Pose calibration data generation method and device, electronic equipment and storage medium
A pose calibration and data generation technology, applied in image data processing, image analysis, image enhancement, etc., can solve the problem of low pose accuracy
Active Publication Date: 2022-04-29
HAI ROBOTICS CO LTD
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[0004] This application provides a pose calibration data generation method, device, electronic equipment and storage medium to solve the problem of low pose accuracy of the handling unit of the storage robot question
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[0058] Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, the same numerals in different drawings refer to the same or similar elements unless otherwise indicated. The implementations described in the following exemplary embodiments do not represent all implementations consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with aspects of the present application as recited in the appended claims.
[0059] First, the nouns involved in this application are explained:
[0060] Hand-eye calibration algorithm: In the field of intelligent robot technology, intelligent robots can control the execution unit of intelligent robots based on the data collected by the vision system, so as to realize operations such as grasping target objects. In this process, the intelligent robot needs to kno...
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The invention provides a pose calibration data generation method and device, electronic equipment and a storage medium, chassis pose data and image pose data of a storage robot at a first position are obtained, the chassis pose data represent the pose of a movable chassis relative to a calibration plate, the movable chassis is controlled to move to a second position, and the calibration plate is used for calibrating the pose of the storage robot. Chassis pose data and image pose data of the storage robot at the second position are obtained; according to the chassis pose data and the image pose data corresponding to the first position and the chassis pose data and the image pose data corresponding to the second position, pose calibration data are generated, and the pose calibration data are used for calibrating the pose of a carrying unit of the storage robot through a hand-eye calibration algorithm. The calibration data required by the hand-eye calibration algorithm is generated, so that the pose calibration of the carrying unit of the storage robot can be realized, and the pose accuracy of the carrying unit of the storage robot is improved.
Description
technical field [0001] The present application relates to the technical field of intelligent storage, and in particular to a pose calibration data generation method, device, electronic equipment and storage medium. Background technique [0002] At present, intelligent warehousing technology is developing rapidly. Some mobile warehousing robots equipped with manipulators or manipulator-like handling units are applied in the scene of intelligent warehousing. With the advancement of technology, the requirements for intelligent warehousing are getting higher and higher, especially It is the demand for storage density. In order to meet the demand for high storage density, the pose accuracy of the arm of the storage robot needs to meet the requirements. [0003] However, due to the installation error of the storage robot and other reasons, there is a certain pose error between the actual pose accuracy and the design accuracy of the handling unit of the storage robot. This pose err...
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IPC IPC(8): G06T7/80G06T7/70B25J19/00
CPCG06T7/80G06T7/70B25J19/00G06T2207/30204
Inventor 林翰游浩潺
Owner HAI ROBOTICS CO LTD