt image according to the actual position data of the inspection prompt image and the sensitivity calibration data;
comparing the display position data of the inspection prompt image with the preset inspection prompt data to obtain a comparison inspection result;
and when the comparison and verification result is successful, updating the sensitivity parameters according to the sensitivity calibration data.
3. The method according to claim 2, wherein the comparing according to the display position data of the inspection prompt image and the preset inspection prompt data to obtain a comparison inspection result specifically comprises:
comparing the display position data of the inspection prompt image with the preset inspection prompt data to obtain calibration difference data;
acquiring a preset calibration threshold value;
and when the calibration difference data is within the preset calibration threshold range, obtaining a comparison and verification result as success, and when the calibration difference data exceeds the preset calibration threshold range, obtaining a comparison and verification result as failure.
4. The method of any of claims 1 to 3, wherein the obtaining a sensitivity calibration request is preceded by:
acquiring a starting signal;
responding to the starting signal, and acquiring initialization parameters, wherein the initialization parameters comprise an FSMC bus initialization parameter, an SPI bus initialization parameter, a touch driving chip initialization parameter, a resistance type touch screen initialization parameter and a graphical interface initialization parameter;
and initializing the teaching robot according to the initialization parameters.
5. The method according to any one of claims 1 to 3, wherein before displaying calibration cue points on the resistive touch screen according to the preset calibration cue data, the method further comprises:
acquiring identity authentication information fed back by a user;
acquiring registered identity information;
comparing the identity authentication information fed back by the user with the registered identity information to obtain an identity authentication result;
and when the identity verification result is successful, responding to the sensitivity calibration request and acquiring preset calibration prompt data.
6. A teaching robot, comprising: the system comprises a resistance-type touch screen, a touch driving chip, a micro control unit and a sensitivity calibration module, wherein the micro control unit is electrically connected with the resistance-type touch screen for realizing data reading and writing of the resistance-type touch screen, the micro control unit is electrically connected with the touch driving chip for controlling the touch driving chip to work, and the touch driving chip is electrically connected with the resistance-type touch screen for reading position data of a touch point;
the sensitivity calibration module is used for acquiring a sensitivity calibration request, responding to the sensitivity calibration request and acquiring preset calibration prompt data, the preset calibration prompt data comprise preset position data of calibration prompt points, the calibration prompt points comprise at least three prompt points which are not on the same straight line, the calibration prompt points are displayed on the resistive touch screen according to the preset calibration prompt data, actual position data of the calibration prompt points fed back by a user are acquired, the actual position data of the calibration prompt points fed back by the user and the preset calibration prompt data are calculated to obtain sensitivity calibration data, and the sensitivity parameters are updated according to the sensitivity calibration data.
7. An instructional robot as claimed in claim 6, further comprising:
the identity authentication module is used for acquiring identity authentication information fed back by a user, acquiring registered identity information, and comparing the identity authentication information fed back by the user with the registered identity information to obtain an identity authentication result;
the sensitivity calibration module is used for acquiring a sensitivity calibration request, responding to the sensitivity calibration request when the identity verification result is successful, acquiring preset calibration prompt data, wherein the preset calibration prompt data comprise preset position data of calibration prompt points, the calibration prompt points comprise at least three prompt points which are not on the same straight line, displaying the calibration prompt points on the resistive touch screen according to the preset calibration prompt data, acquiring actual position data of the calibration prompt points fed back by a user, calculating according to the actual position data of the calibration prompt points fed back by the user and the preset calibration prompt data, acquiring sensitivity calibration data, and updating the sensitivity parameters according to the sensitivity calibration data.
8. The teaching robot of claim 6, wherein the sensitivity calibration module comprises a verification sub-module, the verification sub-module is configured to obtain actual position data of a verification image fed back by a user, display the verification image on the resistive touch screen according to the actual position data of the image fed back by the user, obtain a verification result fed back by the user, and update the sensitivity parameter according to the sensitivity calibration data when the verification result fed back by the user is successful.
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Also Published As
| Publication number | Publication date |
|---|---|
| CN110599875A (en) | 2019-12-20 |
| CN110580842A (en) | 2019-12-17 |
| CN110599874A (en) | 2019-12-20 |
| CN110533999A (en) | 2019-12-03 |
| CN110580844A (en) | 2019-12-17 |
| CN109036046A (en) | 2018-12-18 |
| CN110580843A (en) | 2019-12-17 |
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