CN117817655A - Equipment calibration method, device, equipment and storage medium - Google Patents
Equipment calibration method, device, equipment and storage medium Download PDFInfo
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Abstract
The disclosure provides a device calibration method, a device and a storage medium, wherein the method comprises the following steps: when the first operation equipment drives the second operation equipment to touch the calibration reference object in different postures, a preset number group of rotation matrixes and translation matrixes between the calibration reference coordinate of the calibration reference object and the appointed position of the base coordinate system of the first operation equipment relative to the second operation equipment are obtained, the second operation equipment is an end operation tool connected to the first operation equipment, and the coordinate of the calibration reference object relative to the base coordinate system is kept unchanged; determining a target offset distance of the second operation device relative to the center position of the first operation device based on the rotation matrix, the translation matrix and the calibration reference coordinate; and determining a calibration result corresponding to the second operation equipment based on the target offset distance. The method is simpler and more accurate in calibration operation, and can realize the automation of tool calibration in industrial production.
Description
Technical Field
The disclosure relates to the technical field of measurement, and in particular relates to a device calibration method, a device and a storage medium.
Background
Industrial robots have been widely used in various industries, for example, surgical robots are used to assist doctors in performing operations, part manufacturing robots are used in 3C manufacturing, etc. However, in some application scenarios with higher requirements on operation precision, on one hand, a robot with a longer end tool length needs to be used, so that a large-scale operation space is satisfied to achieve higher operation precision, and on the other hand, since the robot component is fine and fragile, the end position precision is required to be high, and therefore, the end tool of the robot needs to be calibrated to obtain the position of the end tool of the robot with high precision.
The current calibration method for the robot end tool mainly comprises a calibration method combining manual visual alignment and a calibration method for calibrating by means of various external sensors. The calibration method combining manual visual alignment has lower calibration precision and calibration efficiency, and the calibration method by means of multiple external sensors has higher resource use cost and more complex operation.
Therefore, how to improve the calibration accuracy and the calibration efficiency for the robot on the premise of controlling the use cost of resources becomes a technical problem to be solved urgently.
Disclosure of Invention
The present disclosure provides a device calibration method, apparatus, device, and storage medium, so as to at least solve the above technical problems in the prior art.
According to a first aspect of the present disclosure, there is provided a device calibration method, the method comprising:
acquiring a preset number group of rotation matrixes and translation matrixes between a calibration reference coordinate of a calibration reference object and a base coordinate system of first operation equipment relative to a designated position of second operation equipment when the first operation equipment drives second operation equipment to touch the calibration reference object in different postures, wherein the second operation equipment is an end operation tool connected to the first operation equipment, and the coordinate of the calibration reference object is kept unchanged relative to the base coordinate system;
determining a target offset distance of the second operating device relative to a center position of the first operating device based on the rotation matrix, the translation matrix, and the calibration reference coordinates;
and determining a calibration result corresponding to the second operation device based on the target offset distance.
In one embodiment, the calibration reference object is a sphere;
the determining a target offset distance of the second operation device relative to the center position of the first operation device based on the rotation matrix, the translation matrix, and the calibration reference coordinates includes:
determining a first functional relation between the calibration reference coordinate and a target offset distance of the second operation device relative to the central position of the first operation device according to the rotation matrix and the translation matrix, wherein the calibration reference coordinate is the sphere surface coordinate;
and determining the target offset distance based on a sphere radius functional relationship, the first functional relationship and the preset number of sets of rotation matrices and translation matrices, wherein the sphere radius functional relationship refers to a functional relationship that the distance between the calibration reference coordinate and the spherical center coordinate of the calibration reference object is equal to the radius of the calibration reference object.
In an embodiment, the determining, according to the rotation matrix and the translation matrix, a first functional relationship between the calibration reference coordinate and a target offset distance of the second operation device relative to a center position of the first operation device includes:
determining a first functional relationship between the calibration reference coordinate and a target offset distance of the second operating device relative to a center position of the first operating device according to the rotation matrix and the translation matrix by adopting the following formula:
wherein,representing the rotation matrix, t B i Representing the translation matrix, let t be E = (x, y, z) represents a target offset distance of the second operation device with respect to the center position of the first operation device, p B i ＝(x i ,y i ,z i ) And representing the calibration reference coordinate obtained by the ith calibration.
In one embodiment, the sphere radius function is expressed using the following formula:
(f i (x)-x 0 ) 2 +(f i (y)-y 0 ) 2 +(f i (z)-z 0 ) 2 -r 2 ＝0
wherein x is i ＝f i (x)，z i ＝f i (z)，y i ＝f i (y)，x i 、y i And z i Respectively representing the abscissa, the ordinate and the vertical coordinate in the calibration reference coordinate obtained by the ith calibration, r represents the radius of the calibration reference object, and x 0 、y 0 And z 0 Respectively representing an abscissa, an ordinate and an ordinate in the spherical center coordinates of the calibration reference object.
In an embodiment, the determining, based on the target offset distance, a calibration result corresponding to the second operation device includes:
determining whether the absolute value of the difference between the radius of the calibration reference object and the preset radius is smaller than a preset difference threshold value;
and if so, determining the target offset distance as a calibration result corresponding to the second operation equipment.
According to a second aspect of the present disclosure, there is provided a device calibration apparatus, the apparatus comprising:
the data acquisition module is used for acquiring a preset number group of rotation matrixes and translation matrixes between a calibration reference coordinate of the calibration reference object and a base coordinate system of the first operation device relative to a designated position of the second operation device when the first operation device drives the second operation device to touch the calibration reference object in different postures, wherein the second operation device is an end operation tool connected to the first operation device, and the coordinate of the calibration reference object is kept unchanged relative to the base coordinate system;
a distance determining module for determining a target offset distance of the second operating device relative to a center position of the first operating device based on the rotation matrix, the translation matrix, and the calibration reference coordinates;
and the calibration result determining module is used for determining a calibration result corresponding to the second operation device based on the target offset distance.
In one embodiment, the calibration reference object is a sphere;
the distance determining module is specifically configured to determine a first functional relationship between the calibration reference coordinate and a target offset distance of the second operation device relative to a center position of the first operation device according to the rotation matrix and the translation matrix, where the calibration reference coordinate is the sphere surface coordinate; and determining the target offset distance based on a sphere radius functional relationship, the first functional relationship and the preset number of sets of rotation matrices and translation matrices, wherein the sphere radius functional relationship refers to a functional relationship that the distance between the calibration reference coordinate and the spherical center coordinate of the calibration reference object is equal to the radius of the calibration reference object.
In an embodiment, the distance determining module is specifically configured to determine, according to the rotation matrix and the translation matrix, a first functional relationship between the calibration reference coordinate and a target offset distance of the second operation device relative to a center position of the first operation device, using the following formula:
wherein,representing the rotation matrix, t B i Representing the translation matrix, let t be B = (x, y, z) represents a target offset distance of the second operation device with respect to the center position of the first operation device, p B i ＝(x i ,y i ,z i ) Representing the calibration parameters obtained by the ith calibrationAnd (5) checking coordinates.
According to a third aspect of the present disclosure, there is provided an electronic device comprising:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the methods described in the present disclosure.
According to a fourth aspect of the present disclosure, there is provided a non-transitory computer readable storage medium storing computer instructions for causing the computer to perform the method of the present disclosure.
According to the equipment calibration method, device, equipment and storage medium, when the first operation equipment drives the second operation equipment to touch the calibration reference object in different postures, a preset number group of rotation matrixes and translation matrixes between the calibration reference coordinate of the calibration reference object and the appointed position of the base coordinate system of the first operation equipment relative to the second operation equipment are obtained, the second operation equipment is an end operation tool connected to the first operation equipment, and the coordinate of the calibration reference object relative to the base coordinate system is kept unchanged; determining a target offset distance of the second operation device relative to the center position of the first operation device based on the rotation matrix, the translation matrix and the calibration reference coordinate; and determining a calibration result corresponding to the second operation equipment based on the target offset distance. The method can realize accurate calibration without a high-precision sensor, and compared with the point-to-point transition which depends on manual operation precision, the method is simpler and more accurate in calibration operation, and can realize the automation of tool calibration in industrial production.
It should be understood that the description in this section is not intended to identify key or critical features of the embodiments of the disclosure, nor is it intended to be used to limit the scope of the disclosure. Other features of the present disclosure will become apparent from the following specification.
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The above, as well as additional purposes, features, and advantages of exemplary embodiments of the present disclosure will become readily apparent from the following detailed description when read in conjunction with the accompanying drawings. Several embodiments of the present disclosure are illustrated by way of example, and not by way of limitation, in the figures of the accompanying drawings, in which:
in the drawings, the same or corresponding reference numerals indicate the same or corresponding parts.
Fig. 1 shows a first implementation flow chart of an apparatus calibration method according to an embodiment of the disclosure;
FIG. 2 illustrates a schematic diagram of an operating device provided by an embodiment of the present disclosure;
FIG. 3 shows a schematic diagram of the apparatus calibration device provided by an embodiment of the present disclosure;
fig. 4 shows a schematic diagram of a composition structure of an electronic device according to an embodiment of the disclosure.
Detailed Description
In order to make the objects, features and advantages of the present disclosure more comprehensible, the technical solutions in the embodiments of the present disclosure will be clearly described in conjunction with the accompanying drawings in the embodiments of the present disclosure, and it is apparent that the described embodiments are only some embodiments of the present disclosure, but not all embodiments. Based on the embodiments in this disclosure, all other embodiments that a person skilled in the art would obtain without making any inventive effort are within the scope of protection of this disclosure.
The calibration method for the robot end tool is low in calibration precision and calibration efficiency, high in cost and complex in operation. Therefore, in order to improve the calibration accuracy and the calibration efficiency for the robot on the premise of controlling the resource use cost, the present disclosure provides a device calibration method, apparatus, device and storage medium, and the device calibration method can be applied to any control device, such as a computer, a server and the like.
The technical solutions of the embodiments of the present disclosure will be described below with reference to the drawings in the embodiments of the present disclosure.
Fig. 1 shows a first implementation flow chart of a device calibration method according to an embodiment of the present disclosure, as shown in fig. 1, where the method includes:
s101, acquiring a preset number of groups of rotation matrixes and translation matrixes between a calibration reference coordinate of the calibration reference object and a base coordinate system of the first operation device relative to a designated position of the second operation device when the first operation device drives the second operation device to touch the calibration reference object in different postures.
The second operation device is an end operation tool connected with the first operation device, and the coordinates of the calibration reference object are kept unchanged relative to the base coordinate system.
In the disclosure, the first operation device is a machine for performing operations in a production line and a workshop, for example, fig. 2 shows a schematic diagram of an operation device provided in an embodiment of the disclosure, as shown in fig. 2, the first operation device is a mechanical arm of the robot in fig. 2, the second operation device is an end working tool, for example, an operation device (such as an operation needle) connected to the mechanical arm, and the calibration reference object is a calibration sphere.
In the method, the calibration reference object can be placed in the robot operation space, and the calibration reference object is ensured to be fixed relative to the robot base coordinate system in the calibration process. As shown in fig. 2, the base coordinate system B is a coordinate system with the center of the robot chassis as the origin of the coordinate system, with any two straight lines on the horizontal plane that are perpendicular to each other and pass through the center of the robot chassis as the abscissa and ordinate, and with the vertical straight line passing through the center of the robot chassis as the vertical coordinate, respectively. In fig. 2, the end coordinate system E is a coordinate system with the end center position of the first operating device as the origin of the coordinate system, any two straight lines perpendicular to each other on the horizontal plane and passing through the end center position of the first operating device as the abscissa and the ordinate, and the vertical straight line passing through the end center position of the first operating device as the vertical coordinate, respectively. In fig. 2, the tool coordinate system T refers to a coordinate system corresponding to the second operation device, where the tool coordinate system T is a coordinate system with a center of an end of the second operation device as an origin of the coordinate system, any two straight lines perpendicular to each other on a horizontal plane and passing through the center of the end of the second operation device as an abscissa and an ordinate, and a vertical straight line passing through the center of the end of the second operation device as a vertical coordinate.
S102, determining a target offset distance of the second operation device relative to the center position of the first operation device based on the rotation matrix, the translation matrix and the calibration reference coordinates.
In the disclosure, the second operation device to be calibrated may be fixed at the end of the first operation device, for example, the second operation device is a robot end operation tool, and the robot end operation tool may touch the calibration reference object in different postures to obtain a rotation matrix from the robot base coordinate system obtained by the ith calibration to the robot endAnd a translation matrix t B i . As shown in fig. 2, the robot distal end work tool can be made to take a posture PB 1 Posture PB 2 Sum gesture PB 3 And touching the calibration sphere in different postures, and acquiring a rotation matrix and a translation matrix from the robot base coordinate system obtained by each calibration to the tail end of the robot.
In one embodiment, the calibration reference object is a sphere; the determining a target offset distance of the second operation device relative to the center position of the first operation device based on the rotation matrix, the translation matrix and the calibration reference coordinates may include steps A1-A2:
and A1, determining a first functional relation between the calibration reference coordinate and a target offset distance of the second operation device relative to the center position of the first operation device according to the rotation matrix and the translation matrix, wherein the calibration reference coordinate is the sphere surface coordinate.
And A2, determining the target offset distance based on a sphere radius function relation, the first function relation and the preset number group of rotation matrixes and translation matrixes.
The sphere radius function relationship refers to a function relationship that a distance between the calibration reference coordinate and a spherical center coordinate of the calibration reference object is equal to a radius of the calibration reference object.
Specifically, the following formula may be adopted, and according to the rotation matrix and the translation matrix, a first functional relationship between the calibration reference coordinate and a target offset distance of the second operation device relative to the center position of the first operation device is determined:
wherein,representing the rotation matrix, t B i Representing the translation matrix, let t be E = (x, y, z) represents a target offset distance of the second operation device with respect to the center position of the first operation device, p B i ＝(x i ,y i ,z i ) And representing the calibration reference coordinate obtained by the ith calibration. The first functional relation formula is determined according to the robot kinematics and the spatial rotation relation. Wherein the translation matrix from the robot end to the center point of the robot end work tool.
In this disclosure, the sphere radius function relationship may be expressed by the following formula:
(f i (x)-x 0 ) 2 +(f i (y)-y 0 ) 2 +(f i (z)-z 0 ) 2 -r 2 ＝0
wherein x is i ＝f i (x)，z i ＝f i (z)，y i ＝f i (y)，x i 、y i And z i Respectively representing the abscissa, the ordinate and the vertical coordinate in the calibration reference coordinate obtained by the ith calibration, r represents the radius of the calibration reference object, and x 0 、y 0 And z 0 Respectively representing an abscissa, an ordinate and an ordinate in the spherical center coordinates of the calibration reference object. The formula contains 7 unknowns, and the calibration result t can be solved by collecting 7 groups of calibration data E 。
S103, determining a calibration result corresponding to the second operation device based on the target offset distance.
In an embodiment, the determining the calibration result corresponding to the second operation device based on the target offset distance may include steps B1-B2:
and B1, determining whether the absolute value of the difference value between the radius of the calibration reference object and the preset radius is smaller than a preset difference value threshold value.
In the present disclosure, the radius of the sphere can be measured as the true value r of the radius of the sphere by using a vernier caliper with an accuracy of 0.02mm or a measuring tool with higher accuracy a . Then setting the calibration precision epsilon (namely presetting a difference threshold value), and taking the calibrated sphere radius as a measured value r m The calibration points are then continuously collected until |r m -r a |<And when epsilon is determined to meet the optimization precision, determining the target offset distance as a calibration result corresponding to the second operation equipment. For example, the radius of the calibration sphere is measured to be 10 cm by a vernier caliper with the precision of 0.02mm, namely the true value r of the radius of the calibration sphere a The preset difference value threshold epsilon of the calibration is set to be 0.2 mm and is 10 cm, if the radius r of the calibration sphere calibrated for the 1 st time is 1 9.9 cm, i.e. |r 1 -r a If the I is not less than epsilon, the calibration is needed to be continued, and if the radius r of the calibration sphere calibrated at the kth time is the radius r of the calibration sphere calibrated at the kth time k 9.99 cm, i.e. |r 1 -r a |=0.01 mm, i.e., |r 1 -r a And (3) determining the determined target offset distance calibrated at the kth time as a calibration result corresponding to the second operation equipment.
And B2, if so, determining the target offset distance as a calibration result corresponding to the second operation equipment.
When the first operation equipment drives the second operation equipment to touch the calibration reference object in different postures, a preset number group of rotation matrixes and translation matrixes between the calibration reference coordinate of the calibration reference object and the appointed position of the base coordinate system of the first operation equipment relative to the second operation equipment are obtained, the second operation equipment is an end operation tool connected to the first operation equipment, and the coordinate of the calibration reference object relative to the base coordinate system is kept unchanged; determining a target offset distance of the second operation device relative to the center position of the first operation device based on the rotation matrix, the translation matrix and the calibration reference coordinate; and determining a calibration result corresponding to the second operation equipment based on the target offset distance. The method can realize accurate calibration without a high-precision sensor, and compared with the point-to-point transition which depends on manual operation precision, the method is simpler and more accurate in calibration operation, and can realize the automation of tool calibration in industrial production.
Based on the same inventive concept, according to the device calibration method provided in the above embodiment of the present disclosure, correspondingly, another embodiment of the present disclosure further provides a device calibration apparatus, a schematic structural diagram of which is shown in fig. 3, which specifically includes:
the data acquisition module 301 is configured to acquire a preset number of sets of rotation matrices and translation matrices between a calibration reference coordinate of the calibration reference object and a base coordinate system of the first operation device relative to a designated position of the second operation device when the first operation device drives the second operation device to touch the calibration reference object in different postures, where the second operation device is an end operation tool connected to the first operation device, and the coordinate of the calibration reference object is kept unchanged relative to the base coordinate system;
a distance determining module 302, configured to determine a target offset distance of the second operating device relative to a center position of the first operating device based on the rotation matrix, the translation matrix, and the calibration reference coordinate;
and the calibration result determining module 303 is configured to determine a calibration result corresponding to the second operation device based on the target offset distance.
When the first operation equipment drives the second operation equipment to touch the calibration reference object in different postures, a preset number group of rotation matrixes and translation matrixes between the calibration reference coordinate of the calibration reference object and the appointed position of the base coordinate system of the first operation equipment relative to the second operation equipment are obtained, the second operation equipment is an end operation tool connected to the first operation equipment, and the coordinate of the calibration reference object relative to the base coordinate system is kept unchanged; determining a target offset distance of the second operation device relative to the center position of the first operation device based on the rotation matrix, the translation matrix and the calibration reference coordinate; and determining a calibration result corresponding to the second operation equipment based on the target offset distance. The method can realize accurate calibration without a high-precision sensor, and compared with the point-to-point transition which depends on manual operation precision, the method is simpler and more accurate in calibration operation, and can realize the automation of tool calibration in industrial production.
In one embodiment, the calibration reference object is a sphere;
the distance determining module 302 is specifically configured to determine, according to the rotation matrix and the translation matrix, a first functional relationship between the calibration reference coordinate and a target offset distance of the second operation device relative to a center position of the first operation device, where the calibration reference coordinate is the sphere surface coordinate; and determining the target offset distance based on a sphere radius functional relationship, the first functional relationship and the preset number of sets of rotation matrices and translation matrices, wherein the sphere radius functional relationship refers to a functional relationship that the distance between the calibration reference coordinate and the spherical center coordinate of the calibration reference object is equal to the radius of the calibration reference object.
In an embodiment, the distance determining module 302 is specifically configured to determine, according to the rotation matrix and the translation matrix, a first functional relationship between the calibration reference coordinate and a target offset distance of the second operation device relative to a center position of the first operation device by using the following formula:
wherein,representing the rotation matrix, t B i Representing the translation matrix, let t be E = (x, y, z) represents the second operation device relative to the first operation deviceA target offset distance, p, of the center position of the operating device B i ＝(x i ,y i ,z i ) And representing the calibration reference coordinate obtained by the ith calibration.
In one embodiment, the sphere radius function is expressed using the following formula:
(f i (x)-x 0 ) 2 +(f i (y)-y 0 ) 2 +(f i (z)-z 0 ) 2 -r 2 ＝0
wherein x is i ＝f i (x)，z i ＝f i (z)，y i ＝f i (y)，x i 、y i And z i Respectively representing the abscissa, the ordinate and the vertical coordinate in the calibration reference coordinate obtained by the ith calibration, r represents the radius of the calibration reference object, and x 0 、y 0 And z 0 Respectively representing an abscissa, an ordinate and an ordinate in the spherical center coordinates of the calibration reference object.
In an embodiment, the calibration result determining module 303 is specifically configured to determine whether an absolute value of a difference between the radius of the calibration reference object and a preset radius is less than a preset difference threshold; and if so, determining the target offset distance as a calibration result corresponding to the second operation equipment.
According to embodiments of the present disclosure, the present disclosure also provides an electronic device and a readable storage medium.
Fig. 4 illustrates a schematic block diagram of an example electronic device 400 that may be used to implement embodiments of the present disclosure. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device may also represent various forms of mobile devices, such as personal digital processing, cellular telephones, smartphones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be exemplary only, and are not meant to limit implementations of the disclosure described and/or claimed herein.
As shown in fig. 4, the apparatus 400 includes a computing unit 401 that can perform various suitable actions and processes according to a computer program stored in a Read Only Memory (ROM) 402 or a computer program loaded from a storage unit 408 into a Random Access Memory (RAM) 403. In RAM 403, various programs and data required for the operation of device 400 may also be stored. The computing unit 401, ROM 402, and RAM 403 are connected to each other by a bus 404. An input/output (I/O) interface 405 is also connected to bus 404.
Various components in device 400 are connected to I/O interface 405, including: an input unit 406 such as a keyboard, a mouse, etc.; an output unit 407 such as various types of displays, speakers, and the like; a storage unit 408, such as a magnetic disk, optical disk, etc.; and a communication unit 409 such as a network card, modem, wireless communication transceiver, etc. The communication unit 409 allows the device 400 to exchange information/data with other devices via a computer network, such as the internet, and/or various telecommunication networks.
The computing unit 401 may be a variety of general purpose and/or special purpose processing components having processing and computing capabilities. Some examples of computing unit 401 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various specialized Artificial Intelligence (AI) computing chips, various computing units running machine learning model algorithms, a Digital Signal Processor (DSP), and any suitable processor, controller, microcontroller, etc. The computing unit 401 performs the various methods and processes described above, such as the device calibration method. For example, in some embodiments, the device calibration method may be implemented as a computer software program tangibly embodied on a machine-readable medium, such as the storage unit 408. In some embodiments, part or all of the computer program may be loaded and/or installed onto the device 400 via the ROM 402 and/or the communication unit 409. When the computer program is loaded into RAM 403 and executed by computing unit 401, one or more steps of the device calibration method described above may be performed. Alternatively, in other embodiments, the computing unit 401 may be configured to perform the device calibration method by any other suitable means (e.g. by means of firmware).
Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuitry, field Programmable Gate Arrays (FPGAs), application Specific Integrated Circuits (ASICs), application Specific Standard Products (ASSPs), systems-on-a-chip (SOCs), complex Programmable Logic Devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs, the one or more computer programs may be executed and/or interpreted on a programmable system including at least one programmable processor, which may be a special purpose or general-purpose programmable processor, that may receive data and instructions from, and transmit data and instructions to, a storage system, at least one input device, and at least one output device.
Program code for carrying out methods of the present disclosure may be written in any combination of one or more programming languages. These program code may be provided to a processor or controller of a general purpose computer, special purpose computer, or other programmable data processing apparatus such that the program code, when executed by the processor or controller, causes the functions/operations specified in the flowchart and/or block diagram to be implemented. The program code may execute entirely on the machine, partly on the machine, as a stand-alone software package, partly on the machine and partly on a remote machine or entirely on the remote machine or server.
In the context of this disclosure, a machine-readable medium may be a tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. The machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. The machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
To provide for interaction with a user, the systems and techniques described here can be implemented on a computer having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and pointing device (e.g., a mouse or trackball) by which a user can provide input to the computer. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic input, speech input, or tactile input.
The systems and techniques described here can be implemented in a computing system that includes a background component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such background, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), wide Area Networks (WANs), and the internet.
The computer system may include a client and a server. The client and server are typically remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server may be a cloud server, a server of a distributed system, or a server incorporating a blockchain.
It should be appreciated that various forms of the flows shown above may be used to reorder, add, or delete steps. For example, the steps recited in the present disclosure may be performed in parallel or sequentially or in a different order, provided that the desired results of the technical solutions of the present disclosure are achieved, and are not limited herein.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present disclosure, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.
The foregoing is merely specific embodiments of the disclosure, but the protection scope of the disclosure is not limited thereto, and any person skilled in the art can easily think about changes or substitutions within the technical scope of the disclosure, and it is intended to cover the scope of the disclosure. Therefore, the protection scope of the present disclosure shall be subject to the protection scope of the claims.
Claims (10)
1. A method of calibrating a device, the method comprising:
acquiring a preset number group of rotation matrixes and translation matrixes between a calibration reference coordinate of a calibration reference object and a base coordinate system of first operation equipment relative to a designated position of second operation equipment when the first operation equipment drives second operation equipment to touch the calibration reference object in different postures, wherein the second operation equipment is an end operation tool connected to the first operation equipment, and the coordinate of the calibration reference object is kept unchanged relative to the base coordinate system;
determining a target offset distance of the second operating device relative to a center position of the first operating device based on the rotation matrix, the translation matrix, and the calibration reference coordinates;
and determining a calibration result corresponding to the second operation device based on the target offset distance.
2. The method of claim 1, wherein the calibration reference object is a sphere;
the determining a target offset distance of the second operation device relative to the center position of the first operation device based on the rotation matrix, the translation matrix, and the calibration reference coordinates includes:
determining a first functional relation between the calibration reference coordinate and a target offset distance of the second operation device relative to the central position of the first operation device according to the rotation matrix and the translation matrix, wherein the calibration reference coordinate is the sphere surface coordinate;
and determining the target offset distance based on a sphere radius functional relationship, the first functional relationship and the preset number of sets of rotation matrices and translation matrices, wherein the sphere radius functional relationship refers to a functional relationship that the distance between the calibration reference coordinate and the spherical center coordinate of the calibration reference object is equal to the radius of the calibration reference object.
3. The method of claim 2, wherein the determining a first functional relationship between the calibration reference coordinate and a target offset distance of the second operating device relative to a center position of the first operating device based on the rotation matrix and the translation matrix comprises:
determining a first functional relationship between the calibration reference coordinate and a target offset distance of the second operating device relative to a center position of the first operating device according to the rotation matrix and the translation matrix by adopting the following formula:
wherein,representing the rotation matrix, t B i Representing the translation matrix, let t be E = (x, y, z) represents a target offset distance of the second operation device with respect to the center position of the first operation device, p B i ＝(x i ,y i ,z i ) And representing the calibration reference coordinate obtained by the ith calibration.
4. The method of claim 2, wherein the sphere radius function is expressed by the following formula:
(f i (x)-x 0 ) 2 +(f i (y)-y 0 ) 2 +(f i (z)-z 0 ) 2 -r 2 ＝0
wherein x is i ＝f i (x)，z i ＝f i (z)，y i ＝f i (y)，x i 、y i And z i Respectively representing the abscissa, the ordinate and the vertical coordinate in the calibration reference coordinate obtained by the ith calibration, r represents the radius of the calibration reference object, and x 0 、y 0 And z 0 Respectively representing an abscissa, an ordinate and an ordinate in the spherical center coordinates of the calibration reference object.
5. The method according to any one of claims 2-4, wherein the determining a calibration result corresponding to the second operation device based on the target offset distance includes:
determining whether the absolute value of the difference between the radius of the calibration reference object and the preset radius is smaller than a preset difference threshold value;
and if so, determining the target offset distance as a calibration result corresponding to the second operation equipment.
6. A device calibration apparatus, the apparatus comprising:
the data acquisition module is used for acquiring a preset number group of rotation matrixes and translation matrixes between a calibration reference coordinate of the calibration reference object and a base coordinate system of the first operation device relative to a designated position of the second operation device when the first operation device drives the second operation device to touch the calibration reference object in different postures, wherein the second operation device is an end operation tool connected to the first operation device, and the coordinate of the calibration reference object is kept unchanged relative to the base coordinate system;
a distance determining module for determining a target offset distance of the second operating device relative to a center position of the first operating device based on the rotation matrix, the translation matrix, and the calibration reference coordinates;
and the calibration result determining module is used for determining a calibration result corresponding to the second operation device based on the target offset distance.
7. The apparatus of claim 6, wherein the calibration reference object is a sphere;
the distance determining module is specifically configured to determine a first functional relationship between the calibration reference coordinate and a target offset distance of the second operation device relative to a center position of the first operation device according to the rotation matrix and the translation matrix, where the calibration reference coordinate is the sphere surface coordinate; and determining the target offset distance based on a sphere radius functional relationship, the first functional relationship and the preset number of sets of rotation matrices and translation matrices, wherein the sphere radius functional relationship refers to a functional relationship that the distance between the calibration reference coordinate and the spherical center coordinate of the calibration reference object is equal to the radius of the calibration reference object.
8. The apparatus according to claim 7, wherein the distance determining module is configured to determine a first functional relationship between the calibration reference coordinate and a target offset distance of the second operating device relative to a center position of the first operating device based on the rotation matrix and the translation matrix using the following formula:
wherein,representing the rotation matrix, t B i Representing the translation matrix, let t be E = (x, y, z) represents a target offset distance of the second operation device with respect to the center position of the first operation device, p B i ＝(x i ,y i ,z i ) And representing the calibration reference coordinate obtained by the ith calibration.
9. An electronic device, comprising:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-5.
10. A non-transitory computer readable storage medium storing computer instructions for causing a computer to perform the method of any one of claims 1-5.
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| CN202311649568.1A CN117817655A (en) | 2023-12-01 | 2023-12-01 | Equipment calibration method, device, equipment and storage medium |
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