Coordinate calibration method, device, storage medium and computer equipment

Abstract

The embodiment of the present application discloses a coordinate calibration method, device, storage medium and computer equipment, the method comprising: performing a touch operation on a touch screen of a touch device according to preset movement parameters, and obtaining the first coordinates and second coordinates of each touch point corresponding to the touch operation, generating a first coordinate pair set of each first coordinate and each second coordinate, then receiving a second coordinate pair set corresponding to the touch operation sent by the touch device, then converting each second coordinate in the first coordinate pair set into a third coordinate, then obtaining a target first coordinate in each first coordinate that matches each third coordinate, and then obtaining target two-dimensional data corresponding to each target first coordinate, and finally generating a third coordinate pair set based on each target first coordinate and each target two-dimensional data. By adopting the embodiment of the present application, coordinate calibration can be performed with high efficiency and low error.

Description

Technical Field

[0001] The present application relates to the field of intelligent control, and in particular to a coordinate calibration method, device, storage medium and computer equipment. Background Art

[0002] Before touch terminal products are put into use, the touch coordinates of the touch screen need to be calibrated. Touch calibration requires coordinate calibration and the collection of two-dimensional data. The existing implementation method is to use a two-dimensional sliding guide rail engraved with a scale, manually slide the guide rail, move the pen tip on the slide rail to touch the screen, record the pen tip coordinates and the two-dimensional data and coordinates generated by the underlying IC of the screen, and then mark the next point; another method is to mark a fixed point on the screen in advance with the coordinates of the point known, and then use the pen to touch the intersection on the screen to match the two-dimensional data generated by the underlying IC of the screen with the marked coordinates one by one.

[0003] However, manual labeling has large errors and is prone to mistakes caused by misoperation, fatigue and other factors. Not only is the efficiency low, but the accuracy is also difficult to guarantee. Summary of the Invention

[0004] The embodiments of the present application provide a coordinate calibration method, apparatus, storage medium, and computer equipment, which can perform coordinate calibration with high efficiency and low error. The technical solution is as follows:

[0005] In a first aspect, an embodiment of the present application provides a coordinate calibration method, the method comprising:

[0006] Performing a touch operation on the touch screen of the touch device according to preset movement parameters, obtaining first coordinates and second coordinates of each touch point corresponding to the touch operation, and generating a first coordinate pair set of each first coordinate and each second coordinate, wherein the first coordinate is a physical coordinate in a robotic arm coordinate system acquired by the robotic arm, and the second coordinate is a pixel coordinate in a touch screen coordinate system sent by the touch device;

[0007] receiving a second coordinate pair set corresponding to the touch operation sent by the touch device, where the second coordinate pair set includes two-dimensional data corresponding to each touch point and the second coordinate;

[0008] Convert each second coordinate in the first coordinate pair set into a third coordinate, where each third coordinate is a physical coordinate in the robotic arm coordinate system;

[0009] Obtain target first coordinates matching each third coordinate in each first coordinate, obtain target two-dimensional data corresponding to each target first coordinate, and generate a third coordinate pair set based on each target first coordinate and each target two-dimensional data.

[0010] In a second aspect, an embodiment of the present application provides a robotic arm, comprising:

[0011] a first collection module, configured to perform a touch operation on the touch screen of the touch device according to preset movement parameters, obtain first coordinates and second coordinates of each touch point corresponding to the touch operation, and generate a first coordinate pair set of each first coordinate and each second coordinate, wherein the first coordinate is a physical coordinate in a robotic arm coordinate system acquired by the robotic arm, and the second coordinate is a pixel coordinate in a touch screen coordinate system sent by the touch device;

[0012] A second set module is configured to receive a second coordinate pair set corresponding to the touch operation sent by the touch device, where the second coordinate pair set includes two-dimensional data corresponding to each touch point and the second coordinate;

[0013] a coordinate conversion module, configured to convert each of the second coordinates in the first coordinate pair set into a third coordinate, wherein each of the third coordinates is a physical coordinate in the robotic arm coordinate system;

[0014] The third set module is used to obtain the target first coordinates that match each third coordinate in each first coordinate, obtain the target two-dimensional data corresponding to each target first coordinate, and generate a third coordinate pair set based on each target first coordinate and each target two-dimensional data.

[0015] In a third aspect, an embodiment of the present application provides a touch device, the touch device comprising:

[0016] a coordinate sending module, configured to obtain second coordinates and two-dimensional data of each touch point corresponding to the touch operation, and send the second coordinates to the robotic arm;

[0017] The set sending module is used to generate a second coordinate pair set of each second coordinate and each two-dimensional data, and send the second coordinate pair set to the robotic arm.

[0018] In a fourth aspect, an embodiment of the present application provides a storage medium, which stores a plurality of instructions, and the instructions are suitable for being loaded by a processor and executing the above-mentioned method steps.

[0019] In a fifth aspect, an embodiment of the present application provides a computer device, which may include: a processor and a memory; wherein the memory stores a computer program, and the computer program is suitable for being loaded by the processor and executing the above-mentioned method steps.

[0020] The beneficial effects of the technical solutions provided by some embodiments of the present application include at least:

[0021] In an embodiment of the present application, a robotic arm is used to perform a touch operation on the touch screen of a touch device according to preset movement parameters, obtain the first coordinates and second coordinates of each touch point corresponding to the touch operation, and generate a first coordinate pair set of each first coordinate and each second coordinate, then receive the second coordinate pair set corresponding to the touch operation sent by the touch device, and then convert each second coordinate in the first coordinate pair set into a third coordinate, and then obtain the target first coordinate that matches each third coordinate in each first coordinate, and obtain the target two-dimensional data corresponding to each target first coordinate, and finally generate a third coordinate pair set based on each target first coordinate and each target two-dimensional data. By adopting the embodiment of the present application, through the mechanized operation of the robotic arm, a large number of coordinate pair samples for coordinate calibration can be obtained with high efficiency and low error. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0023] Figure 1 A system architecture diagram of a coordinate calibration method is provided for an embodiment of the present application;

[0024] Figure 2 A flow chart of a coordinate calibration method is provided for an embodiment of the present application;

[0025] Figure 3 An example schematic diagram of generating a first coordinate pair set is provided for an embodiment of the present application;

[0026] Figure 4 An example schematic diagram of generating a third coordinate pair set is provided for an embodiment of the present application;

[0027] Figure 5 A flow chart of a coordinate calibration method is proposed for the embodiment of the present application;

[0028] Figure 6 A schematic diagram of a coordinate system for coordinate transformation is proposed for the embodiment of the present application;

[0029] Figure 7 A flow chart of a coordinate calibration method is provided for an embodiment of the present application;

[0030] Figure 8 An example schematic diagram of generating a second coordinate pair set is provided for an embodiment of the present application;

[0031] Figure 9 A schematic diagram of the structure of a coordinate calibration device is provided for an embodiment of the present application;

[0032] Figure 10 A schematic diagram of the structure of a coordinate calibration device is provided for an embodiment of the present application;

[0033] Figure 11 A schematic diagram of the structure of a coordinate calibration device is provided for an embodiment of the present application;

[0034] Figure 12 A schematic diagram of the structure of a computer device is provided for an embodiment of the present application;

[0035] Figure 13 A structural diagram of a computer device is provided for an embodiment of the present application. DETAILED DESCRIPTION

[0036] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0037] In the description of this application, it should be understood that the terms "first", "second", etc. are used for descriptive purposes only and should not be understood to indicate or imply relative importance. In the description of this application, it should be noted that, unless otherwise expressly specified and limited, "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units that are not listed, or may optionally include other steps or units inherent to these processes, methods, products or devices. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to the specific circumstances. In addition, in the description of this application, unless otherwise specified, "multiple" refers to two or more. "and / or" describes the association relationship of associated objects, indicating that three relationships can exist. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. The character " / " generally indicates that the associated objects before and after are in an "or" relationship.

[0038] According to some embodiments, see Figure 1 , which provides a system architecture diagram of a coordinate calibration method according to an embodiment of the present application. Figure 1As shown, the system architecture diagram may include a robotic arm and a touch device. The touch device includes but is not limited to touch phones, touch computers, touch wearable devices, touch displays, and other devices with a touch screen. The robotic arm can be a programmable robotic arm with functions similar to those of a human arm. It can control the movement of a stylus and touch the screen. It is a complete mechanical device that can have a coordinate system for recording the coordinates of the touch point corresponding to each touch operation. The robotic arm and the touch device can exchange data, and the robotic arm can receive the corresponding data of the touch point on the touch device side sent by the touch device.

[0039] based on Figure 1 The system structure shown below will be combined with Figures 2 to 6 , the coordinate calibration method provided in the embodiment of the present application is introduced in detail.

[0040] See Figure 2 , provides a flow chart of a coordinate calibration method according to an embodiment of the present application. Figure 2 As shown, the coordinate calibration method may include the following steps S101 to S104.

[0041] S101, performing a touch operation on a touch screen of a touch device according to preset movement parameters, obtaining first coordinates and second coordinates of each touch point corresponding to the touch operation, and generating a first coordinate pair set of each first coordinate and each second coordinate, where the first coordinates are physical coordinates acquired by the robotic arm in a robotic arm coordinate system, and the second coordinates are pixel coordinates sent by the touch device in a touch screen coordinate system;

[0042] Specifically, the movement parameters of the robotic arm can be manually set before work, and the robotic arm performs touch operations on the touch screen of the touch device according to the preset movement parameters. For each touch operation, the robotic arm will collect the first coordinates of the touch point corresponding to the touch operation, and the first coordinates are physical coordinates located in the robotic arm coordinate system, and receive the second coordinates corresponding to the touch point collected by the touch device end, and the second coordinates are pixel coordinates located in the touch screen coordinate system, and then generate a first coordinate pair set of the first coordinates and the second coordinates, and the first coordinate pair set contains at least one first coordinate pair, and each of the first coordinate pairs includes the first coordinates and the second coordinates of the same touch point.

[0043] The robotic arm coordinate system is a coordinate system that the robotic arm itself uses to determine the position of the touch point. The screen coordinate system refers to the coordinate system of the touch screen itself. The screen coordinate system is based on pixels. The pixel refers to the smallest unit in an image represented by a digital sequence. That is, in the entire image, a pixel can be regarded as a small grid with a single color that cannot be divided into smaller elements or units. The more pixels per unit area, the higher the resolution, and the clearer the displayed image.

[0044] Please also see Figure 3 , provides an example schematic diagram of generating a first coordinate pair set in an embodiment of the present application.

[0045] like Figure 3 As shown, for the touch point corresponding to each touch operation, the first coordinate of the touch point in the robotic arm coordinate system will be recorded on the robotic arm side, and the second coordinate of the touch point in the screen coordinate system will be recorded on the touch device side. A first coordinate pair is generated based on the first coordinate and the second coordinate, and a first coordinate pair set is generated for multiple first coordinate pairs corresponding to multiple touch points.

[0046] S102, receiving a second coordinate pair set corresponding to the touch operation sent by the touch device, where the second coordinate pair set includes two-dimensional data corresponding to each touch point and the second coordinate;

[0047] The second coordinate pair set includes the two-dimensional data corresponding to each touch point and the second coordinates. The two-dimensional data is a string of data that can be recognized by the touch microprocessor when the underlying integrated circuit (IC) of the touch screen receives a touch signal. The touch microprocessor determines the position of the touch point on the screen by identifying the two-dimensional data and performs corresponding actions.

[0048] It is easy to understand that after receiving the touch signal, the touch device will generate the second coordinates and two-dimensional data of the touch point corresponding to the touch operation, and then generate a second coordinate pair set with one-to-one correspondence between the two-dimensional data and the second coordinates.

[0049] Specifically, the robotic arm receives the second coordinate pair set sent by the touch device.

[0050] S103, converting each second coordinate in the first coordinate pair set into a third coordinate, where each third coordinate is a physical coordinate in the robotic arm coordinate system;

[0051] Specifically, each second coordinate included in each first coordinate pair in the first coordinate pair set is converted into the third coordinate, the second coordinate is in the screen coordinate system, and the third coordinate is in the robotic arm coordinate system.

[0052] It is not difficult to understand that due to the influence of the actual placement of the robotic arm and the touch device, there will be a certain angle between the robotic arm coordinate system and the screen coordinate system, the origin may not coincide, and the units of the two are different. As a result, the first coordinate in the robotic arm coordinate system and the second coordinate in the screen coordinate system cannot be directly compared. Therefore, the second coordinate is converted into a third coordinate in the robotic arm coordinate system. The validity of the first coordinate pair can be judged by comparing the third coordinate with the first coordinate.

[0053] In one feasible manner, each of the first coordinates in the first coordinate pair set can also be converted into a fourth coordinate, and the fourth coordinate is located in the screen coordinate system. Similarly, the validity of the first coordinate pair can be judged by comparing the fourth coordinate with the second coordinate.

[0054] S104, obtaining target first coordinates matching each third coordinate in each first coordinate, obtaining target two-dimensional data corresponding to each target first coordinate, and generating a third coordinate pair set based on each target first coordinate and each target two-dimensional data.

[0055] Specifically, each of the first coordinates is matched with each of the third coordinates, the target first coordinates in each of the first coordinates that successfully matches the corresponding third coordinate are determined, and the target two-dimensional data corresponding to each of the target first coordinates are determined to generate a third coordinate pair set of the target first coordinates and the target two-dimensional data.

[0056] It is not difficult to understand that the touch point corresponding to each touch operation has a corresponding first coordinate pair and second coordinate pair. The first coordinate pair contains the first coordinate, the second coordinate, and the third coordinate. The third coordinate is generated by converting the second coordinate. The second coordinate pair contains the second coordinate and two-dimensional data. Because the first coordinate and the third coordinate are both located in the robotic arm coordinate system, the first coordinate and the third coordinate are matched. If the match is successful, the data is considered valid, and all data corresponding to the touch point, including the first coordinate pair and the second coordinate pair, are retained. The first coordinate in the first coordinate pair is used as the target first coordinate, and the two-dimensional data in the second coordinate pair is used as the target two-dimensional data. A third coordinate pair set of the target first coordinate and the target two-dimensional data is generated.

[0057] Please refer to step S103 and step S104 for details. Figure 4 , provides an example schematic diagram of generating a third coordinate pair set in an embodiment of the present application.

[0058] like Figure 4As shown, for a certain touch point, there is a first coordinate pair and a second coordinate pair corresponding to it. The first coordinate pair is the same as the second coordinate contained in the second coordinate pair. The second coordinate in the first coordinate pair is converted into a third coordinate, and the third coordinate is matched with the first coordinate in the first coordinate pair. If the match fails, the first coordinate is discarded. If the match is successful, the first coordinate is used as the target first coordinate and the target two-dimensional data in the second coordinate pair to generate a third coordinate pair. The multiple third coordinate pairs generated by the successful matching of multiple touch points generate a third coordinate pair set.

[0059] In an embodiment of the present application, a robotic arm is used to perform a touch operation on the touch screen of a touch device according to preset movement parameters, obtain the first coordinates and second coordinates of each touch point corresponding to the touch operation, and generate a first coordinate pair set of each first coordinate and each second coordinate, then receive the second coordinate pair set corresponding to the touch operation sent by the touch device, and then convert each second coordinate in the first coordinate pair set into a third coordinate, and then obtain the target first coordinate that matches each third coordinate in each first coordinate, and obtain the target two-dimensional data corresponding to each target first coordinate, and finally generate a third coordinate pair set based on each target first coordinate and each target two-dimensional data. By adopting the embodiment of the present application, through the mechanized operation of the robotic arm, a large number of coordinate pair samples for coordinate calibration can be obtained with high efficiency and low error.

[0060] See Figure 5 , is a flow chart of a coordinate calibration method proposed in the embodiment of the present application. Figure 5 As shown, the power smoothing method may include the following steps S201 to S205.

[0061] S201, performing a touch operation on a touch screen of a touch device according to preset movement parameters, obtaining first coordinates and second coordinates of each touch point corresponding to the touch operation, and generating a first coordinate pair set of each first coordinate and each second coordinate, where the first coordinates are physical coordinates acquired by the robotic arm in a robotic arm coordinate system, and the second coordinates are pixel coordinates sent by the touch device in a touch screen coordinate system;

[0062] For step S201, please refer to the description of step S101 in another embodiment, which will not be repeated here.

[0063] S202, receiving a set of two-dimensional data files corresponding to the touch operation sent by the touch device, wherein the file name of each two-dimensional data file in the set of two-dimensional data files stores a second coordinate;

[0064] Specifically, the robotic arm receives a two-dimensional data file set corresponding to the touch operation sent by the touch device, where the two-dimensional data file set includes at least one two-dimensional data file, and the number of two-dimensional data files in the two-dimensional data file set depends on the number of touch points corresponding to the touch operation.

[0065] It is not difficult to understand that based on the touch operation, when the touch device receives a touch signal, it will generate a second coordinate and two-dimensional data of the touch point corresponding to the touch operation, save the two-dimensional data to generate a two-dimensional data file, and the second coordinate is saved in the file name of the two-dimensional data file.

[0066] S203, converting each second coordinate in the first coordinate pair set into a third coordinate, where each third coordinate is a physical coordinate in the robotic arm coordinate system;

[0067] Specifically, each second coordinate contained in each first coordinate pair in the first coordinate pair set is converted into the third coordinate, the second coordinate is in the screen coordinate system, and the third coordinate is in the robot arm coordinate system. The coordinate conversion can be performed according to the following formula:

[0068] xx-Ax=k*(x*cosβ+y*sinβ);

[0069] yy-By=k*(y*cosβ-x*sinβ);

[0070] Among them, x is the horizontal coordinate of the second coordinate, y is the vertical coordinate of the second coordinate, xx is the horizontal coordinate of the third coordinate, yy is the vertical coordinate of the third coordinate, Ax is the horizontal coordinate offset of the screen coordinate system and the origin of the mechanical coordinate system, By is the vertical coordinate offset of the screen coordinate system and the origin of the mechanical coordinate system, β is the angle between the corresponding coordinate axes of the screen coordinate system and the robotic arm coordinate system, and k is the unit conversion coefficient between the screen coordinate system and the robotic arm coordinate system.

[0071] Please also see Figure 6 , provides a coordinate system schematic diagram of coordinate transformation for an embodiment of the present application.

[0072] S204, determining a target third coordinate corresponding to the target first coordinate in each of the first coordinates, and calculating a coordinate difference between the target first coordinate and the target third coordinate;

[0073] Specifically, the target third coordinate is converted from the target second coordinate corresponding to the target first coordinate, and the coordinate difference between the target first coordinate and the target third coordinate is calculated.

[0074] The coordinate difference may include a vertical coordinate difference and a horizontal coordinate difference. For example, if the first coordinate of the target is (25, 37) and the third coordinate of the target is (27, 34), then the horizontal coordinate difference between the first coordinate of the target and the third coordinate of the target is 2, and the vertical coordinate difference is 3.

[0075] S205, when the coordinate difference is less than a preset threshold, retaining the first target coordinate and the third target coordinate;

[0076] Specifically, a preset threshold is set. When the coordinate difference is less than the preset threshold, the touch point data corresponding to the target first coordinate is considered valid, and the target first coordinate and the target third coordinate are retained.

[0077] In one achievable manner, the coordinate difference may include a ordinate difference and a horizontal coordinate difference, and the preset threshold may include a ordinate threshold and a horizontal coordinate threshold. When the ordinate difference is less than the ordinate threshold and the horizontal coordinate difference is less than the horizontal coordinate threshold, the target first coordinate and the target third coordinate are retained. For example, the preset horizontal coordinate threshold is 2 and the preset vertical coordinate threshold is 2. If the target first coordinate is (25, 25), only when the horizontal coordinate of the target third coordinate is within the range of (23, 27) and the vertical coordinate is within the range of (23, 27), is the coordinate difference considered to be less than the preset threshold, that is, the target first coordinate and the target third coordinate are retained.

[0078] S206, when the coordinate difference is greater than the preset threshold, deleting the first target coordinate and the third target coordinate;

[0079] Specifically, a preset threshold is set. When the coordinate difference is greater than the preset threshold, the touch point data corresponding to the target first coordinate is considered invalid, and the target first coordinate and the target third coordinate are deleted.

[0080] In one achievable manner, the coordinate difference may include a vertical coordinate difference and a horizontal coordinate difference, and the preset threshold may include a vertical coordinate threshold and a horizontal coordinate threshold. If the horizontal coordinate difference is greater than or equal to the horizontal coordinate threshold or the vertical coordinate difference is greater than or equal to the vertical coordinate threshold, the touch point data corresponding to the target first coordinate is considered invalid, and the target first coordinate and the target third coordinate are deleted. For example, the preset horizontal coordinate threshold is 2, and the preset vertical coordinate threshold is 2. If the target first coordinate is (25, 25), when the horizontal coordinate of the target third coordinate is within the interval (0, 23] ∪ [27, +∞) or the vertical coordinate of the target third coordinate is within the interval (0, 23] ∪ [27, +∞), the touch point data corresponding to the target first coordinate is considered invalid, and the target first coordinate and the target third coordinate are deleted.

[0081] S207, acquiring target two-dimensional data corresponding to each target first coordinate, and generating a third coordinate pair set based on each target first coordinate and each target two-dimensional data;

[0082] Specifically, the target first coordinate is located in the target first coordinate pair, and the target first coordinate pair also includes a second coordinate. The second coordinate is used as a search identifier to determine the target two-dimensional data file in the two-dimensional data file set. The file name of the target two-dimensional data file contains the second coordinate. The target two-dimensional data is extracted from the target two-dimensional data file, and a third coordinate pair set is generated based on each of the target first coordinates and each of the target two-dimensional data.

[0083] S208: Use the third coordinate pair set to train a positioning model, where the positioning model is used to locate physical coordinates in the robotic arm coordinate system when performing a touch operation on the touch screen of the touch device.

[0084] Specifically, the two-dimensional data in the third coordinate pair set is input into the positioning model, and the training coordinates are output. Based on the training coordinates and the first coordinates corresponding to the two-dimensional data in the third coordinate pair set, a loss function is constructed. When the loss value of the loss function is less than a preset value, a trained positioning model is generated.

[0085] It is not difficult to understand that the positioning model is based on supervised training of a convolutional neural network. The two-dimensional data is input into the convolutional neural network operation unit, and a calculation result is output. The calculation result is used as the training coordinate to compare with the first coordinate corresponding to the two-dimensional data, and a loss function is constructed. The loss function is used to guide the convolutional neural network operation unit to automatically adjust the parameters to make the positioning model better, and the output training coordinates are closer to the first coordinates. When the loss value of the loss function is less than the preset value, the training coordinates are infinitely close to the first coordinates, and the positioning model training is completed.

[0086] The positioning model is used to determine the coordinates of the touch point by identifying two-dimensional data.

[0087] In an embodiment of the present application, a touch operation is performed on the touch screen of a touch device by using a robotic arm according to preset movement parameters, and the first coordinates and the second coordinates of each touch point corresponding to the touch operation are obtained, and a first coordinate pair set of each first coordinate and each second coordinate is generated. Then, a two-dimensional data file set corresponding to the touch operation sent by the touch device is received, and each second coordinate in the first coordinate pair set is converted into a third coordinate. Then, the coordinate difference between the target first coordinate and the target third coordinate is calculated. By setting a threshold, it is determined whether the corresponding target first coordinate is valid. If invalid, the corresponding data is discarded. If valid, the valid target first coordinate and the target two-dimensional data are used to generate a third coordinate pair set. Through the mechanized operation of the robotic arm, a large number of coordinate pair samples for coordinate calibration can be obtained with high efficiency and low error. Then, the valid data in the third coordinate pair set is used to train a positioning model using an artificial intelligence algorithm, so that accurate touch coordinate positioning can be performed through two-dimensional data.

[0088] See Figure 7 , is a flow chart of a coordinate calibration method proposed in the embodiment of the present application. Figure 7 As shown, the coordinate calibration method may include the following steps S301 to S302.

[0089] S301, obtaining second coordinates and two-dimensional data of each touch point corresponding to the touch operation, and sending the second coordinates to the robotic arm;

[0090] Specifically, when the touch device receives a touch signal, it generates a second coordinate of the touch point corresponding to the touch operation and two-dimensional data, and sends the second coordinate to the robotic arm.

[0091] S302: Generate a second coordinate pair set of each second coordinate and each two-dimensional data, and send the second coordinate pair set to a robotic arm.

[0092] Optionally, a two-dimensional data file set is generated, wherein the file names of the two-dimensional data files in the two-dimensional data file set store second coordinates corresponding to the two-dimensional data.

[0093] Please also see Figure 8 , provides an example schematic diagram of generating a second coordinate pair set in an embodiment of the present application.

[0094] like Figure 8 As shown, when the touch device receives a touch operation from the robotic arm, it generates a second coordinate and two-dimensional data of the touch point corresponding to the touch operation, generates a second coordinate pair set based on the second coordinate and the two-dimensional data, and sends the second coordinate pair set to the robotic arm.

[0095] In an embodiment of the present application, by generating second coordinates and two-dimensional data of each touch point corresponding to the touch operation, and sending the second coordinates to the robotic arm, then generating a second coordinate pair set of each second coordinate and each two-dimensional data, and then sending the second coordinate pair set to the robotic arm, the data is automatically sent to the robotic arm, thereby ensuring efficiency and accuracy in the process of obtaining a large number of coordinate pair samples for coordinate calibration.

[0096] based on Figure 1 The system architecture shown below will be combined with Figures 9 to 11 , the coordinate calibration device provided in the embodiment of the present application is introduced in detail. It should be noted that, Figures 9 to 11 The coordinate calibration device in this application is used to execute Figures 2 to 8 For the convenience of explanation, only the part related to the embodiment of the present application is shown. For the specific technical details not disclosed, please refer to the present application. Figures 2 to 8 The embodiment shown.

[0097] See Figure 9 , is a schematic diagram of the structure of a coordinate calibration device provided in an embodiment of the present application. Figure 9 As shown, the coordinate calibration device 1 of the embodiment of the present application may include: a first assembly module 11 , a second assembly module 12 , a coordinate conversion module 13 and a third assembly module 14 .

[0098] a first collection module 11, configured to perform a touch operation on the touch screen of the touch device according to preset movement parameters, obtain first coordinates and second coordinates of each touch point corresponding to the touch operation, and generate a first coordinate pair set of each first coordinate and each second coordinate, where the first coordinate is a physical coordinate in a robotic arm coordinate system acquired by the robotic arm, and the second coordinate is a pixel coordinate in a touch screen coordinate system sent by the touch device;

[0099] A second set module 12 is configured to receive a second coordinate pair set corresponding to the touch operation sent by the touch device, where the second coordinate pair set includes two-dimensional data corresponding to each touch point and the second coordinate;

[0100] A coordinate conversion module 13, configured to convert each of the second coordinates in the first coordinate pair set into a third coordinate, where each of the third coordinates is a physical coordinate in the robotic arm coordinate system;

[0101] The third set module 14 is used to obtain the target first coordinates that match the third coordinates in the first coordinates, obtain the target two-dimensional data corresponding to the target first coordinates, and generate a third coordinate pair set based on the target first coordinates and the target two-dimensional data.

[0102] In an embodiment of the present application, a robotic arm is used to perform a touch operation on the touch screen of a touch device according to preset movement parameters, obtain the first coordinates and the second coordinates of each touch point corresponding to the touch operation, and generate a first coordinate pair set of each first coordinate and each second coordinate, then receive the second coordinate pair set corresponding to the touch operation sent by the touch device, and then convert each second coordinate in the first coordinate pair set into a third coordinate, and then obtain the target first coordinate that matches each third coordinate in each first coordinate, and obtain the target two-dimensional data corresponding to each target first coordinate, and finally generate a third coordinate pair set based on each target first coordinate and each target two-dimensional data. By adopting the embodiment of the present application, through the mechanized operation of the robotic arm, a large number of coordinate pair samples for coordinate calibration can be obtained with high efficiency and low error.

[0103] See Figure 10 , is a schematic diagram of the structure of a coordinate calibration device provided in an embodiment of the present application. Figure 10 As shown, the coordinate calibration device 2 of the embodiment of the present application may include: a first set module 21, a two-dimensional data module 22, a coordinate conversion module 23, a coordinate difference module 24, a data validity module 25, a data invalidation module 26, a third set module 27 and a model training module 28.

[0104] a first collection module 21, configured to perform a touch operation on the touch screen of the touch device according to preset movement parameters, obtain first coordinates and second coordinates of each touch point corresponding to the touch operation, and generate a first coordinate pair set of each first coordinate and each second coordinate, where the first coordinate is a physical coordinate in a robotic arm coordinate system acquired by the robotic arm, and the second coordinate is a pixel coordinate in a touch screen coordinate system sent by the touch device;

[0105] a two-dimensional data module 22 for receiving a set of two-dimensional data files corresponding to the touch operation sent by the touch device, wherein the second coordinate is stored in the file name of each two-dimensional data file in the set of two-dimensional data files;

[0106] A coordinate conversion module 23, configured to convert each second coordinate in the first coordinate pair set into a third coordinate, where each third coordinate is a physical coordinate in the robotic arm coordinate system;

[0107] A coordinate difference module 24 is configured to determine a target third coordinate corresponding to the target first coordinate in each of the first coordinates, and calculate a coordinate difference between the target first coordinate and the target third coordinate;

[0108] A data validation module 25 is configured to retain the first target coordinate and the third target coordinate when the coordinate difference is less than a preset threshold;

[0109] A data invalidation module 26 is configured to delete the first target coordinate and the third target coordinate when the coordinate difference is greater than the preset threshold;

[0110] A third set module 27 is configured to obtain target two-dimensional data corresponding to each target first coordinate, and generate a third coordinate pair set based on each target first coordinate and each target two-dimensional data;

[0111] The model training module 28 is used to train a positioning model using the third coordinate pair set, where the positioning model is used to locate the physical coordinates in the robotic arm coordinate system when performing a touch operation on the touch screen of the touch device.

[0112] In an embodiment of the present application, a touch operation is performed on the touch screen of a touch device by using a robotic arm according to preset movement parameters, and the first coordinates and the second coordinates of each touch point corresponding to the touch operation are obtained, and a first coordinate pair set of each first coordinate and each second coordinate is generated. Then, a two-dimensional data file set corresponding to the touch operation sent by the touch device is received, and each second coordinate in the first coordinate pair set is converted into a third coordinate. Then, the coordinate difference between the target first coordinate and the target third coordinate is calculated. By setting a threshold, it is determined whether the corresponding target first coordinate is valid. If invalid, the corresponding data is discarded. If valid, the valid target first coordinate and the target two-dimensional data are used to generate a third coordinate pair set. Through the mechanized operation of the robotic arm, a large number of coordinate pair samples for coordinate calibration can be obtained with high efficiency and low error. Then, the valid data in the third coordinate pair set is used to train a positioning model using an artificial intelligence algorithm, so that accurate touch coordinate positioning can be performed through two-dimensional data.

[0113] See Figure 11 , is a schematic diagram of the structure of a coordinate calibration device provided in an embodiment of the present application. Figure 11 As shown, the coordinate calibration device 3 in the embodiment of the present application may include: a coordinate sending module 31 and a collection sending module 32.

[0114] A coordinate sending module 31 is used to obtain the second coordinates and two-dimensional data of each touch point corresponding to the touch operation, and send the second coordinates to the robotic arm;

[0115] The set sending module 32 is used to generate a second coordinate pair set of each second coordinate and each two-dimensional data, and send the second coordinate pair set to the robotic arm.

[0116] In an embodiment of the present application, by generating second coordinates and two-dimensional data of each touch point corresponding to the touch operation, and sending the second coordinates to the robotic arm, then generating a second coordinate pair set of each second coordinate and each two-dimensional data, and then sending the second coordinate pair set to the robotic arm, the data is automatically sent to the robotic arm, thereby ensuring efficiency and accuracy in the process of obtaining a large number of coordinate pair samples for coordinate calibration.

[0117] The present application also provides a computer storage medium that can store multiple instructions, which are suitable for being loaded and executed by a processor as described above. Figures 1 to 5 The coordinate calibration method of the embodiment shown in the figure can be found in the specific implementation process. Figures 1 to 5 The detailed description of the illustrated embodiment will not be repeated here.

[0118] See Figure 12 , provides a schematic diagram of the structure of a computer device according to an embodiment of the present application. Figure 12 As shown, the computer device 1000 may include: at least one processor 1001, at least one memory 1002, at least one network interface 1003, at least one input and output interface 1004, at least one communication bus 1005 and at least one display unit 1006. Among them, the processor 1001 may include one or more processing cores. The processor 1001 uses various interfaces and lines to connect the various parts of the entire computer device 1000, and executes various functions and processes data of the terminal 1000 by running or executing instructions, programs, code sets or instruction sets stored in the memory 1002, and calling data stored in the memory 1002. The memory 1002 can be a high-speed RAM memory or a non-volatile memory (non-volatile memory), such as at least one disk memory. The memory 1002 can optionally be at least one storage device located away from the aforementioned processor 1001. Among them, the network interface 1003 can optionally include a standard wired interface, a wireless interface (such as a WI-FI interface). The communication bus 1005 is used to realize the connection and communication between these components. As Figure 12 As shown, the memory 1002 as a storage medium of a terminal device may include an operating system, a network communication module, an input and output interface module, and a coordinate calibration program.

[0119] exist Figure 12 In the computer device 1000 shown, the input and output interface 1004 is mainly used to provide an input interface for users and access devices, and to obtain data input by users and access devices.

[0120] In one embodiment.

[0121] The processor 1001 may be configured to call the coordinate calibration program stored in the memory 1002 and specifically perform the following operations:

[0122] Performing a touch operation on the touch screen of the touch device according to preset movement parameters, obtaining first coordinates and second coordinates of each touch point corresponding to the touch operation, and generating a first coordinate pair set of each first coordinate and each second coordinate, wherein the first coordinate is a physical coordinate in a robotic arm coordinate system acquired by the robotic arm, and the second coordinate is a pixel coordinate in a touch screen coordinate system sent by the touch device;

[0123] receiving a second coordinate pair set corresponding to the touch operation sent by the touch device, where the second coordinate pair set includes two-dimensional data corresponding to each touch point and the second coordinate;

[0124] Convert each second coordinate in the first coordinate pair set into a third coordinate, where each third coordinate is a physical coordinate in the robotic arm coordinate system;

[0125] Obtain target first coordinates matching each third coordinate in each first coordinate, obtain target two-dimensional data corresponding to each target first coordinate, and generate a third coordinate pair set based on each target first coordinate and each target two-dimensional data.

[0126] Optionally, when executing the step of receiving the second coordinate pair set corresponding to the touch operation sent by the touch device, the processor 1001 specifically performs the following operations:

[0127] A two-dimensional data file set corresponding to the touch operation sent by the touch device is received, wherein the second coordinate is stored in the file name of each two-dimensional data file in the two-dimensional data file set.

[0128] Optionally, when executing the step of converting each second coordinate in the first coordinate pair set into a third coordinate, the processor 1001 specifically performs the following operations:

[0129] xx-Ax=k*(x*cosβ+y*sinβ);

[0130] yy-By=k*(y*cosβ-x*sinβ);

[0131] The x is the horizontal coordinate of the second coordinate, the y is the vertical coordinate of the second coordinate, the xx is the horizontal coordinate of the third coordinate, the yy is the vertical coordinate of the third coordinate, the Ax is the horizontal coordinate offset of the screen coordinate system and the origin of the mechanical coordinate system, the By is the vertical coordinate offset of the screen coordinate system and the origin of the mechanical coordinate system, the β is the angle between the corresponding coordinate axes of the screen coordinate system and the robotic arm coordinate system, and the k is the unit conversion coefficient between the screen coordinate system and the robotic arm coordinate system.

[0132] Optionally, when executing the step of acquiring the target first coordinates that match the third coordinates in the first coordinates, the processor 1001 specifically performs the following operations:

[0133] Determine a target third coordinate corresponding to the target first coordinate in each of the first coordinates, and calculate a coordinate difference between the target first coordinate and the target third coordinate;

[0134] When the coordinate difference is less than a preset threshold, retaining the first target coordinate and the third target coordinate;

[0135] When the coordinate difference is greater than the preset threshold, the first target coordinate and the third target coordinate are deleted.

[0136] Optionally, after executing the step of generating a third coordinate pair set based on the first coordinates of each target and the two-dimensional data of each target, the processor 1001 further performs the following operations:

[0137] The third coordinate pair set is used to train a positioning model, and the positioning model is used to locate the physical coordinates in the robotic arm coordinate system when a touch operation is performed on the touch screen of the touch device.

[0138] Optionally, when executing the training of the positioning model using the third coordinate pair set, the processor 1001 specifically performs the following operations:

[0139] Inputting the two-dimensional data in the third coordinate pair set into the positioning model and outputting training coordinates;

[0140] Constructing a loss function based on the training coordinates and the first coordinate corresponding to the two-dimensional data in the third coordinate pair set;

[0141] When the loss value of the loss function is less than a preset value, a trained positioning model is generated.

[0142] In an embodiment of the present application, a touch operation is performed on the touch screen of a touch device by using a robotic arm according to preset movement parameters, and the first coordinates and the second coordinates of each touch point corresponding to the touch operation are obtained, and a first coordinate pair set of each first coordinate and each second coordinate is generated. Then, a two-dimensional data file set corresponding to the touch operation sent by the touch device is received, and each second coordinate in the first coordinate pair set is converted into a third coordinate. Then, the coordinate difference between the target first coordinate and the target third coordinate is calculated. By setting a threshold, it is determined whether the corresponding target first coordinate is valid. If invalid, the corresponding data is discarded. If valid, the valid target first coordinate and the target two-dimensional data are used to generate a third coordinate pair set. Through the mechanized operation of the robotic arm, a large number of coordinate pair samples for coordinate calibration can be obtained with high efficiency and low error. Then, the valid data in the third coordinate pair set is used to train a positioning model using an artificial intelligence algorithm, so that accurate touch coordinate positioning can be performed through two-dimensional data.

[0143] See Figure 13 , provides a schematic diagram of the structure of a computer device according to an embodiment of the present application. Figure 13 As shown, the computer device 2000 may include: at least one processor 2001, at least one memory 2002, at least one network interface 2003, at least one input and output interface 2004, at least one communication bus 2005 and at least one touch screen 2006. Among them, the processor 2001 may include one or more processing cores. The processor 2001 uses various interfaces and lines to connect the various parts within the entire computer device 2000, and executes various functions and processes data of the terminal 2000 by running or executing instructions, programs, code sets or instruction sets stored in the memory 2002, and calling data stored in the memory 2002. The memory 2002 can be a high-speed RAM memory or a non-volatile memory (non-volatile memory), such as at least one disk memory. The memory 2002 can optionally be at least one storage device located away from the aforementioned processor 2001. Among them, the network interface 2003 can optionally include a standard wired interface, a wireless interface (such as a WI-FI interface). The communication bus 2005 is used to realize the connection and communication between these components. As Figure 13 As shown, the memory 2002 as a storage medium of a terminal device may include an operating system, a network communication module, an input and output interface module, and a coordinate calibration program.

[0144] exist Figure 13 In the computer device 2000 shown, the input and output interface 2004 is mainly used to provide an input interface for the user and the access device, and to obtain data input by the user and the access device.

[0145] In one embodiment.

[0146] The processor 2001 may be used to call the coordinate calibration program stored in the memory 2002 and specifically perform the following operations:

[0147] Acquire second coordinates and two-dimensional data of each touch point corresponding to the touch operation, and send the second coordinates to the robotic arm;

[0148] A second coordinate pair set of each second coordinate and each two-dimensional data is generated, and the second coordinate pair set is sent to the robotic arm.

[0149] In an embodiment of the present application, by generating second coordinates and two-dimensional data of each touch point corresponding to the touch operation, and sending the second coordinates to the robotic arm, then generating a second coordinate pair set of each second coordinate and each two-dimensional data, and then sending the second coordinate pair set to the robotic arm, the data is automatically sent to the robotic arm, thereby ensuring efficiency and accuracy in the process of obtaining a large number of coordinate pair samples for coordinate calibration.

[0150] Those skilled in the art will clearly understand that the technical solution of the present application can be implemented with the help of software and / or hardware. "Unit" and "module" in this specification refer to software and / or hardware that can independently complete or cooperate with other components to complete specific functions, where the hardware can be, for example, a field programmable gate array (FPGA), an integrated circuit (IC), etc.

[0151] It should be noted that for the aforementioned method embodiments, for the sake of simplicity, they are all expressed as a series of action combinations, but those skilled in the art should be aware that this application is not limited by the order of the actions described, because according to this application, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by this application.

[0152] In the above embodiments, the description of each embodiment has its own focus. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0153] In the several embodiments provided in this application, it should be understood that the disclosed devices can be implemented in other ways. For example, the device embodiments described above are merely schematic. For example, the division of the units is merely a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some service interface, and the indirect coupling or communication connection of the device or unit can be electrical or other forms.

[0154] The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected to achieve the purpose of this embodiment according to actual needs.

[0155] In addition, the functional units in the various embodiments of the present application may be integrated into a single processing unit, or each unit may exist physically separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or software functional units.

[0156] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable memory. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a memory, including a number of instructions for enabling a computer device (which can be a personal computer, server or network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned memory includes: various media that can store program codes, such as a USB flash drive, a read-only memory (ROM), a random access memory (RAM), a mobile hard disk, a magnetic disk or an optical disk.

[0157] Those skilled in the art will appreciate that all or part of the steps in the various methods of the above embodiments can be completed by instructing related hardware through a program, and the program can be stored in a computer-readable memory, which may include: a flash drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, etc.

[0158] The above is only an exemplary embodiment of the present disclosure and cannot be used to limit the scope of the present disclosure. That is, any equivalent changes and modifications made according to the teachings of the present disclosure are still within the scope of the present disclosure. After considering the specification and practicing the disclosure herein, those skilled in the art will easily think of other embodiments of the present disclosure. This application is intended to cover any variations, uses or adaptations of the present disclosure, which follow the general principles of the present disclosure and include common knowledge or customary technical means in the art that are not recorded in the present disclosure. The description and examples are to be regarded as exemplary only, and the scope and spirit of the present disclosure are defined by the claims.

Claims

1. A coordinate calibration method, characterized in that: Applied to a robotic arm, the method comprises: Performing a touch operation on the touch screen of the touch device according to preset movement parameters, obtaining first coordinates and second coordinates of each touch point corresponding to the touch operation, and generating a first coordinate pair set of each first coordinate and each second coordinate, wherein the first coordinate is a physical coordinate in a robotic arm coordinate system acquired by the robotic arm, and the second coordinate is a pixel coordinate in a touch screen coordinate system sent by the touch device; receiving a second coordinate pair set corresponding to the touch operation sent by the touch device, the second coordinate pair set including two-dimensional data corresponding to each touch point and the second coordinate; the two-dimensional data is a string of data generated by the touch screen's underlying integrated circuit when receiving a touch signal and can be recognized by a touch microprocessor; Convert each second coordinate in the first coordinate pair set into a third coordinate, where each third coordinate is a physical coordinate in the robotic arm coordinate system; Obtain target first coordinates matching each third coordinate in each first coordinate, obtain target two-dimensional data corresponding to each target first coordinate, and generate a third coordinate pair set based on each target first coordinate and each target two-dimensional data.

2. The method according to claim 1, characterized in that After generating a third coordinate pair set based on the first coordinates of each target and the two-dimensional data of each target, the method further includes: The third coordinate pair set is used to train a positioning model, and the positioning model is used to locate the physical coordinates in the robotic arm coordinate system when a touch operation is performed on the touch screen of the touch device.

3. The method according to claim 2, characterized in that The adopting the third coordinate pair set to train the positioning model includes: Inputting the two-dimensional data in the third coordinate pair set into the positioning model and outputting training coordinates; Constructing a loss function based on the training coordinates and the first coordinate corresponding to the two-dimensional data in the third coordinate pair set; When the loss value of the loss function is less than a preset value, a trained positioning model is generated.

4. The method according to claim 1, wherein The receiving a second coordinate pair set corresponding to the touch operation sent by the touch device includes: A two-dimensional data file set corresponding to the touch operation sent by the touch device is received, wherein the second coordinate is stored in the file name of each two-dimensional data file in the two-dimensional data file set.

5. The method according to claim 1, wherein The converting each second coordinate in the first coordinate pair set into a third coordinate comprises: xx - Ax = k*(x*cosβ+ y*sinβ); yy - By = k*(y*cosβ- x*sinβ); The x is the horizontal coordinate of the second coordinate, the y is the vertical coordinate of the second coordinate, the xx is the horizontal coordinate of the third coordinate, the yy is the vertical coordinate of the third coordinate, the Ax is the horizontal coordinate offset of the origin of the touch screen coordinate system and the robotic arm coordinate system, the By is the vertical coordinate offset of the origin of the touch screen coordinate system and the robotic arm coordinate system, the β is the angle between the corresponding coordinate axes of the touch screen coordinate system and the robotic arm coordinate system, and the k is the unit conversion coefficient between the touch screen coordinate system and the robotic arm coordinate system.

6. The method according to claim 1, characterized in that The acquiring of target first coordinates matching the third coordinates in the first coordinates includes: Determine a target third coordinate corresponding to the target first coordinate in each of the first coordinates, and calculate a coordinate difference between the target first coordinate and the target third coordinate; When the coordinate difference is less than a preset threshold, retaining the first target coordinate and the third target coordinate; When the coordinate difference is greater than the preset threshold, the first target coordinate and the third target coordinate are deleted.

7. A coordinate calibration method, characterized in that: Applied to a touch device, the touch device including at least one touch screen, the method comprising: Acquiring second coordinates and two-dimensional data of each touch point corresponding to a touch operation, and sending the second coordinates to the robotic arm; the two-dimensional data is a string of data generated by the touch screen's underlying integrated circuit when receiving a touch signal and can be recognized by the touch microprocessor; the second coordinates are used to generate a first coordinate pair set with the first coordinates of each touch point corresponding to the touch operation; the first coordinates are physical coordinates acquired by the robotic arm in the robotic arm coordinate system; the touch operation is obtained by the robotic arm operating the touch screen of the touch device according to preset movement parameters; Generate a second coordinate pair set of each second coordinate and each two-dimensional data, send the second coordinate pair set to the robotic arm, so that the robotic arm can obtain the target first coordinates that match each third coordinate in each first coordinate, obtain the target two-dimensional data corresponding to each target first coordinate, and generate a third coordinate pair set based on each target first coordinate and each target two-dimensional data; each third coordinate is a physical coordinate in the robotic arm coordinate system; the third coordinate is obtained by converting each second coordinate in the first coordinate pair set.

8. A robotic arm, characterized in that: The robotic arm comprises: a first collection module, configured to perform a touch operation on the touch screen of the touch device according to preset movement parameters, obtain first coordinates and second coordinates of each touch point corresponding to the touch operation, and generate a first coordinate pair set of each first coordinate and each second coordinate, wherein the first coordinate is a physical coordinate in a robotic arm coordinate system acquired by the robotic arm, and the second coordinate is a pixel coordinate in a touch screen coordinate system sent by the touch device; a second set module, configured to receive a second coordinate pair set corresponding to the touch operation sent by the touch device, the second coordinate pair set including two-dimensional data corresponding to each touch point and the second coordinate; the two-dimensional data is a string of data generated by the touch screen's underlying integrated circuit when receiving a touch signal and recognizable by the touch microprocessor; a coordinate conversion module, configured to convert each of the second coordinates in the first coordinate pair set into a third coordinate, wherein each of the third coordinates is a physical coordinate in the robotic arm coordinate system; The third set module is used to obtain the target first coordinates that match each third coordinate in each first coordinate, obtain the target two-dimensional data corresponding to each target first coordinate, and generate a third coordinate pair set based on each target first coordinate and each target two-dimensional data.

9. A touch device, characterized in that: The touch control device includes: A coordinate sending module is configured to obtain second coordinates and two-dimensional data of each touch point corresponding to a touch operation, and send the second coordinates to the robotic arm; the two-dimensional data is a string of data generated by the touch screen's underlying integrated circuit when receiving a touch signal and can be recognized by the touch microprocessor; the second coordinates are used to generate a first coordinate pair set with the first coordinates of each touch point corresponding to the touch operation; the first coordinates are physical coordinates acquired by the robotic arm in the robotic arm coordinate system; the touch operation is obtained by the robotic arm operating the touch screen of the touch device according to preset movement parameters; A set sending module is used to generate a second coordinate pair set of each second coordinate and each two-dimensional data, and send the second coordinate pair set to the robotic arm so that the robotic arm can obtain the target first coordinates that match each third coordinate in each first coordinate, obtain the target two-dimensional data corresponding to each target first coordinate, and generate a third coordinate pair set based on each target first coordinate and each target two-dimensional data; each third coordinate is a physical coordinate in the robotic arm coordinate system; the third coordinate is obtained by converting each second coordinate in the first coordinate pair set.

10. A storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 6 or 7 are implemented.

11. A computer device, characterized in that: include: A processor and a memory; wherein the memory stores a computer program, and the computer program is suitable for being loaded by the processor and executing the steps of the method according to any one of claims 1 to 6 or 7.

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