Method for determining calibration position of mechanical arm, calibration method, system and electronic equipment

Abstract

The present invention discloses a calibration position determination method, calibration method, system and electronic device of a mechanical arm. The calibration position determination method comprises: constructing a detection range model according to the detection range parameters of a camera and determining the first position data of the detection range model in a reference coordinate system; obtaining the center point and the motion radius of the motion range of the mechanical arm; adjusting the mechanical arm so that the calibration tool fixed to the mechanical arm moves to the center point; determining the second position data of the center point in the coordinate system through the camera; moving the mechanical arm and / or the camera, and determining the calibration position of the mechanical arm based on the first position data, the second position data and the motion radius so that the motion range is located inside the detection range. The calibration position determination method of the present invention makes the determination process of the calibration position of the mechanical arm more intuitive and controllable, improves the efficiency of determining the calibration position of the mechanical arm, and thus improves the success rate, efficiency and accuracy of the calibration.

Description

Technical Field

[0001] The present invention relates to the technical field of relative position calibration of a robot arm and a camera, and in particular to a calibration position determination method, a calibration method, a system and an electronic device of a robot arm. Background Art

[0002] Robot arm calibration usually refers to robot hand-eye calibration. Through this calibration process, the conversion relationship between the camera coordinate system and the robot coordinate system is obtained, so that the coordinate information of the visually recognized object or target can be converted to the robot coordinate system. Robot hand-eye calibration is divided into two types, eye-in-hand (eye and hand together) and eye-to-hand (eye and hand separated).

[0003] For eye-to-hand robot calibration, the camera and robot are placed separately. During the calibration process, the robot's movement may cause the camera to be unable to recognize the robot's end calibration tool. For example, the robot's end calibration tool's movement range exceeds the camera's visual range or moves to the visual boundary. These situations will cause calibration failure or reduced calibration accuracy. Usually, the calibration position is determined by experience, which makes these problems more likely to occur. Summary of the invention

[0004] The technical problem to be solved by the present invention is to overcome the defect of low efficiency in determining the calibration position of a robotic arm through experience in the prior art, and to provide a calibration position determination method, a calibration method, a system and an electronic device for a robotic arm.

[0005] The present invention solves the above technical problems through the following technical solutions:

[0006] The present invention provides a method for determining a calibration position of a robot arm, the calibration position determining method comprising:

[0007] Constructing a detection range model according to the detection range parameters of the camera and determining first position data of the detection range model in a reference coordinate system;

[0008] Obtaining the center point and movement radius of the motion range of the robotic arm;

[0009] Adjusting the mechanical arm so that the calibration tool fixed to the mechanical arm moves to the center point;

[0010] Determine, by the camera, second position data of the center point in the reference coordinate system;

[0011] The robot arm and / or the camera are moved, and a calibration position of the robot arm is determined based on the first position data, the second position data, and the movement radius so that the movement range is located within the detection range.

[0012] Preferably, the step of determining the calibrated position of the robotic arm based on the first position data, the second position data and the motion radius comprises:

[0013] Determine the shortest distance between the center point and the detection range model according to the first position data and the second position data;

[0014] When the shortest distance is greater than or equal to the movement radius, the current position of the center point is used as the calibration position.

[0015] Preferably, the calibration position determination method further comprises:

[0016] When the shortest distance is greater than or equal to the movement radius, outputting a first prompt message to prompt that the calibration position is determined;

[0017] When the shortest distance is smaller than the movement radius, a second prompt message is output to prompt the user to reselect the calibration position.

[0018] Preferably, the calibration position determination method further comprises:

[0019] Acquire a candidate area for calibration position; the candidate area for calibration position is a set of center points whose shortest distance is greater than or equal to the movement radius;

[0020] The center position of the candidate area for the calibrated position is taken as the calibrated position.

[0021] Preferably, the calibration tool is fixed at the end of the robotic arm.

[0022] The present invention also provides a calibration method for a robotic arm, the calibration method comprising:

[0023] Using the method for determining the calibrated position of the robotic arm as described above to obtain the calibrated position of the robotic arm;

[0024] Moving the robotic arm to a calibrated position of the robotic arm;

[0025] The robotic arm and the camera are calibrated.

[0026] The present invention also provides a calibration position determination system for a robotic arm, the calibration position determination system comprising:

[0027] A first position data determination module, used to construct a detection range model according to the detection range parameters of the camera and determine first position data of the detection range model in a reference coordinate system;

[0028] A motion range parameter acquisition module, used to obtain the center point and motion radius of the motion range of the robotic arm;

[0029] A mechanical arm adjustment module, used for adjusting the mechanical arm so that the calibration tool fixed to the mechanical arm moves to the center point;

[0030] A second position data determining module, configured to determine second position data of the center point in the reference coordinate system through the camera;

[0031] A calibration position determination module is used to move the robotic arm and / or the camera, and determine the calibration position of the robotic arm based on the first position data, the second position data and the movement radius so that the movement range is located within the detection range.

[0032] The present invention also provides a calibration system for a robotic arm, the calibration system comprising:

[0033] A calibration position acquisition module, used to obtain the calibration position of the robotic arm by using the calibration position determination system of the robotic arm as described above;

[0034] A robot arm control module, used for moving the robot arm to a calibrated position of the robot arm;

[0035] The calibration processing module is used to perform calibration processing on the robotic arm and the camera.

[0036] The present invention also provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the calibration position determination method of the robotic arm as described above or the calibration method of the robotic arm as described above is implemented.

[0037] The present invention also provides a computer-readable storage medium having a computer program stored thereon, wherein when the computer program is executed by a processor, the calibration position determination method of the robotic arm or the calibration method of the robotic arm as described above is implemented.

[0038] The positive and progressive effects of the present invention are:

[0039] The method for determining the calibration position of a robotic arm provided by the present invention moves a calibration tool to the center point of the motion range of the robotic arm to obtain position data of the center point relative to a camera, constructs a detection range model of the camera and obtains the motion radius of the robotic arm, and then determines the calibration position of the robotic arm so that the robotic arm moves within the detection range of the camera, making the process of determining the calibration position of the robotic arm more intuitive and controllable, thereby improving the efficiency of determining the calibration position of the robotic arm, and thereby improving the success rate, efficiency and accuracy of the calibration. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 This is a flow chart of the method for determining the calibration position of the robotic arm of Example 1.

[0041] Figure 2 This is a schematic diagram of modeling the camera detection range of Example 1.

[0042] Figure 3 This is a schematic diagram of center point modeling in Example 1.

[0043] Figure 4 This is a model display diagram of the calibration position determination method of Example 1.

[0044] Figure 5 This is a flow chart of the method for determining the calibration position of the robotic arm of Example 2.

[0045] Figure 6 This is a flow chart of the calibration method of the robotic arm of Example 3.

[0046] Figure 7 This is a module schematic diagram of the calibration position determination system of the robotic arm of Example 4.

[0047] Figure 8 This is a module schematic diagram of the calibration position determination system of the robotic arm of Example 5.

[0048] Fig. 9 This is a module schematic diagram of the calibration system of the robotic arm of Example 6.

[0049] Fig.10 This is a schematic diagram of the hardware structure of the electronic device of Example 7. DETAILED DESCRIPTION

[0050] The present invention is further described below by way of examples, but the present invention is not limited to the scope of the examples.

[0051] Example 1

[0052] Please refer to Figure 1 , which is a flow chart of the method for determining the calibration position of the robot arm in this embodiment. Specifically, Figure 1 As shown, the calibration position determination method includes:

[0053] S101. Construct a detection range model according to the detection range parameters of the camera and determine the first position data of the detection range model in the reference coordinate system. Specifically, the detection of the object by the camera has requirements on the reflectivity and shooting angle of the shooting data, so the detection range of the camera is smaller than the shooting range of the camera; the detection range of the camera is generally a polyhedron, and can be parsed into several rectangular blocks; the detection range parameters of the camera may include the length, width and depth of the rectangular blocks, and the detection range model is constructed according to the detection range parameters; the camera and its detection range model are placed in the same reference coordinate system, and the first position data of the detection range model in the reference coordinate system can be determined; such as Figure 2 As shown, in an optional implementation, a Cartesian coordinate system of the camera is established, and first position data of the detection range model in the Cartesian coordinate system is determined.

[0054] S102, obtaining the center point and movement radius of the motion range of the robot arm. Specifically, the motion range of the robot arm may be a polyhedron or a sphere, and the center point and the movement radius may be determined according to the motion range of the robot arm.

[0055] S103, adjusting the mechanical arm to move the calibration tool fixed to the mechanical arm to the center point. Specifically, by adjusting the mechanical arm to move the calibration tool to the center point, the position data of the center point can be determined by detecting the calibration tool with a camera.

[0056] S104, determining the second position data of the center point in the reference coordinate system through the camera. Specifically, Figure 3 As shown, the calibration tool is detected by the camera to determine the second position data of the center point in the reference coordinate system.

[0057] S105, moving the mechanical arm, and determining the calibration position of the mechanical arm based on the first position data, the second position data and the movement radius so that the movement range is located within the detection range. Figure 4 As shown, the camera, camera detection range and center point are visualized through modeling. The camera model is located at Figure 4 The upper part, Figure 4 The light-colored area in the middle is the detection range model, and the circle in the light-colored area is the center point.

[0058] It is worth noting that in step S105, the relative position between the robot arm and the camera is changed by moving the position of the robot arm and fixing the position of the camera. Alternatively, the relative position between the robot arm and the camera may be changed by moving the position of the camera, fixing the position of the robot arm, or moving the positions of the robot arm and the camera at the same time. This embodiment does not limit this. The minimum relative distance between the center point and the camera is determined based on the first position data and the second position data. When the minimum relative distance between the robot arm and the camera is greater than or equal to the motion radius, it can be ensured that no matter how the robot arm is adjusted, the calibration tool is always within the detection range of the camera.

[0059] The method for determining the calibration position of a robotic arm provided in the present embodiment adjusts the robotic arm to move the calibration tool to the center point of the robotic arm's motion range to obtain the position data of the center point relative to the camera, constructs a detection range model of the camera and obtains the motion radius of the robotic arm, and then determines the calibration position of the robotic arm so that the robotic arm moves within the detection range of the camera, making the process of determining the calibration position of the robotic arm more intuitive and controllable, thereby improving the efficiency of determining the calibration position of the robotic arm, and thereby improving the success rate, efficiency and accuracy of the calibration.

[0060] Example 2

[0061] like Figure 5 As shown, the method for determining the calibration position of the robot arm of this embodiment is a further improvement on Embodiment 1, specifically:

[0062] In an optional implementation, step S105 includes:

[0063] S1051. Determine the shortest distance between the center point and the detection range model according to the first position data and the second position data.

[0064] S1052: When the shortest distance is greater than or equal to the motion radius, the current position of the center point is used as the calibration position.

[0065] Specifically, when the minimum relative distance between the manipulator and the camera is greater than or equal to the motion radius, it can be ensured that no matter how the manipulator is adjusted, the calibration tool is always within the detection range of the camera. In an optional embodiment, in order to further avoid the situation where the edge of the manipulator's motion range and the edge of the detection range almost overlap during calibration, which may affect the accuracy, a threshold greater than the motion radius can be set according to the motion radius. When the shortest distance is greater than or equal to the preset threshold, the current position of the center point is used as the calibration position.

[0066] In an optional implementation, the calibration position determination method further includes:

[0067] S201. When the shortest distance is greater than or equal to the movement radius, output a first prompt message to prompt that the calibration position is determined.

[0068] S202: When the shortest distance is smaller than the movement radius, output a second prompt message to prompt reselection of the calibration position.

[0069] It is worth noting that steps S201 and S202 are corresponding measures taken for two different situations that may occur, and there is no order of precedence. Therefore, this embodiment does not limit the order of steps S201 and S202.

[0070] In another optional implementation, the calibration position determination method further includes:

[0071] S203, obtaining a candidate area for calibration position; the candidate area for calibration position is a set of center points whose shortest distance is greater than or equal to the motion radius.

[0072] S204: Taking the center position of the candidate calibration position area as the calibration position.

[0073] Specifically, there is more than one calibration position that satisfies the condition that the shortest distance is greater than or equal to the motion radius, and these candidate calibration positions constitute a calibration position candidate area. Selecting the center position of the calibration position candidate area as the calibration position can further avoid the situation that the edge of the robot arm motion range and the edge of the detection range almost overlap during calibration, which may affect the accuracy.

[0074] In an optional embodiment, the calibration tool is fixed to the end of the robotic arm.

[0075] The method for determining the calibration position of a robotic arm provided in the present embodiment moves the calibration tool to the center point of the robotic arm's motion range to obtain the position data of the center point relative to the camera, constructs a detection range model of the camera and obtains the motion radius of the robotic arm, and further can either prompt a suitable calibration position through prompt information or use the center position of the calibration position candidate area as the calibration position, thereby ensuring that the robotic arm moves within the detection range of the camera, making the process of determining the calibration position of the robotic arm more intuitive and controllable, improving the efficiency of determining the calibration position of the robotic arm, and thereby improving the success rate, efficiency and accuracy of the calibration.

[0076] Example 3

[0077] Please refer to Figure 6 , which is a flow chart of the calibration method of the robot arm in this embodiment. Specifically, Figure 6 As shown, the calibration method includes:

[0078] S301. Utilize the method for determining the calibrated position of the robotic arm of Example 1 or Example 2 to obtain the calibrated position of the robotic arm.

[0079] S302: Move the robotic arm to a calibrated position of the robotic arm.

[0080] S303: calibrate the robotic arm and the camera.

[0081] The method for determining the calibration position of a robotic arm provided in this embodiment utilizes the above-mentioned method for determining the calibration position of a robotic arm to obtain the calibration position of the robotic arm so that the robotic arm can move within the detection range of the camera, thereby improving the efficiency of determining the calibration position of the robotic arm, and thereby improving the success rate, efficiency and accuracy of the calibration.

[0082] Example 4

[0083] Please refer to Figure 7 , which is a schematic diagram of the modules of the calibration position determination system of the robot arm in this embodiment. Specifically, Figure 7 As shown, the calibration position determination system includes:

[0084] The first position data determination module 1 is used to construct a detection range model according to the detection range parameters of the camera and determine the first position data of the detection range model in the reference coordinate system. Specifically, the detection of the object by the camera has requirements on the reflectivity and shooting angle of the shooting data, so the detection range of the camera is smaller than the shooting range of the camera; the detection range of the camera is generally a polyhedron, and can be parsed into several rectangular blocks; the detection range parameters of the camera may include the length, width and depth of the above-mentioned rectangular blocks, and the detection range model is constructed according to the detection range parameters; the camera and its detection range model are placed in the same reference coordinate system, and the first position data of the detection range model in the reference coordinate system can be determined; such as Figure 2 As shown, in an optional implementation, a Cartesian coordinate system of the camera is established, and first position data of the detection range model in the Cartesian coordinate system is determined.

[0085] The motion range parameter acquisition module 2 is used to acquire the center point and motion radius of the motion range of the robot arm. Specifically, the motion range of the robot arm can be a polyhedron or a sphere, and the center point and motion radius can be determined according to the motion range of the robot arm.

[0086] The mechanical arm adjustment module 3 is used to adjust the mechanical arm so that the calibration tool fixed to the mechanical arm moves to the center point. Specifically, by adjusting the mechanical arm to move the calibration tool to the center point, the position data of the center point can be determined by detecting the calibration tool with a camera.

[0087] The second position data determining module 4 is used to determine the second position data of the center point in the coordinate system through the camera. Specifically, Figure 3 As shown, the calibration tool is detected by the camera to determine the second position data of the center point in the reference coordinate system.

[0088] The calibration position determination module 5 is used to move the mechanical arm and / or the camera, and determine the calibration position of the mechanical arm based on the first position data, the second position data and the movement radius so that the movement range is located within the detection range. Figure 4 As shown, the camera, camera detection range and center point are visualized through modeling. The camera model is located at Figure 4 The upper part, Figure 4 The light-colored area in the middle is the detection range model, and the circle in the light-colored area is the center point.

[0089] It is worth noting that the calibration position determination module 5 uses the position of the mobile mechanical arm and the position of the fixed camera to change the relative position between the mechanical arm and the camera. It can also use the position of the moving camera, the fixed mechanical arm, and the position of the mechanical arm and the camera to change the relative position between the mechanical arm and the camera. This embodiment does not limit this. The minimum relative distance between the center point and the camera is determined based on the first position data and the second position data. When the minimum relative distance between the mechanical arm and the camera is greater than or equal to the movement radius, it can be ensured that no matter how the mechanical arm is adjusted, the calibration tool is always within the detection range of the camera.

[0090] The calibration position determination system of the robotic arm provided in the present embodiment adjusts the robotic arm to move the calibration tool to the center point of the robotic arm's motion range to obtain the position data of the center point relative to the camera, constructs a detection range model of the camera and obtains the motion radius of the robotic arm, and then determines the calibration position of the robotic arm so that the robotic arm moves within the detection range of the camera, making the process of determining the calibration position of the robotic arm more intuitive and controllable, thereby improving the efficiency of determining the calibration position of the robotic arm, and thereby improving the success rate, efficiency and accuracy of the calibration.

[0091] Example 5

[0092] like Figure 8 As shown, the calibration position determination system of the robot arm of this embodiment is a further improvement of the embodiment 4, specifically:

[0093] In an optional embodiment, the calibration position determination module 5 is further used to determine the shortest distance between the center point and the detection range model according to the first position data and the second position data. The calibration position determination module 5 is also used to use the current position of the center point as the calibration position when the shortest distance is greater than or equal to the motion radius.

[0094] Specifically, when the minimum relative distance between the manipulator and the camera is greater than or equal to the motion radius, it can be ensured that no matter how the manipulator is adjusted, the calibration tool is always within the detection range of the camera. In an optional embodiment, in order to further avoid the situation where the edge of the manipulator's motion range and the edge of the detection range almost overlap during calibration, which may affect the accuracy, a threshold greater than the motion radius can be set according to the motion radius. When the shortest distance is greater than or equal to the preset threshold, the current position of the center point is used as the calibration position.

[0095] In an optional embodiment, the calibration position determination system further includes a prompt information output module 6. The prompt information output module 6 is used to output a first prompt information to prompt that the calibration position is determined when the shortest distance is greater than or equal to the movement radius. The prompt information output module 6 is also used to output a second prompt information to prompt reselection of the calibration position when the shortest distance is less than the movement radius.

[0096] In another optional embodiment, the calibration position determination module 5 is further used to obtain a calibration position candidate area; the calibration position candidate area is a set of center points whose shortest distance is greater than or equal to the movement radius. The calibration position determination module 5 is further used to use the center position of the calibration position candidate area as the calibration position.

[0097] Specifically, there is more than one calibration position that satisfies the condition that the shortest distance is greater than or equal to the motion radius, and these candidate calibration positions constitute a calibration position candidate area. Selecting the center position of the calibration position candidate area as the calibration position can further avoid the situation that the edge of the robot arm motion range and the edge of the detection range almost overlap during calibration, which may affect the accuracy.

[0098] In an optional embodiment, the calibration tool is fixed to the end of the robotic arm.

[0099] The calibration position determination system of the robotic arm provided in the present embodiment moves the calibration tool to the center point of the motion range of the robotic arm to obtain the position data of the center point relative to the camera, constructs the detection range model of the camera and obtains the motion radius of the robotic arm, and further can prompt a suitable calibration position through prompt information, or use the center position of the calibration position candidate area as the calibration position, thereby ensuring that the robotic arm moves within the detection range of the camera, making the process of determining the calibration position of the robotic arm more intuitive and controllable, improving the efficiency of determining the calibration position of the robotic arm, and thereby improving the success rate, efficiency and accuracy of the calibration.

[0100] Example 6

[0101] Please refer to Fig. 9 , which is a schematic diagram of the module of the calibration system of the robot arm in this embodiment. Specifically, Fig. 9 As shown, the calibration system comprises:

[0102] A calibration position acquisition module 7, used to use the calibration position determination system of the robotic arm of embodiment 4 or embodiment 5 to obtain the calibration position of the robotic arm;

[0103] A robot arm control module 8, used for moving the robot arm to a calibrated position of the robot arm;

[0104] The calibration processing module 9 is used to perform calibration processing on the robotic arm and the camera.

[0105] The calibration position determination system for the robotic arm provided in this embodiment utilizes the above-mentioned calibration position determination system for the robotic arm to obtain the calibration position of the robotic arm so that the robotic arm can move within the detection range of the camera, thereby improving the efficiency of determining the calibration position of the robotic arm, and thereby improving the success rate, efficiency and accuracy of the calibration.

[0106] Example 7

[0107] Fig.10 A schematic diagram of the structure of an electronic device provided in Example 5 of the present invention. The electronic device includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and when the processor executes the program, the method for determining the calibration position of the robot arm of Example 1 or Example 2 or the calibration method of the robot arm of Example 3 is implemented. Fig.10 The electronic device 30 shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present invention.

[0108] like Fig.10 As shown, the electronic device 30 may be in the form of a general-purpose computing device, for example, it may be a server device. The components of the electronic device 30 may include, but are not limited to: at least one processor 31, at least one memory 32, and a bus 33 connecting different system components (including the memory 32 and the processor 31).

[0109] The bus 33 includes a data bus, an address bus, and a control bus.

[0110] The memory 32 may include a volatile memory, such as a random access memory (RAM) 321 and / or a cache memory 322 , and may further include a read-only memory (ROM) 323 .

[0111] The memory 32 may also include a program / utility 325 having a set (at least one) of program modules 324, such program modules 324 including but not limited to: an operating system, one or more application programs, other program modules, and program data, each of which or some combination may include an implementation of a network environment.

[0112] The processor 31 executes various functional applications and data processing by running the computer program stored in the memory 32, such as the calibration position determination method of the robotic arm of Example 1 or Example 2 of the present invention or the calibration method of the robotic arm of Example 3.

[0113] The electronic device 30 may also communicate with one or more external devices 34 (e.g., keyboards, pointing devices, etc.). Such communication may be performed via an input / output (I / O) interface 35. Furthermore, the model-generated device 30 may also communicate with one or more networks (e.g., a local area network (LAN), a wide area network (WAN), and / or a public network, such as the Internet) via a network adapter 36. As shown, the network adapter 36 communicates with other modules of the model-generated device 30 via a bus 33. It should be understood that, although not shown in the figure, other hardware and / or software modules may be used in conjunction with the model-generated device 30, including but not limited to: microcode, device drivers, redundant processors, external disk drive arrays, RAID (RAID) systems, tape drives, and data backup storage systems.

[0114] It should be noted that although several units / modules or sub-units / modules of the electronic device are mentioned in the above detailed description, this division is merely exemplary and not mandatory. In fact, according to an embodiment of the present invention, the features and functions of two or more units / modules described above can be embodied in one unit / module. Conversely, the features and functions of one unit / module described above can be further divided into multiple units / modules to be embodied.

[0115] Example 8

[0116] This embodiment provides a computer-readable storage medium having a computer program stored thereon. When the program is executed by a processor, the calibration position determination method of the robotic arm of Embodiment 1 or Embodiment 2 or the calibration method of the robotic arm of Embodiment 3 is implemented.

[0117] The readable storage medium may include but is not limited to: a portable disk, a hard disk, a random access memory, a read-only memory, an erasable programmable read-only memory, an optical storage device, a magnetic storage device or any suitable combination of the above.

[0118] In a possible implementation, the present invention can also be implemented in the form of a program product, which includes a program code. When the program product is run on a terminal device, the program code is used to enable the terminal device to execute the calibration position determination method of the robotic arm of Example 1 or Example 2 or the calibration method of the robotic arm of Example 3.

[0119] The program code for executing the present invention may be written in any combination of one or more programming languages, and may be executed entirely on a user device, partially on a user device, as an independent software package, partially on a user device and partially on a remote device, or entirely on a remote device.

[0120] Although the specific embodiments of the present invention are described above, it should be understood by those skilled in the art that this is only for illustration and the protection scope of the present invention is defined by the appended claims. Those skilled in the art may make various changes or modifications to these embodiments without departing from the principles and essence of the present invention, but these changes and modifications all fall within the protection scope of the present invention.

Claims

1. A method for determining the calibration position of a robotic arm, It is characterized in that The calibration position determination method comprises: Constructing a detection range model according to the detection range parameters of the camera and determining first position data of the detection range model in a reference coordinate system; Obtaining the center point and movement radius of the motion range of the robotic arm; Adjusting the mechanical arm so that the calibration tool fixed to the mechanical arm moves to the center point; Determine, by the camera, second position data of the center point in the reference coordinate system; Move the mechanical arm and / or the camera, and determine the calibration position of the mechanical arm based on the first position data, the second position data and the movement radius so that the movement range is located within the detection range; The step of determining the calibration position of the robotic arm based on the first position data, the second position data and the motion radius comprises: Determine the shortest distance between the center point and the detection range model according to the first position data and the second position data; When the shortest distance is greater than or equal to the movement radius, the current position of the center point is used as the calibration position.

2. The method for determining a calibration position according to claim 1, It is characterized in that The calibration position determination method further comprises: When the shortest distance is greater than or equal to the movement radius, outputting a first prompt message to prompt that the calibration position is determined; When the shortest distance is smaller than the movement radius, a second prompt message is output to prompt the user to reselect the calibration position.

3. The method for determining a calibration position according to claim 1, It is characterized in that The calibration position determination method further comprises: Acquire a candidate area for calibration position; the candidate area for calibration position is a set of center points whose shortest distance is greater than or equal to the movement radius; The center position of the candidate area for the calibrated position is taken as the calibrated position.

4. The method for determining a calibration position according to claim 1, It is characterized in that The calibration tool is fixed at the end of the mechanical arm.

5. A calibration method for a robotic arm, It is characterized in that The calibration method comprises: Using the method for determining the calibrated position of a robotic arm as described in any one of claims 1 to 4 to obtain the calibrated position of the robotic arm; Moving the robotic arm to a calibrated position of the robotic arm; The robotic arm and the camera are calibrated.

6. A calibration position determination system for a robotic arm, It is characterized in that The calibration position determination system comprises: A first position data determination module, used to construct a detection range model according to the detection range parameters of the camera and determine first position data of the detection range model in a reference coordinate system; A motion range parameter acquisition module, used to obtain the center point and motion radius of the motion range of the robotic arm; A mechanical arm adjustment module, used for adjusting the mechanical arm so that the calibration tool fixed to the mechanical arm moves to the center point; A second position data determining module, configured to determine second position data of the center point in the reference coordinate system through the camera; a calibration position determination module, configured to move the mechanical arm and / or the camera, and determine the calibration position of the mechanical arm based on the first position data, the second position data and the movement radius so that the movement range is located within the detection range; The calibration position determination module is further used to determine the shortest distance between the center point and the detection range model according to the first position data and the second position data; The calibration position determination module is further configured to use the current position of the center point as the calibration position when the shortest distance is greater than or equal to the movement radius.

7. A calibration system for a robotic arm, It is characterized in that The calibration system comprises: A calibration position acquisition module, used to obtain the calibration position of the robotic arm using the calibration position determination system of the robotic arm as claimed in claim 6; A robot arm control module, used for moving the robot arm to a calibrated position of the robot arm; The calibration processing module is used to perform calibration processing on the robotic arm and the camera.

8. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, It is characterized in that When the processor executes the computer program, the calibration position determination method of the robotic arm as described in any one of claims 1 to 4 or the calibration method of the robotic arm as described in claim 5 is implemented.

9. A computer-readable storage medium having a computer program stored thereon, It is characterized in that When the computer program is executed by a processor, the calibration position determination method of the robotic arm as described in any one of claims 1 to 4 or the calibration method of the robotic arm as described in claim 5 is implemented.

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