A mechanical arm calibration device, method and medium for a self-service labeling machine

Abstract

The present invention discloses a robot arm calibration device, method and medium for a self-service labeling machine, the device comprising: a calibration area construction module, a mobile control module, a coordinate system conversion module and a calibration module; the calibration area construction module is used to construct a robot arm calibration area; the mobile control module is used to obtain the robot arm calibration requirements and update the robot arm calibration area according to the robot arm calibration requirements; the coordinate system conversion module is used to perform robot arm coordinate system conversion processing according to the updated robot arm calibration area to obtain a coordinate system conversion strategy; the calibration module is used to perform robot arm coordinate calibration according to the coordinate system conversion strategy; the present invention can realize accurate calibration of the robot arm coordinate system, and provide a physical grasping and positioning reference for the affine transformation between multiple device coordinate systems, and the physical grasping and positioning reference can be updated in the form of structural layout according to different robot arm operation routes and different objects, thereby meeting the requirements of different structural equipment.

Description

Technical Field

[0001] The present invention relates to the technical field of robot arm positioning and calibration. Specifically, the present invention is applied to the field of robot arm calibration of labeling equipment, and in particular to a robot arm calibration device, method and medium for a self-service labeling machine. Background Art

[0002] At present, the image recognition modules in most labeling devices use dual-camera recognition technology that combines a 3D camera with an RGB camera. However, in actual applications, due to the influence of factors such as the installation position and shooting range, the two cameras have two different coordinate systems. In addition, the robotic arm in the labeling device needs to position the objects to be operated according to the coordinates in these two coordinate systems when grabbing or labeling objects, and different labeling devices have different equipment structures. Therefore, a calibration device that can be flexibly adjusted is needed to realize the affine transformation between the dual-camera coordinate system and the robotic arm coordinate system, while meeting the calibration requirements, operation alignment requirements, and coordinate system conversion requirements of different labeling devices. Summary of the invention

[0003] The purpose of the present invention is to provide a robotic arm calibration device, method and medium for a self-service labeling machine in response to the above-mentioned problems in the prior art, and then through the device of the present invention, the affine transformation between the dual camera coordinate system and the robotic arm coordinate system is realized, while meeting the calibration requirements, operation alignment requirements and coordinate system conversion requirements of different labeling equipment.

[0004] In order to solve the above technical problems, the specific technical solutions of the present invention are as follows:

[0005] In one aspect, the present invention provides a mechanical arm calibration device for a self-service labeling machine, comprising:

[0006] Calibration area construction module, movement control module, coordinate system conversion module and calibration module;

[0007] The calibration area construction module is used to construct a robotic arm calibration area;

[0008] The mobile control module is used to obtain the robot arm calibration requirement and update the robot arm calibration area according to the robot arm calibration requirement;

[0009] The coordinate system conversion module is used to perform a robot arm coordinate system conversion process according to the updated robot arm calibration area to obtain a coordinate system conversion strategy;

[0010] The calibration module is used to perform robot arm coordinate calibration according to the coordinate system conversion strategy.

[0011] As an improved solution, the calibration area construction module includes: an area construction module and an area adjustment module;

[0012] The area building module is used to build a first initial calibration area;

[0013] The area adjustment module is used to perform chromaticity adjustment and structural adjustment on the first initial calibration area to obtain the robotic arm calibration area.

[0014] As an improved solution, the area building module includes: a layout setting unit, a base unit and a calibration block unit; the calibration block unit is configured with a plurality of calibration blocks;

[0015] The layout setting unit is used to set first layout information;

[0016] The base plate unit is used to build a calibration base plate;

[0017] The calibration block unit is used to movably arrange a plurality of the calibration blocks to the calibration base plate according to the first layout information to obtain the first initial calibration area.

[0018] As an improved solution, the area adjustment module includes: a chromaticity adjustment unit and a structure adjustment unit; the chromaticity adjustment unit is provided with a first color and a second color; the structure adjustment unit is provided with mechanical arm size information;

[0019] The chromaticity adjustment unit is used to adjust the color of the calibration base plate to the first color, and the chromaticity adjustment unit is also used to adjust the colors of a plurality of the calibration blocks to the second color;

[0020] The structure adjustment unit is used to respectively set calibration substructures on a plurality of the calibration blocks according to the robot arm size information.

[0021] As an improved solution, the mobile control module includes: an information acquisition module, an information analysis module and a mobile processing module;

[0022] The information acquisition module is used to obtain the mechanical arm calibration requirement and send the mechanical arm calibration requirement to the information analysis module;

[0023] The information analysis module is used to generate a movement control instruction according to the robot arm calibration requirement, and send the movement control instruction to the movement processing module;

[0024] The movement processing module is used to update the robot arm calibration area according to the movement control instruction.

[0025] As an improved solution, the information analysis module includes: a calibration point confirmation unit, a route analysis unit and an instruction generation unit;

[0026] The calibration point confirmation unit is used to read the robot arm calibration point position in the robot arm calibration requirement;

[0027] The route analysis unit is used to obtain a plurality of calibration block points corresponding to a plurality of the calibration blocks in the calibration area of ​​the robot arm; the route analysis unit confirms the calibration block to be displaced and the displacement route among the plurality of calibration block points based on the calibration points of the robot arm; the route analysis unit sends identification information about the calibration block to be displaced and the displacement route to the instruction generation unit;

[0028] The instruction generating unit is used to read the identification information and generate the movement control instruction according to the calibration block to be displaced and the displacement route.

[0029] As an improved solution, the mobile processing module includes: a mobile control unit and a prompt unit;

[0030] The mobile control unit is used to receive the mobile control instruction and adjust the arrangement of the plurality of calibration blocks on the calibration base plate according to the mobile control instruction; after adjusting the arrangement of the plurality of calibration blocks on the calibration base plate, the mobile control unit sends a prompt instruction to the prompt unit;

[0031] The prompt unit is used to send a coordinate system conversion signal to the coordinate system conversion module after receiving the prompt instruction.

[0032] As an improved solution, the coordinate system conversion module includes: a robot arm calling unit, an image recognition unit and a conversion calculation unit;

[0033] The robot arm calling unit is used to receive the coordinate system conversion signal. After receiving the coordinate system conversion signal, the robot arm calling unit captures the first calibration coordinate according to the updated robot arm calibration area; after capturing the first calibration coordinate, the robot arm calling unit sends a recognition signal to the image recognition unit;

[0034] The image recognition unit is used to capture the second calibration coordinates according to the updated robot arm calibration area after receiving the recognition signal;

[0035] The conversion calculation unit is used to calculate the coordinate system conversion strategy according to the first calibration coordinates and the second calibration coordinates.

[0036] On the other hand, the present invention further provides a method for calibrating a robotic arm for a self-service labeling machine, which is used in a robotic arm calibration device for a self-service labeling machine provided by the present invention, and the method comprises the following steps:

[0037] Construct the robot arm calibration area;

[0038] Obtaining a robotic arm calibration requirement, and updating the robotic arm calibration area according to the robotic arm calibration requirement;

[0039] Performing a robot arm coordinate system conversion process according to the updated robot arm calibration area to obtain a coordinate system conversion strategy;

[0040] The robot arm coordinates are calibrated according to the coordinate system conversion strategy.

[0041] On the other hand, the present invention further provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the steps of the method for calibrating a robotic arm for a self-service labeling machine are implemented.

[0042] The beneficial effects of the technical solution of the present invention are:

[0043] 1. The robot arm calibration device for a self-service labeling machine described in the present invention realizes accurate calibration of the robot arm coordinate system through the cooperation of the calibration area construction module, the mobile control module, the coordinate system conversion module and the calibration module, and provides a physical grasping and positioning reference for the affine transformation between multiple device coordinate systems. The physical grasping and positioning reference can be updated and corrected in the form of structural layout according to different robot arm operation routes and different objects to be positioned, so as to meet the calibration and calibration requirements, operation alignment requirements and coordinate system conversion requirements of different labeling equipment. Furthermore, the present invention can also update and correct the physical grasping and positioning reference in the form of structural layout again when deviations occur in the robot arm calibration. It has extremely high applicability and a wide range of applications, which makes up for the shortcomings of the prior art.

[0044] 2. The robot arm calibration method for a self-service labeling machine described in the present invention can realize the accurate calibration of the robot arm coordinate system, and provide an entity grasping and positioning reference for the affine transformation between multiple device coordinate systems, and the entity grasping and positioning reference can be updated and corrected in the form of structural layout according to different robot arm operation routes and different objects to be positioned, thereby meeting the calibration requirements, operation alignment requirements and coordinate system transformation requirements of different labeling equipment. Furthermore, the present invention can also update and correct the entity grasping and positioning reference in the form of structural layout when deviations occur in the robot arm calibration. It has extremely high applicability and a wide range of applications, which makes up for the shortcomings of the prior art.

[0045] 3. The computer-readable storage medium described in the present invention can realize the coordination of the guiding calibration area construction module, the mobile control module, the coordinate system conversion module and the calibration module, thereby realizing the robotic arm calibration method for a self-service labeling machine described in the present invention. The computer-readable storage medium described in the present invention effectively improves the operability of the robotic arm calibration method for a self-service labeling machine. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0047] Figure 1 It is a schematic diagram of the structure of a mechanical arm calibration device for a self-service labeling machine according to Embodiment 1 of the present invention;

[0048] Figure 2 It is a schematic diagram of the effect of realizing the mechanical arm calibration area in the mechanical arm calibration device for a self-service labeling machine described in Example 1 of the present invention;

[0049] Figure 3 It is a flow chart of a method for calibrating a robotic arm for a self-service labeling machine as described in Example 2 of the present invention. DETAILED DESCRIPTION

[0050] The preferred embodiments of the present invention are described in detail below in conjunction with the accompanying drawings so that the advantages and features of the present invention can be more easily understood by those skilled in the art, thereby making a clearer and more definite definition of the protection scope of the present invention.

[0051] In the description of the present invention, it should be noted that the embodiments described in the present invention are only part of the embodiments of the present invention, rather than all of the embodiments; based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in the field without making creative work are within the scope of protection of the present invention.

[0052] The terms "first", "second", etc. in the specification and claims of this article and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of this article described here can be implemented in an order other than those illustrated or described here. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, device, product or equipment that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or equipment.

[0053] It should be noted that the specific implementation method described in the technical solution of the present application is specifically applied to the realization of a certain function or a certain technical detail in the drug labeling equipment or the drug labeling process, but the present implementation method includes but is not limited to the application to other vending machines, automatic vending machines, self-service vending terminals, item vending processing, item labeling processing and other equipment or processes. The application of the technical solution of the present application in the drug labeling equipment or the drug labeling process does not serve as a limitation on the scope of application of the technical solution of the present application.

[0054] Example 1

[0055] This embodiment provides a mechanical arm calibration device for a self-service labeling machine, such as Figure 1 and Figure 2 As shown, it includes: a calibration area construction module, a movement control module, a coordinate system conversion module and a calibration module;

[0056] The calibration area construction module is used to construct a robot arm calibration area; the movement control module is used to obtain a robot arm calibration requirement and update the robot arm calibration area according to the robot arm calibration requirement; the coordinate system conversion module is used to perform a robot arm coordinate system conversion process according to the updated robot arm calibration area to obtain a coordinate system conversion strategy; the calibration module is used to perform a robot arm coordinate calibration according to the coordinate system conversion strategy;

[0057] As an embodiment of the present invention, the calibration area construction module and the movement control module are mainly used for configuration and movement update of the calibration tooling, and the coordinate system conversion module and the calibration module are mainly used for coordinate system conversion calibration calculation according to the aforementioned calibration tooling;

[0058] The calibration area construction module includes: an area construction module and an area adjustment module; the area construction module is used to construct a first initial calibration area; the area adjustment module is used to perform chromaticity adjustment and structural adjustment on the first initial calibration area to obtain the robotic arm calibration area.

[0059] As an implementation mode of the present invention, the area building module comprises: a layout setting unit, a base plate unit and a calibration block unit; the calibration block unit is configured with a plurality of calibration blocks;

[0060] The layout setting unit is used to set the first layout information; the base plate unit is used to build the calibration base plate; the calibration block unit is used to movably arrange the plurality of calibration blocks to the calibration base plate according to the first layout information to obtain the first initial calibration area; when applied, the calibration base plate adopts a 400mm*220mm metal plate, and the plurality of calibration blocks adopt 8 metal blocks with a size of 50mm*50mm; the first layout information is preliminary arrangement information, such as Figure 2 As shown, a schematic diagram of the effect corresponding to the robot arm calibration area under the first layout information is shown, that is, the eight metal blocks are divided into two rows, four in each row, and arranged at equal intervals;

[0061] As an embodiment of the present invention, the area adjustment module includes: a chromaticity adjustment unit and a structure adjustment unit; the chromaticity adjustment unit is provided with a first color and a second color; the structure adjustment unit is provided with robot arm size information; in this embodiment, the first color adopts a darker brown, and the second color adopts a lighter white; the chromaticity adjustment unit is used to adjust the color of the calibration base plate to the first color, and the chromaticity adjustment unit is also used to adjust the color of several calibration blocks to the second color; therefore, when applied, the metal plate is brown, the metal block is white, and an obvious color difference is formed between the metal block and the metal plate, which is beneficial to subsequent AI recognition; the structure adjustment unit is used to respectively set calibration substructures on several calibration blocks according to the robot arm size information; the calibration substructure is an identification structure for facilitating AI recognition and robot arm calibration and alignment. When applied, the calibration substructure is a circular concave hole respectively set on 8 metal blocks; the circular concave hole at the center point of the metal block is consistent with the size of the suction cup on the robot arm, and when the robot arm is initialized and calibrated (the coordinate system of the robot arm is converted), the suction cup can be accurately fitted to the metal block to improve the calibration accuracy;

[0062] As an implementation mode of the present invention, the mobile control module includes: an information acquisition module, an information analysis module and a mobile processing module; the information acquisition module is used to obtain the calibration requirements of the robot arm, and send the robot arm calibration requirements to the information analysis module; the robot arm calibration requirements are different movement paths required for different types of robot arms; the information analysis module is used to generate movement control instructions according to the robot arm calibration requirements, and send the movement control instructions to the mobile processing module; correspondingly, when applied, different types of robot arms need to grasp different objects, which correspond to different movement paths and object shapes, so some of the calibration blocks are used in the calibration The arrangement on the quasi-bottom plate also needs to correspond to the moving path or the shape of the object, so as to realize the movement or splicing of the position according to the actual use needs, so as to simulate the objects that the robot arm needs to grasp during the actual use, further improve the accuracy of the coordinate system conversion, and help improve the accuracy of the robot arm during the actual use; the mobile processing module is used to update the calibration area of ​​the robot arm according to the mobile control instruction; therefore, when it is applied, if it is found that the grasping point deviation problem occurs during the use of the robot arm, the coordinates of the robot arm can also be recalibrated by changing the positions of the above-mentioned several metal blocks, so as to facilitate the subsequent maintenance and verification of the robot arm;

[0063] As an embodiment of the present invention, the information analysis module includes: a calibration point confirmation unit, a route analysis unit and an instruction generation unit; the calibration point confirmation unit is used to read the robot arm calibration point position in the robot arm calibration requirement; the route analysis unit is used to obtain a number of calibration block points corresponding to a number of the calibration blocks in the robot arm calibration area; the route analysis unit confirms the calibration block to be displaced and the displacement route among the several calibration block points based on the robot arm calibration point position; the route analysis unit sends the identification information about the calibration block to be displaced and the displacement route to the instruction generation unit; the instruction generation unit is used to read the identification information and generate the movement control instruction according to the calibration block to be displaced and the displacement route; for example, when applied, Figure 2 As an example, if the robot arm needs to grab a "T"-shaped object, the coordinates of the points corresponding to the robot arm calibration points will also form a "T" shape. Figure 2 The layout information in obviously does not meet this requirement, so it is adjusted. Figure 2 The various arrangement positions of the calibration blocks under the layout information in are the calibration block points. When adjusting, one row of calibration blocks can be selected to be spliced ​​together horizontally, and the other row of calibration blocks correspondingly moved and spliced ​​together to form a corresponding simulated "T"-shaped object. In this process, all calibration blocks are calibration blocks to be displaced, and the displacement route is Figure 2The shortest distance moving route of each calibration block when each arrangement position of the calibration block under the layout information is converted with the simulated "T"-shaped object;

[0064] As an embodiment of the present invention, the mobile processing module includes: a mobile control unit and a prompt unit; the mobile control unit is used to receive the mobile control instruction, and adjust the arrangement of the several calibration blocks on the calibration base plate according to the mobile control instruction; after adjusting the arrangement of the several calibration blocks on the calibration base plate, the mobile control unit sends a prompt instruction to the prompt unit, which means that the calibration blocks have been rearranged and arranged, meeting the robot arm calibration requirements, and the coordinate system conversion calibration can be started. Therefore, the prompt unit is used to send a coordinate system conversion signal to the coordinate system conversion module after receiving the prompt instruction.

[0065] As an embodiment of the present invention, the coordinate system conversion module includes: a robot arm calling unit, an image recognition unit and a conversion calculation unit;

[0066] The robot calling unit is used to receive the coordinate system conversion signal. After receiving the coordinate system conversion signal, the robot calling unit captures the first calibration coordinate according to the updated robot calibration area; after capturing the first calibration coordinate, the robot calling unit sends a recognition signal to the image recognition unit; the first calibration coordinate includes but is not limited to the coordinates corresponding to the calibration substructure on any calibration block in the robot coordinate system; the image recognition unit is used to capture the second calibration coordinate according to the updated robot calibration area after receiving the recognition signal; the second calibration coordinate is the corresponding coordinate in the image recognition unit coordinate system corresponding to the first calibration coordinate; the conversion calculation unit is used to calculate the coordinate system conversion strategy according to the first calibration coordinate and the second calibration coordinate. In this embodiment, two different image recognition units are used to capture the second calibration coordinate, and the conversion between the two second calibration coordinates in the coordinate systems of the two different image recognition units is realized through the OpenCV function; after this conversion, the coordinate system conversion strategy calculated by the conversion calculation unit in the device can help the robot to perform conversion calculations on the coordinate systems of the two different image recognition units respectively, thereby improving the scope of application of the device.

[0067] Example 2

[0068] This embodiment provides a method for calibrating a robotic arm for a self-service labeling machine, which is used in a robotic arm calibration device for a self-service labeling machine described in Embodiment 1. Figure 3 As shown, the following steps are included:

[0069] S100, constructing a robotic arm calibration area;

[0070] S200, obtaining a robot arm calibration requirement, and updating the robot arm calibration area according to the robot arm calibration requirement;

[0071] S300, performing a robot arm coordinate system conversion process according to the updated robot arm calibration area to obtain a coordinate system conversion strategy;

[0072] S400: calibrate the coordinates of the robot arm according to the coordinate system conversion strategy.

[0073] As an embodiment of the present invention, when the method is applied to the robotic arm calibration device for the self-service labeling machine described in Example 1, the area construction module is called to build a first initial calibration area; the area adjustment module is called to perform chromaticity adjustment and structural adjustment on the first initial calibration area to obtain the robotic arm calibration area.

[0074] As an embodiment of the present invention, when the method is applied to the robotic arm calibration device for the self-service labeling machine described in Example 1, the layout setting unit is called to set the first layout information; the base plate unit is called to build the calibration base plate; the calibration block unit is called to movably arrange a plurality of the calibration blocks to the calibration base plate according to the first layout information to obtain the first initial calibration area.

[0075] As an embodiment of the present invention, when the method is applied to the robotic arm calibration device for the self-service labeling machine described in Example 1, the first color and the second color are set in the chromaticity adjustment unit; the robotic arm size information is set in the structure adjustment unit; the chromaticity adjustment unit is called to adjust the color of the calibration base plate to the first color, and the chromaticity adjustment unit is called to adjust the colors of several calibration blocks to the second color; the structure adjustment unit is called to set calibration substructures on several calibration blocks respectively according to the robotic arm size information.

[0076] As an embodiment of the present invention, when the method is applied to the robotic arm calibration device for the self-service labeling machine described in Example 1, the information acquisition module is called to obtain the robotic arm calibration requirement, and the robotic arm calibration requirement is sent to the information analysis module; the information analysis module is called to generate a movement control instruction according to the robotic arm calibration requirement, and the movement control instruction is sent to the movement processing module; the movement processing module is called to update the robotic arm calibration area according to the movement control instruction.

[0077] As an embodiment of the present invention, when the method is applied to the robotic arm calibration device for the self-service labeling machine described in Example 1, the calibration point confirmation unit is called to read the robotic arm calibration point position in the robotic arm calibration requirement; the route analysis unit is called to obtain a number of calibration block points corresponding to a number of the calibration blocks in the robotic arm calibration area; the route analysis unit is called to confirm the calibration block to be displaced and the displacement route among the several calibration block points based on the robotic arm calibration point position; the route analysis unit is called to send identification information about the calibration block to be displaced and the displacement route to the instruction generation unit; the instruction generation unit is called to read the identification information, and generate the movement control instruction according to the calibration block to be displaced and the displacement route.

[0078] As an embodiment of the present invention, when the method is applied to the robotic arm calibration device for the self-service labeling machine described in Example 1, the mobile control unit is called to receive the mobile control instruction, and the arrangement of the calibration blocks on the calibration base plate is adjusted according to the mobile control instruction; the mobile control unit is called to send a prompt instruction to the prompt unit after adjusting the arrangement of the calibration blocks on the calibration base plate; the prompt unit is called to send a coordinate system conversion signal to the coordinate system conversion module after receiving the prompt instruction.

[0079] As an embodiment of the present invention, when the method is applied to the robotic arm calibration device for the self-service labeling machine described in Example 1, the robotic arm calling unit is called to receive the coordinate system conversion signal, and after receiving the coordinate system conversion signal, the robotic arm calling unit is called to capture the first calibration coordinate according to the updated robotic arm calibration area; after capturing the first calibration coordinate, the robotic arm calling unit is called to send a recognition signal to the image recognition unit; after receiving the recognition signal, the image recognition unit is called to capture the second calibration coordinate according to the updated robotic arm calibration area; and the conversion calculation unit is called to calculate the coordinate system conversion strategy according to the first calibration coordinate and the second calibration coordinate.

[0080] Example 3

[0081] This embodiment provides a computer-readable storage medium, including:

[0082] The storage medium is used to store computer software instructions used to implement the robotic arm calibration method for the self-service labeling machine described in the above-mentioned embodiment 2, which includes a program for executing the above-mentioned program set for the robotic arm calibration method for the self-service labeling machine; specifically, the executable program can be built into the robotic arm calibration device for the self-service labeling machine described in embodiment 1, so that the robotic arm calibration device for the self-service labeling machine can implement the robotic arm calibration method for the self-service labeling machine described in embodiment 2 by executing the built-in executable program.

[0083] In addition, the computer-readable storage medium of this embodiment may adopt any combination of one or more computer-readable storage media, wherein the computer-readable storage medium includes electrical, optical, electromagnetic, infrared or semiconductor systems, devices or components, or any combination thereof.

[0084] Different from the prior art, the present application adopts a robot arm calibration device, method and medium for a self-service labeling machine, which can realize the accurate calibration of the robot arm coordinate system and provide a physical grasping and positioning reference for the affine transformation between multiple device coordinate systems. The physical grasping and positioning reference can be updated and corrected in the form of structural layout according to different robot arm operation routes and different objects to be positioned, thereby meeting the calibration requirements, operation alignment requirements and coordinate system transformation requirements of different labeling equipment. Furthermore, the present invention can also update and correct the physical grasping and positioning reference in the form of structural layout when deviations occur in the robot arm calibration. It has extremely high applicability and a wide range of applications, which makes up for the shortcomings of the prior art.

[0085] It should be understood that in the various embodiments of this document, the size of the serial numbers of the above-mentioned processes does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this document.

[0086] It should also be understood that in the embodiments of this article, the term "and / or" is only a description of the association relationship of the associated objects, indicating that three relationships may exist. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this article generally indicates that the associated objects before and after are in an "or" relationship.

[0087] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the composition and steps of each example have been generally described in terms of function in the above description. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this article.

[0088] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0089] In the several embodiments provided herein, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic, for example, the division of the units is only a logical function division, and there may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces, devices or units, or can be electrical, mechanical or other forms of connection.

[0090] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the embodiments of this article.

[0091] In addition, each functional unit in each embodiment of this invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above integrated unit may be implemented in the form of hardware or in the form of software functional unit.

[0092] 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 storage medium. Based on this understanding, the technical solution of this article 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 storage medium, including a number of instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of this article. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk and other media that can store program codes.

[0093] The above descriptions are merely embodiments of the present invention and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made using the contents of the present invention specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A mechanical arm calibration device for a self-service labeling machine, characterized in that: include: Calibration area construction module, movement control module, coordinate system conversion module and calibration module; The calibration area construction module includes: a layout setting unit, a base unit, a calibration block unit and an area adjustment module; the calibration block unit is configured with a plurality of calibration blocks; the layout setting unit is used to set the first layout information; the base unit is used to build the calibration base; the calibration block unit is used to movably arrange the plurality of calibration blocks to the calibration base according to the first layout information to obtain a first initial calibration area; the area adjustment module is used to perform chromaticity adjustment and structural adjustment on the first initial calibration area to obtain a robotic arm calibration area; the area adjustment module includes: a chromaticity adjustment unit and a structural adjustment unit; the chromaticity adjustment unit is provided with a first color and a second color; the structural adjustment unit is provided with robotic arm size information; the chromaticity adjustment unit is used to adjust the color of the calibration base to the first color, and adjust the colors of the plurality of calibration blocks to the second color; the structural adjustment unit is used to respectively set calibration substructures on the plurality of calibration blocks according to the robotic arm size information; The mobile control module includes: an information acquisition module, a calibration point confirmation unit, a route analysis unit, an instruction generation unit, a mobile control unit and a prompt unit; the information acquisition module is used to obtain the robot arm calibration requirement and send the robot arm calibration requirement to the calibration point confirmation unit; the calibration point confirmation unit is used to read the robot arm calibration point position in the robot arm calibration requirement; the route analysis unit is used to obtain a plurality of calibration block points corresponding to a plurality of calibration blocks in the robot arm calibration area; the route analysis unit confirms the calibration block to be displaced and the displacement route among the plurality of calibration block points based on the robot arm calibration point position; the route analysis unit The unit sends the identification information about the calibration block to be displaced and the displacement route to the instruction generation unit; the instruction generation unit is used to read the identification information and generate a movement control instruction according to the calibration block to be displaced and the displacement route; the movement control unit is used to receive the movement control instruction and adjust the arrangement of the calibration blocks on the calibration base according to the movement control instruction; after adjusting the arrangement of the calibration blocks on the calibration base, the movement control unit sends a prompt instruction to the prompt unit; the prompt unit is used to send a coordinate system conversion signal to the coordinate system conversion module after receiving the prompt instruction; The coordinate system conversion module includes: a robot arm calling unit, an image recognition unit and a conversion calculation unit; the robot arm calling unit is used to receive the coordinate system conversion signal, and after receiving the coordinate system conversion signal, the robot arm calling unit captures the first calibration coordinate according to the updated robot arm calibration area; after capturing the first calibration coordinate, the robot arm calling unit sends a recognition signal to the image recognition unit; the image recognition unit is used to capture the second calibration coordinate according to the updated robot arm calibration area after receiving the recognition signal; the conversion calculation unit is used to calculate the coordinate system conversion strategy according to the first calibration coordinate and the second calibration coordinate; The calibration module is used to perform robot arm coordinate calibration according to the coordinate system conversion strategy.

2. A method for calibrating a robotic arm for a self-service labeling machine, used in a robotic arm calibration device for a self-service labeling machine as claimed in claim 1, characterized in that: The method comprises the following steps: Construct the robot arm calibration area; Obtaining a robotic arm calibration requirement, and updating the robotic arm calibration area according to the robotic arm calibration requirement; Performing a robot arm coordinate system conversion process according to the updated robot arm calibration area to obtain a coordinate system conversion strategy; The robot arm coordinates are calibrated according to the coordinate system conversion strategy.

3. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by the processor, the steps of the method for calibrating a robotic arm for a self-service labeling machine as claimed in claim 2 are implemented.

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