CN111844035A - Robot calibration method, device and storage medium - Google Patents
Robot calibration method, device and storage medium Download PDFInfo
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- CN111844035A CN111844035A CN202010693645.3A CN202010693645A CN111844035A CN 111844035 A CN111844035 A CN 111844035A CN 202010693645 A CN202010693645 A CN 202010693645A CN 111844035 A CN111844035 A CN 111844035A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1692—Calibration of manipulator
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C22/00—Measuring distance traversed on the ground by vehicles, persons, animals or other moving solid bodies, e.g. using odometers, using pedometers
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Abstract
The invention discloses a robot calibration method, a device and a storage medium, wherein the method comprises the following steps: acquiring calibration scene information required by robot calibration according to the calibration requirement of the robot; establishing a calibration scene required for calibrating the robot according to the acquired calibration scene information; executing a calibration operation event of the robot based on the built calibration scene; when the execution of the calibration operation event is finished, feeding back the execution result of the calibration operation event for a user to check; by constructing a universal calibration scene, simple and clear running software and/or running programs (including an automatic running program and a human-computer interaction running program) and batch-usable calibration resources are provided, the standardization of a robot calibration flow and calibration steps is realized, and the threshold of robot calibration and the calibration cost of the robot are reduced.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a robot calibration method, equipment and a storage medium.
Background
Before the autonomous mobile robot is put into use, components such as a vision module of the robot need to be calibrated so as to determine that the robot is normal and meets the use standard. In addition, as the service time of the robot increases, wear of wheels, changes of mechanical structures and the like may be caused, which may result in the initial calibration accuracy being reduced. When the accuracy is reduced to a certain degree, the related functions of the robot are seriously affected. Therefore, it is important to calibrate the robot.
The traditional work and steps for calibrating the robot are complex, and when the robot is calibrated, no matter the preparation of a field or the calibration test process, professional persons are required to perform, so that the calibration threshold and the cost of the robot are high.
Disclosure of Invention
The invention provides a robot calibration method, equipment and a storage medium, aiming at standardizing the calibration of a robot and reducing the calibration cost.
In a first aspect, the present invention provides a robot calibration method, including:
acquiring calibration scene information required by robot calibration according to the calibration requirement of the robot; establishing a calibration scene required for calibrating the robot according to the acquired calibration scene information;
executing a calibration operation event of the robot based on the built calibration scene;
and when the execution of the calibration operation event is finished, feeding back the execution result of the calibration operation event for a user to check.
In a second aspect, the present invention provides a robot calibration apparatus, including:
a scene construction module for: acquiring calibration scene information required by robot calibration according to the calibration requirement of the robot; establishing a calibration scene required for calibrating the robot according to the acquired calibration scene information;
A calibration execution module to: executing a calibration operation event of the robot based on the built calibration scene;
a result feedback module to: and when the execution of the calibration operation event is finished, feeding back the execution result of the calibration operation event for a user to check.
In a third aspect, the present invention provides an electronic device, including a memory and a processor, where the memory stores a robot calibration program executable on the processor, and the robot calibration program is executed by the processor to perform the robot calibration method.
In a fourth aspect, the present invention provides a computer-readable storage medium having a robot calibration program stored thereon, the robot calibration program being executable by one or more processors to implement the steps of the robot calibration method.
The invention relates to a robot calibration method, equipment and a storage medium, which are used for acquiring calibration scene information required by robot calibration according to the calibration requirement of a robot; establishing a calibration scene required for calibrating the robot according to the acquired calibration scene information; executing a calibration operation event of the robot based on the built calibration scene; when the execution of the calibration operation event is finished, feeding back the execution result of the calibration operation event for a user to check; by constructing a universal calibration scene, simple and clear running software and/or running programs (including an automatic running program and a human-computer interaction running program) and batch-usable calibration resources are provided, the standardization of a robot calibration flow and calibration steps is realized, and the threshold of robot calibration and the calibration cost of the robot are reduced.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
fig. 1 is a schematic flow chart of an embodiment of a robot calibration method according to the present invention.
Fig. 2a is a schematic view of an application scenario of an embodiment of a ground material used for building the calibration scenario in the robot calibration method of the present invention.
Fig. 2b is a schematic view of an application scenario of an embodiment of a calibration scenario obtained after the calibration scenario is built by using the ground material provided in fig. 2 a.
Fig. 3 is a functional module schematic diagram of an embodiment of the robot calibration device of the present invention.
Fig. 4 is a schematic internal structure diagram of an embodiment of the electronic device of the present invention.
Detailed Description
The preferred embodiments of the present invention will be described in conjunction with the accompanying drawings, and it will be understood that they are described herein for the purpose of illustration and explanation and not limitation.
The invention provides a robot calibration method, equipment and a storage medium, which can provide simple and clear running software and/or running programs (including an automatic running program and a human-computer interaction running program) and batch-usable calibration resources by establishing a universal calibration scene, realize standardization of a robot calibration flow and calibration steps, and reduce the threshold of robot calibration and the calibration cost of a robot.
As shown in fig. 1, fig. 1 is a schematic flow chart of an embodiment of a robot calibration method according to the present invention. In the embodiment illustrated in fig. 1, a robot calibration method of the present invention may be implemented as steps S10-S30 illustrated in fig. 1.
Step S10, acquiring calibration scene information required by robot calibration according to the calibration requirement of the robot; and according to the acquired calibration scene information, a calibration scene required for calibrating the robot is established.
In the embodiment of the invention, when the calibration process of the robot is standardized, a corresponding calibration scene needs to be established for the robot to be calibrated. Because different calibration scenes may be needed for different calibration parameters, the calibration requirements corresponding to the calibration parameters need to be obtained for the specific calibration parameters needed to be calibrated by the robot; and according to the acquired calibration requirement, configuring calibration scene information which is required by the robot calibration and meets the calibration requirement, and further according to the acquired calibration scene information, building a calibration scene matched with the calibration scene information.
Further, in an embodiment, the calibration scenario information may be classified, for example, for a calibration scenario that may be commonly used, corresponding standard calibration scenario information is configured; and then configuring special calibration scene information aiming at the calibration requirements according to the specific calibration requirements, so as to build a calibration scene required for calibrating the robot according to the pre-configured standard calibration scene information and the special calibration scene information matched with the specific calibration requirements.
And step S20, executing the calibration operation event of the robot based on the built calibration scene.
In the established calibration scene, when the calibration operation event corresponding to the robot is executed according to the calibration requirement, two implementation modes are mainly adopted, one mode is that the robot executes automatic calibration operation, and when the corresponding calibration scene is established, the robot can start calibration software and/or a calibration program to automatically execute the calibration operation event. And the other type is that the robot executes non-automatic calibration operation, namely after a corresponding calibration scene is built, the robot executes a corresponding calibration operation event according to a received control instruction.
And step S30, when the execution of the calibration operation event is finished, feeding back the execution result of the calibration operation event for the user to check.
Aiming at the execution result of the calibration operation event, a feedback function is provided; namely, when the execution of the calibration operation event is completed, the execution result of the calibration operation event can be fed back for the user to check. For example, the execution result or execution data of the calibration operation event is displayed through a user operation display interface and is notified to the user.
In the embodiment of the present invention, the feedback of the execution result of the calibration operation event mainly includes two ways, one is to automatically determine the execution success or failure result, and when the execution result of the calibration operation event is fed back, the execution result of successful calibration or failed calibration is directly fed back. And the other method is that the execution success or failure result is not automatically judged, and only the execution result information of the calibration operation event is fed back.
Further, in an embodiment, when the execution of the calibration operation event is completed, the execution result of the calibration operation event is fed back for the user to view, and the following technical means may be implemented:
aiming at the condition of automatically judging the calibration result, when the calibration is completed, the execution result of successful calibration or failed calibration can be automatically fed back. When the execution of the calibration operation event is finished, directly displaying calibration result information of successful calibration or failed calibration based on a user operation display interface; or displaying a picture or a three-dimensional point cloud picture corresponding to the calibration result information.
Aiming at the situation of non-automatic judgment of the calibration result, when the calibration is completed, a worker is required to manually select the judgment result. And when the execution of the calibration operation event is finished, displaying an execution result corresponding to the calibration operation event based on the user operation display interface, so that a user can check and judge whether the execution result of the calibration operation event is successful or failed in calibration.
Further, in an embodiment, in step S10 of the embodiment shown in fig. 1, when obtaining calibration scenario information required by robot calibration according to a calibration requirement of the robot, the following technical means may be implemented: acquiring material information and tool information which are required to be used when the parameter information is calibrated according to the parameter information required to be calibrated by the robot; and acquiring calibration scene information required by robot calibration according to the acquired material information and tool information.
In the embodiment of the invention, aiming at the calibration scene required by the robot during calibration, corresponding calibration resources which can be used in batches, such as a base material and a matched combination tool, can be provided for the establishment of the calibration scene in advance, and further, according to the specific parameter information required by the robot for calibration, the specific material information and tool information required by the calibration of the parameter information are obtained. And selecting the calibration scene information corresponding to the material information and the tool information from the basic material and the matched combination tool which are provided in advance according to the acquired material information and the tool information.
Further, in an embodiment, in step S10 of the embodiment shown in fig. 1, in the step S10, building a calibration scene required for calibrating the robot according to the obtained calibration scene information, may be implemented according to the following technical means: calling the operation information of the scene building step preset according to the calibration scene information according to the acquired calibration scene information; and building a standard calibration scene required for calibrating the robot based on the operation information of the scene building step.
In the embodiment of the invention, in order to realize standardization of a robot calibration process, corresponding scene construction step operation information is configured in advance aiming at different parameter information needing to be calibrated. And aiming at parameter information required to be calibrated by the robot, searching and calling the operation information of the scene building step matched with the calibration scene information when the calibration scene information corresponding to the parameter information is obtained. The operation information of the scene construction step in the embodiment of the invention is matched with different calibration scene information; and by utilizing the calibration scene information and according to the scene construction step information, different calibration scenes can be correspondingly constructed.
Further, in an embodiment, in "step S20, executing a calibration operation event of the robot based on the built calibration scenario" in the embodiment of fig. 1 may be implemented according to the following technical means: and in the established calibration scene, displaying calibration step operation information based on a user operation display interface, so that a user can trigger the execution of the calibration operation event based on the calibration step operation information.
The calibration operation in this embodiment is a non-automatic calibration operation, for example, a user manually triggers a corresponding control command to execute a relevant calibration operation event of the robot. In a specific application scene, based on the built calibration scene, when a calibration flow is started and calibration is started, the operation information of the calibration step can be displayed based on a user operation display interface for a user to check. And controlling the calibration robot to execute the corresponding calibration operation event according to the corresponding calibration operation step by the user according to the displayed calibration step operation information.
Or: automatically executing a calibration operation event of the robot in the built calibration scene; and simultaneously, displaying the execution process of the calibration operation event in real time based on the user operation display interface.
The calibration operation in this embodiment is an automatic calibration operation, that is, based on the built calibration scene, the calibration robot may start a calibration program and/or calibration software matched with the calibration scene in the built calibration scene, and automatically execute a corresponding calibration operation event. When the calibration operation is automatically executed, the robot can automatically execute the corresponding calibration operation event without human-computer interaction, and simultaneously, the execution process of the calibration operation event is displayed in real time through the user operation display interface for a user to check. For example, in a specific application scenario, the robot displays a calibration progress corresponding to automatic calibration and a feedback result of calibration and environment interaction by using a self-contained display screen.
The following further describes the implementation process of the robot calibration method of the present invention, taking the specific calibration requirement of the laser odometer internal reference calibration as an example.
For a specific application scenario of internal reference calibration of the laser odometer, step S10 in the embodiment shown in fig. 1 obtains calibration scenario information required by robot calibration according to a calibration requirement of the robot; and according to the acquired calibration scene information, a calibration scene required for calibrating the robot is established, which can be implemented according to the following technical means:
Acquiring calibration scene information containing ground materials required by robot calibration according to the calibration requirements of the robot for the internal reference calibration of the laser odometer; and building a ground material with a running track and/or marking information comprising a marked initial position according to the obtained calibration scene information, and setting a surrounding environment aiming at the ground material based on the built ground material.
For a specific application scenario of internal reference calibration of the laser odometer, step S20 in the embodiment of fig. 1, executing a calibration operation event of the robot based on the built calibration scenario, may be implemented according to the following technical means:
acquiring a preset calibration operation step corresponding to the calibration operation event based on the built ground material with the track and/or the mark information, so that the robot for calibration: and executing the corresponding calibration operation event along the track corresponding to the ground material and/or the mark information according to the preset calibration operation steps.
In the specific application scenario, calibration scenario information required by robot calibration is acquired according to calibration requirements of internal reference calibration of the laser odometer, for example, materials and tools required by the calibration scenario construction can be divided into: a basic environment material bag and a special project material bag; in this specific application scenario, the basic environment material package mainly requires the following materials: floor materials with tracks or markings, alternatively referred to as carpets. The carpet is designed and manufactured according to specifications, and the condition that the calibration result is invalid due to environmental deployment deviation can not occur when the calibration operation aiming at the internal reference calibration of the laser odometer is carried out in any place and any personnel. In a specific application scenario, after the carpet is laid, the outer rail can be placed around the periphery of the carpet in a surrounding manner, so as to form a corresponding closed environment. Taking the internal reference calibration of the laser odometer as an example, when a corresponding calibration operation event is executed, the robot needs to go around for several circles in an environment surrounded by the periphery and acquire data. At this time, a track path needs to be designed on the carpet, and in specific applications, for example, the robot automatically moves along the track on the carpet according to the calibration software and/or the calibration program and the design of the calibration scene of the map track, by using a visual module of the robot itself or by previously embedding a standard map into a machine system corresponding to the robot.
Further, in the specific application scenario, the starting position corresponding to the robot may also be marked at the same time; for example, in the specific implementation, the marking can be performed by printing or pasting a two-dimensional code; alternatively, any specifically apparent identifiable label may be used; therefore, when the robot is not automatically calibrated, the robot can prompt a tester to execute corresponding operation through a software interface; or, during automatic calibration, the robot can automatically recognize through the vision module of the robot, so that calibration is completed.
As shown in fig. 2a, fig. 2a is a schematic view of an application scenario of an embodiment of a ground material used for building the calibration scenario in the robot calibration method of the present invention. In a specific application scenario corresponding to fig. 2a, the floor material is a carpet, the carpet is assembled in a square with a minimum unit, each side of the carpet can be marked with letters or numbers, so that coordinate position information corresponding to each grid in the carpet can be composed by XY coordinates. In FIG. 2a, the specific dimensions of the carpet can be expanded according to the product standard to be calibrated, such as enlarging or reducing the carpet in FIG. 2a according to the calibrated product standard.
As shown in fig. 2b, fig. 2b is an application scenario schematic diagram of an embodiment of a calibration scenario obtained after the calibration scenario is built by using the ground material provided in fig. 2 a. When the carpet of FIG. 2a is used for building a calibration scene, the surrounding black areas are barriers; the enclosure in fig. 2b may be provided as a folding type; meanwhile, the enclosure is designed to have different heights according to different calibration items. The square M in fig. 2b may be set as a position identifier according to the specific requirements of the application scenario. If the position mark belongs to the position information corresponding to the base material bag, the position mark can be directly printed on the carpet of fig. 2 a; if the position mark belongs to the position information of the special item, prompting can be performed based on a user operation display interface, so that the position mark can be set in a pasting mode or a direct placing mode at the later stage. The area in fig. 2b consisting of gray squares can be marked as a trajectory, i.e. the corresponding test route; for a specific calibration operation event, during specific implementation, the robot can automatically complete movement along a track formed by the gray squares, namely a test route, so as to execute and complete the corresponding calibration operation event; the robot may also be guided by the tester to perform the corresponding calibration operation event along the test route formed by the gray squares, or, in a specific application scenario, the tester may also move the robot along the test route formed by the gray squares, so that the robot performs the calibration operation event. The specific implementation manner of the robot executing the calibration operation event is not limited in the embodiment of the present invention, as long as the robot executes and completes the corresponding calibration operation event.
According to the robot calibration method, calibration scene information required by robot calibration is acquired according to the calibration requirement of the robot; establishing a calibration scene required for calibrating the robot according to the acquired calibration scene information; executing a calibration operation event of the robot based on the built calibration scene; when the execution of the calibration operation event is finished, feeding back the execution result of the calibration operation event for a user to check; by constructing a universal calibration scene, simple and clear running software and/or running programs (including an automatic running program and a human-computer interaction running program) and batch-usable calibration resources are provided, the standardization of a robot calibration flow and calibration steps is realized, and the threshold of robot calibration and the calibration cost of the robot are reduced.
Corresponding to the robot calibration method provided by the embodiment, the embodiment of the invention also provides a robot calibration device. Fig. 3 is a functional module schematic diagram of an embodiment of the robot calibration device of the present invention, and the embodiment shown in fig. 3 only describes the robot calibration device functionally. The robot calibration device in the embodiment shown in fig. 3 functionally includes: the calibration method comprises a scene building module 100, a calibration execution module 200 and a result feedback module 300, wherein the scene building module 100, the calibration execution module 200 and the result feedback module 300 are in communication connection and are matched with each other to implement the steps of the robot calibration method. Wherein:
The scene construction module 100 is configured to: acquiring calibration scene information required by robot calibration according to the calibration requirement of the robot; establishing a calibration scene required for calibrating the robot according to the acquired calibration scene information;
the calibration execution module 200 is configured to: executing a calibration operation event of the robot based on the built calibration scene;
the result feedback module 300 is configured to: and when the execution of the calibration operation event is finished, feeding back the execution result of the calibration operation event for a user to check.
In one embodiment, the scene building module 100 is configured to: acquiring material information and tool information which are required to be used when the parameter information is calibrated according to the parameter information required to be calibrated by the robot; and acquiring calibration scene information required by robot calibration according to the acquired material information and tool information.
In one embodiment, the scene building module 100 is configured to: calling the operation information of the scene building step preset according to the calibration scene information according to the acquired calibration scene information; and building a standard calibration scene required for calibrating the robot based on the operation information of the scene building step.
In one embodiment, the calibration execution module 200 is configured to: in the established calibration scene, displaying calibration step operation information based on a user operation display interface, so that a user can trigger the execution of the calibration operation event based on the calibration step operation information; or: automatically executing a calibration operation event of the robot in the built calibration scene; and simultaneously, displaying the execution process of the calibration operation event in real time based on the user operation display interface.
In one embodiment, the result feedback module 300 is configured to: aiming at the condition of automatically judging the calibration result, when the execution of the calibration operation event is finished, directly displaying the calibration result information of successful calibration or failed calibration based on a user operation display interface; or displaying a picture or a three-dimensional point cloud picture corresponding to the calibration result information.
For the case of not automatically determining the calibration result, the result feedback module 300 is configured to: and when the execution of the calibration operation event is finished, displaying an execution result corresponding to the calibration operation event based on the user operation display interface for a user to check and judge whether the execution result of the calibration operation event is successful in calibration or failed in calibration.
In one embodiment, the scene building module 100 is configured to: acquiring calibration scene information containing ground materials required by robot calibration according to the calibration requirements of the robot for the internal reference calibration of the laser odometer; and building a ground material with a running track and/or marking information comprising a marked initial position according to the obtained calibration scene information, and setting a surrounding environment aiming at the ground material based on the built ground material.
In one embodiment, the calibration execution module 200 is configured to: acquiring a preset calibration operation step corresponding to the calibration operation event based on the built ground material with the track and/or the mark information, so that the robot for calibration: and executing the corresponding calibration operation event along the track corresponding to the ground material and/or the mark information according to the preset calibration operation steps.
The robot calibration device of the invention obtains calibration scene information required by robot calibration according to the calibration requirement of the robot; establishing a calibration scene required for calibrating the robot according to the acquired calibration scene information; executing a calibration operation event of the robot based on the built calibration scene; when the execution of the calibration operation event is finished, feeding back the execution result of the calibration operation event for a user to check; by constructing a universal calibration scene, simple and clear running software and/or running programs (including an automatic running program and a human-computer interaction running program) and batch-usable calibration resources are provided, the standardization of a robot calibration flow and calibration steps is realized, and the threshold of robot calibration and the calibration cost of the robot are reduced.
The invention further provides an electronic device, which can calibrate the corresponding robot according to the robot calibration method shown in fig. 1. Fig. 4 is a schematic diagram of the internal structure of an embodiment of the electronic device of the present invention, as shown in fig. 4.
In the present embodiment, the electronic device 1 may be a PC (Personal Computer), or may be a terminal device such as a smartphone, a tablet Computer, or a mobile Computer. The electronic device 1 comprises at least a memory 11, a processor 12, a communication bus 13, and a network interface 14.
The memory 11 includes at least one type of readable storage medium, which includes a flash memory, a hard disk, a multimedia card, a card type memory (e.g., SD or DX memory, etc.), a magnetic memory, a magnetic disk, an optical disk, and the like. The memory 11 may in some embodiments be an internal storage unit of the electronic device 1, for example a hard disk of the electronic device 1. The memory 11 may also be an external storage device of the electronic device 1 in other embodiments, such as a plug-in hard disk provided on the electronic device 1, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like. Further, the memory 11 may also include both an internal storage unit and an external storage device of the electronic device 1. The memory 11 may be used not only to store application software installed in the electronic device 1 and various types of data, such as codes of the robot calibration program 110, but also to temporarily store data that has been output or is to be output.
The processor 12 may be, in some embodiments, a Central Processing Unit (CPU), controller, microcontroller, microprocessor or other data Processing chip, and is used for executing program codes stored in the memory 11 or Processing data, such as executing the robot calibration program 110.
The communication bus 13 is used to realize connection communication between these components.
The network interface 14 may optionally include a standard wired interface, a wireless interface (e.g., WI-FI interface), and is typically used to establish a communication link between the electronic device 1 and other electronic devices.
Optionally, the electronic device 1 may further comprise a user interface, the user interface may comprise a Display (Display), an input unit such as a Keyboard (Keyboard), and the optional user interface may further comprise a standard wired interface, a wireless interface. Alternatively, in some embodiments, the display may be an LED display, a liquid crystal display, a touch-sensitive liquid crystal display, an OLED (Organic Light-Emitting Diode) touch device, or the like. The display, which may also be referred to as a display screen or display unit, is suitable for displaying information processed in the electronic device 1 and for displaying a visualized user interface, among other things.
While FIG. 4 only shows the electronic device 1 with the components 11-14 and the robot calibration program 110, those skilled in the art will appreciate that the configuration shown in FIG. 4 is not limiting of the electronic device 1 and may include fewer or more components than shown, or some components in combination, or a different arrangement of components.
Based on the description of the embodiments of fig. 1 to 3, in the embodiment of the electronic device 1 shown in fig. 4, the memory 11 stores a robot calibration program 110; the robot calibration program 110 stored on the memory 11 is executable on the processor 12, and when executed by the processor 12, the robot calibration program 110 implements the steps of:
acquiring calibration scene information required by robot calibration according to the calibration requirement of the robot; establishing a calibration scene required for calibrating the robot according to the acquired calibration scene information;
executing a calibration operation event of the robot based on the built calibration scene;
and when the execution of the calibration operation event is finished, feeding back the execution result of the calibration operation event for a user to check.
The detailed implementation of the electronic device of the present invention is substantially the same as the implementation principles of the embodiments corresponding to the robot calibration method and the robot calibration apparatus, and will not be described herein in detail.
Furthermore, an embodiment of the present invention further provides a computer-readable storage medium, where a robot calibration program is stored on the computer-readable storage medium, where the robot calibration program may be executed by one or more processors to implement the following operations:
acquiring calibration scene information required by robot calibration according to the calibration requirement of the robot; establishing a calibration scene required for calibrating the robot according to the acquired calibration scene information;
executing a calibration operation event of the robot based on the built calibration scene;
and when the execution of the calibration operation event is finished, feeding back the execution result of the calibration operation event for a user to check.
The specific implementation manner of the computer-readable storage medium of the present invention is substantially the same as the implementation principle of the embodiments corresponding to the robot calibration method, the apparatus, and the electronic device, and will not be described herein repeatedly.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (10)
1. A robot calibration method is characterized by comprising the following steps:
acquiring calibration scene information required by robot calibration according to the calibration requirement of the robot; establishing a calibration scene required for calibrating the robot according to the acquired calibration scene information;
executing a calibration operation event of the robot based on the built calibration scene;
and when the execution of the calibration operation event is finished, feeding back the execution result of the calibration operation event for a user to check.
2. The robot calibration method according to claim 1, wherein the acquiring calibration scenario information required for robot calibration according to the calibration requirement of the robot comprises:
acquiring material information and tool information which are required to be used when the parameter information is calibrated according to the parameter information required to be calibrated by the robot;
And acquiring calibration scene information required by robot calibration according to the acquired material information and tool information.
3. The robot calibration method according to claim 1, wherein the building a calibration scenario required for calibrating the robot according to the acquired calibration scenario information includes:
calling the operation information of the scene building step preset according to the calibration scene information according to the acquired calibration scene information;
and building a standard calibration scene required for calibrating the robot based on the operation information of the scene building step.
4. The robot calibration method according to claim 1, wherein the executing of the calibration operation event of the robot based on the built calibration scenario comprises:
in the established calibration scene, displaying calibration step operation information based on a user operation display interface, so that a user can trigger the execution of the calibration operation event based on the calibration step operation information;
or:
automatically executing a calibration operation event of the robot in the built calibration scene; and simultaneously, displaying the execution process of the calibration operation event in real time based on the user operation display interface.
5. The robot calibration method according to claim 1, wherein when the calibration operation event is completed, feeding back the execution result of the calibration operation event for a user to view, comprises:
aiming at the condition of automatically judging the calibration result, when the execution of the calibration operation event is finished, directly displaying the calibration result information of successful calibration or failed calibration based on a user operation display interface; or displaying a picture or a three-dimensional point cloud picture corresponding to the calibration result information;
and aiming at the condition of not automatically judging the calibration result, when the execution of the calibration operation event is finished, displaying the execution result corresponding to the calibration operation event based on the user operation display interface for a user to check and judge whether the execution result of the calibration operation event is successful in calibration or failed in calibration.
6. A robot calibration method according to any one of claims 1 to 5, wherein calibration scenario information required for robot calibration is obtained according to the calibration requirements of the robot; and according to the acquired calibration scene information, a calibration scene required for calibrating the robot is established, and the method comprises the following steps:
acquiring calibration scene information containing ground materials required by robot calibration according to the calibration requirements of the robot for the internal reference calibration of the laser odometer;
And building a ground material with a running track and/or marking information comprising a marked initial position according to the obtained calibration scene information, and setting a surrounding environment aiming at the ground material based on the built ground material.
7. The robot calibration method according to claim 6, wherein the executing of the calibration operation event of the robot based on the built calibration scenario comprises:
acquiring a preset calibration operation step corresponding to the calibration operation event based on the built ground material with the track and/or the mark information, so that the robot for calibration: and executing the corresponding calibration operation event along the track corresponding to the ground material and/or the mark information according to the preset calibration operation steps.
8. A robot calibration device, characterized in that the robot calibration device comprises:
a scene construction module for: acquiring calibration scene information required by robot calibration according to the calibration requirement of the robot; establishing a calibration scene required for calibrating the robot according to the acquired calibration scene information;
a calibration execution module to: executing a calibration operation event of the robot based on the built calibration scene;
A result feedback module to: and when the execution of the calibration operation event is finished, feeding back the execution result of the calibration operation event for a user to check.
9. An electronic device, characterized in that the electronic device comprises a memory and a processor, the memory having stored thereon a robot calibration program being executable on the processor, the robot calibration program, when executed by the processor, performing the robot calibration method according to any one of claims 1 to 7.
10. A computer-readable storage medium, characterized in that the storage medium has stored thereon a robot calibration program, which is executable by one or more processors to implement the steps of the robot calibration method as claimed in any one of claims 1 to 7.
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