Mechanical arm self-adaptive calibration method, device, equipment and medium

Abstract

The application discloses a mechanical arm adaptive calibration method, device, equipment and medium, and belongs to the technical field of system calibration. The method comprises the following steps: identifying whether the relative pose between the fixed end coordinate system of a mechanical arm in a calibration system and the optical positioning system coordinate system changes; if yes, obtaining a first pose relationship and a second pose relationship in the calibration system; wherein the first pose relationship comprises the pose relationship between the moving end coordinate system of the mechanical arm and the optical positioning system coordinate system; the second pose relationship comprises the pose relationship between the fixed end coordinate system of the mechanical arm and the moving end coordinate system of the mechanical arm; and determining the calibration update result of the calibration system according to the first pose relationship, the second pose relationship and a pre-determined calibration relationship expression between the fixed end coordinate system of the mechanical arm and the optical positioning system coordinate system. The technical scheme can improve the calibration efficiency and the adaptability of the calibration method.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of system calibration, and particularly relates to a mechanical arm adaptive calibration method, device, equipment and medium. BACKGROUND

[0002] With the continuous improvement of the function of the mechanical arm, it becomes more and more common to use the mechanical arm to perform precise tasks. In order to better control the movement of the mechanical arm, so that the mechanical arm can more accurately reach the target position and more reliably perform the task, the calibration of the mechanical arm system and the optical positioning system becomes very important.

[0003] The existing mechanical arm system and optical positioning system calibration method mainly collects different coordinate values of the same marker under the mechanical arm system and the optical positioning system respectively, and then calculates the conversion relationship between the coordinate values by using hand-eye calibration, to obtain the calibration relationship between the mechanical arm system and the optical positioning system in the current state. When at least one of the system positions or relative poses of the mechanical arm system and the optical positioning system changes, system calibration needs to be performed again to reacquire the calibration relationship between the mechanical arm system and the optical positioning system.

[0004] Because a large amount of data needs to be collected in the prior art to improve the accuracy of system calibration, and the mechanical arm base adopts a six-dimensional coordinate system, the calculation process of system calibration by using the hand-eye calibration algorithm is relatively complex, and after the calibration is completed, the relative pose of the mechanical arm system and the optical positioning system is determined. Once the relative position of the two changes, the original calibration result will be invalid, and the mechanical arm system cannot continue to work normally. Therefore, the existing technology has the problems of complicated calibration steps, low calibration efficiency and poor adaptability of the calibration method. SUMMARY

[0005] The purpose of the embodiments of the application is to provide a mechanical arm adaptive calibration method, device, equipment and medium, which solves the problems of complicated calibration steps, low calibration efficiency and poor adaptability of the calibration method in the prior art. By identifying whether the relative pose between the mechanical arm fixed end coordinate system and the optical positioning system coordinate system in the calibration system changes, and acquiring the pose relationship between the mechanical arm moving end coordinate system and the optical positioning system coordinate system in the calibration system and the pose relationship between the mechanical arm fixed end coordinate system and the mechanical arm moving end coordinate system, and then determining the calibration update result of the calibration system according to the first pose relationship, the second pose relationship and the pre-determined calibration relationship expression between the mechanical arm fixed end coordinate system and the optical positioning system coordinate system, the calibration update of the mechanical arm system and the optical positioning system can be performed without the need for re-calibration, which improves the calibration efficiency and the adaptability of the calibration method.

[0006] In a first aspect, the embodiments of the present application provide a mechanical arm adaptive calibration device, and the method comprises:

[0007] identifying whether a relative pose between a fixed end coordinate system of a mechanical arm in a calibration system and an optical positioning system coordinate system changes;

[0008] if so, obtaining a first pose relationship and a second pose relationship in the calibration system; wherein the first pose relationship comprises a pose relationship between a moving end coordinate system of the mechanical arm and the optical positioning system coordinate system; and the second pose relationship comprises a pose relationship between the fixed end coordinate system of the mechanical arm and the moving end coordinate system of the mechanical arm;

[0009] determining a calibration update result of the calibration system according to the first pose relationship, the second pose relationship, and a predetermined calibration relationship expression between the fixed end coordinate system of the mechanical arm and the optical positioning system coordinate system.

[0010] Further, the obtaining the first pose relationship and the second pose relationship in the calibration system comprises:

[0011] calculating a first transformation matrix and a second transformation matrix between the moving end coordinate system of the mechanical arm and the optical positioning system coordinate system; wherein the first transformation matrix comprises a rotation matrix between the moving end coordinate system of the mechanical arm and the optical positioning system coordinate system; and the second transformation matrix comprises a translation matrix between the moving end coordinate system of the mechanical arm and the optical positioning system coordinate system;

[0012] obtaining a third transformation matrix and a fourth transformation matrix between the fixed end coordinate system of the mechanical arm and the moving end coordinate system of the mechanical arm; wherein the third transformation matrix comprises a rotation matrix between the fixed end coordinate system of the mechanical arm and the moving end coordinate system of the mechanical arm; and the fourth transformation matrix comprises a translation matrix between the fixed end coordinate system of the mechanical arm and the moving end coordinate system of the mechanical arm.

[0013] Further, the moving end of the mechanical arm comprises a mechanical arm end and an execution tool; and the execution tool is fixed to the mechanical arm end.

[0014] Correspondingly, the method further comprises:

[0015] determining a third pose relationship according to a predetermined pose relationship between the mechanical arm end coordinate system and the execution tool coordinate system;

[0016] Correspondingly, the determining the calibration update result of the calibration system according to the first pose relationship, the second pose relationship, and the predetermined calibration relationship expression between the fixed end coordinate system of the mechanical arm and the optical positioning system coordinate system comprises:

[0017] According to the first pose relationship, the second pose relationship, the third pose relationship, and a predetermined calibration relationship expression between the fixed end coordinate system of the robot arm and the optical positioning system coordinate system, a calibration update result of the calibration system is determined.

[0018] Further, the predetermined calibration relationship expression between the fixed end coordinate system of the robot arm and the optical positioning system coordinate system comprises:

[0019]

[0020] wherein, represents a first calibration update result of the fixed end coordinate system of the robot arm and the optical positioning system coordinate system; represents a second calibration update result of the fixed end coordinate system of the robot arm and the optical positioning system coordinate system; represents a third transformation matrix between the fixed end coordinate system of the robot arm and the end coordinate system of the robot arm; represents a fourth transformation matrix between the fixed end coordinate system of the robot arm and the end coordinate system of the robot arm; represents a first transformation matrix between the execution tool coordinate system and the optical positioning system coordinate system; represents a second transformation matrix between the execution tool coordinate system and the optical positioning system coordinate system; represents a fifth transformation matrix between the end coordinate system of the robot arm and the execution tool coordinate system; represents a sixth transformation matrix between the end coordinate system of the robot arm and the execution tool coordinate system.

[0021] Further, the determination process of the calibration relationship expression between the fixed end coordinate system of the robot arm and the optical positioning system coordinate system comprises:

[0022] The first transformation matrix and the second transformation matrix are calculated;

[0023] A seventh transformation matrix between the fixed end coordinate system of the robot arm and the optical positioning system coordinate system is calculated;

[0024] The fifth transformation matrix and the sixth transformation matrix are respectively calculated;

[0025] According to the first transformation matrix, the second transformation matrix, the third transformation matrix, the fourth transformation matrix, the fifth transformation matrix, and the sixth transformation matrix, the calibration relationship expression between the fixed end coordinate system of the robot arm and the optical positioning system coordinate system is determined.

[0026] Further, the computing the seventh transformation matrix between the fixed end coordinate system of the robot arm and the optical positioning system coordinate system comprises:

[0027] establishing a pose relationship between the end coordinate system of the robot arm and the execution tool coordinate system;

[0028] According to the pose relationship, the first transformation matrix, and the third transformation matrix, the seventh transformation matrix is calculated.

[0029] Further, the computing the fifth transformation matrix and the sixth transformation matrix respectively comprises:

[0030] According to the pose relationship between the end coordinate system of the robot arm and the execution tool coordinate system, the first transformation matrix, the third transformation matrix, and the seventh transformation matrix, the fifth transformation matrix is calculated.

[0031] According to the first transformation matrix and the second transformation matrix, a first coordinate relationship between the execution tool coordinate system and the optical positioning system coordinate system with the end center of the robot arm at the execution tool coordinate system is established, and a second coordinate relationship between the execution tool coordinate system and the optical positioning system coordinate system with the origin of the execution tool at the execution tool coordinate system is established;

[0032] According to the first coordinate relationship and the second coordinate relationship, the sixth transformation matrix is calculated.

[0033] Further, the determining the calibration relationship expression between the fixed end coordinate system of the robot arm and the optical positioning system coordinate system according to the first transformation matrix, the second transformation matrix, the third transformation matrix, the fourth transformation matrix, the fifth transformation matrix, and the sixth transformation matrix comprises:

[0034] establishing a pose relationship between the optical positioning system coordinate system and the fixed end coordinate system of the robot arm;

[0035] According to the pose relationship between the optical positioning system coordinate system and the fixed end coordinate system of the robot arm, the first transformation matrix, the third transformation matrix, and the fifth transformation matrix, the first calibration update result is calculated.

[0036] According to the second transformation matrix, the third transformation matrix, the fourth transformation matrix, the fifth transformation matrix, and the sixth transformation matrix, the second calibration update result is determined.

[0037] Further, the pose relationship between the optical positioning system coordinate system and the fixed end coordinate system of the robot arm comprises:

[0038]

[0039] wherein, represents a pose relationship between the mechanical arm end coordinate system and the execution tool coordinate system; represents a pose relationship between the mechanical arm fixed end coordinate system and the mechanical arm end coordinate system; represents a pose relationship between the execution tool coordinate system and the optical positioning system coordinate system.

[0040] In a second aspect, the embodiments of the present application provide a mechanical arm self-adaptive calibration method, and the method comprises:

[0041] The identification module is configured to identify whether a relative pose between the mechanical arm fixed end coordinate system and the optical positioning system coordinate system in the calibration system changes;

[0042] The pose relationship acquisition module is configured to acquire a first pose relationship and a second pose relationship in the calibration system in the case that the relative pose between the mechanical arm fixed end coordinate system and the optical positioning system coordinate system in the calibration system changes, wherein the first pose relationship comprises a pose relationship between the mechanical arm moving end coordinate system and the optical positioning system coordinate system, and the second pose relationship comprises a pose relationship between the mechanical arm fixed end coordinate system and the mechanical arm moving end coordinate system.

[0043] The calibration update module is configured to determine a calibration update result of the calibration system according to the first pose relationship, the second pose relationship, and a pre-determined calibration relationship expression between the mechanical arm fixed end coordinate system and the optical positioning system coordinate system.

[0044] Further, the pose relationship acquisition module is specifically configured to:

[0045] calculate a first transformation matrix and a second transformation matrix between the mechanical arm moving end coordinate system and the optical positioning system coordinate system, wherein the first transformation matrix comprises a rotation matrix between the mechanical arm moving end coordinate system and the optical positioning system coordinate system, and the second transformation matrix comprises a translation matrix between the mechanical arm moving end coordinate system and the optical positioning system coordinate system;

[0046] acquire a third transformation matrix and a fourth transformation matrix between the mechanical arm fixed end coordinate system and the mechanical arm moving end coordinate system, wherein the third transformation matrix comprises a rotation matrix between the mechanical arm fixed end coordinate system and the mechanical arm moving end coordinate system, and the fourth transformation matrix comprises a translation matrix between the mechanical arm fixed end coordinate system and the mechanical arm moving end coordinate system.

[0047] Further, the mechanical arm moving end comprises a mechanical arm end and an execution tool, and the execution tool is fixed to the mechanical arm end.

[0048] Correspondingly, the apparatus further comprises:

[0049] a third pose relationship determining module configured to determine a third pose relationship according to a pre-determined pose relationship between the end-of-arm coordinate system of the robot arm and the execution tool coordinate system;

[0050] Correspondingly, the calibration updating module is specifically configured to:

[0051] determine a calibration updating result of the calibration system according to the first pose relationship, the second pose relationship, the third pose relationship, and a pre-determined calibration relationship expression between the fixed-end coordinate system of the robot arm and the optical positioning system coordinate system.

[0052] Further, the pre-determined calibration relationship expression between the fixed-end coordinate system of the robot arm and the optical positioning system coordinate system comprises:

[0053]

[0054] wherein, represents a first calibration updating result of the fixed-end coordinate system of the robot arm and the optical positioning system coordinate system; represents a second calibration updating result of the fixed-end coordinate system of the robot arm and the optical positioning system coordinate system; represents a third transformation matrix between the fixed-end coordinate system of the robot arm and the end-of-arm coordinate system of the robot arm; represents a fourth transformation matrix between the fixed-end coordinate system of the robot arm and the end-of-arm coordinate system of the robot arm; represents a first transformation matrix between the execution tool coordinate system and the optical positioning system coordinate system; represents a second transformation matrix between the execution tool coordinate system and the optical positioning system coordinate system; represents a fifth transformation matrix between the end-of-arm coordinate system of the robot arm and the execution tool coordinate system; represents a sixth transformation matrix between the end-of-arm coordinate system of the robot arm and the execution tool coordinate system.

[0055] Further, the apparatus further comprises:

[0056] a first calculation module configured to calculate the first transformation matrix and the second transformation matrix;

[0057] a second calculation module configured to calculate a seventh transformation matrix between the fixed-end coordinate system of the robot arm and the optical positioning system coordinate system;

[0058] a third calculation module configured to calculate the fifth transformation matrix and the sixth transformation matrix, respectively;

[0059] determine a calibration relationship expression between the fixed end coordinate system of the robot arm and the optical positioning system coordinate system according to the first transformation matrix, the second transformation matrix, the third transformation matrix, the fourth transformation matrix, the fifth transformation matrix, and the sixth transformation matrix.

[0060] Further, the second calculation module is specifically configured to:

[0061] construct a pose relationship between the end coordinate system of the robot arm and the execution tool coordinate system;

[0062] calculate the seventh transformation matrix according to the pose relationship, the first transformation matrix, and the third transformation matrix.

[0063] Further, the third calculation module is specifically configured to:

[0064] calculate the fifth transformation matrix according to the pose relationship between the end coordinate system of the robot arm and the execution tool coordinate system, the first transformation matrix, the third transformation matrix, and the seventh transformation matrix;

[0065] construct a first coordinate relationship between the execution tool coordinate system and the optical positioning system coordinate system with the end center of the robot arm as the origin, and construct a second coordinate relationship between the execution tool coordinate system and the optical positioning system coordinate system with the origin of the execution tool as the origin according to the first transformation matrix and the second transformation matrix;

[0066] calculate the sixth transformation matrix according to the first coordinate relationship and the second coordinate relationship.

[0067] Further, the expression determination module is specifically configured to:

[0068] construct a pose relationship between the optical positioning system coordinate system and the fixed end coordinate system of the robot arm;

[0069] calculate the first calibration update result according to the pose relationship between the optical positioning system coordinate system and the fixed end coordinate system of the robot arm, the first transformation matrix, the third transformation matrix, and the fifth transformation matrix.

[0070] determine the second calibration update result according to the second transformation matrix, the third transformation matrix, the fourth transformation matrix, the fifth transformation matrix, and the sixth transformation matrix.

[0071] Further, the pose relationship between the optical positioning system coordinate system and the fixed end coordinate system of the robot arm includes:

[0072]

[0073] wherein, represents a pose relationship between the mechanical arm end coordinate system and the execution tool coordinate system; represents a pose relationship between the mechanical arm fixed end coordinate system and the mechanical arm end coordinate system; represents a pose relationship between the execution tool coordinate system and the optical positioning system coordinate system.

[0074] In a third aspect, an electronic device is provided, which includes a processor, a memory, and a program or instructions stored in the memory and executable on the processor, and the program or instructions, when executed by the processor, implement the steps of the method according to the first aspect.

[0075] In a fourth aspect, a readable storage medium is provided, which stores a program or instructions, and the program or instructions, when executed by a processor, implement the steps of the method according to the first aspect.

[0076] In a fifth aspect, a chip is provided, which includes a processor and a communication interface, the communication interface and the processor are coupled, and the processor is configured to run a program or instructions to implement the method according to the first aspect.

[0077] In this embodiment, it is identified whether the relative pose between the fixed end coordinate system of the robotic arm and the optical positioning system coordinate system in the calibration system has changed; if so, the first pose relationship and the second pose relationship in the calibration system are obtained; wherein, the first pose relationship includes the pose relationship between the moving end coordinate system of the robotic arm and the optical positioning system coordinate system; the second pose relationship includes the pose relationship between the fixed end coordinate system of the robotic arm and the moving end coordinate system of the robotic arm; the calibration update result of the calibration system is determined according to the first pose relationship, the second pose relationship and the predetermined calibration relationship expression between the fixed end coordinate system of the robotic arm and the optical positioning system coordinate system. The aforementioned adaptive calibration method for robotic arms solves the problems of cumbersome calibration steps, low calibration efficiency, and poor adaptability in existing technologies. By identifying whether the relative pose between the fixed end coordinate system of the robotic arm and the optical positioning system coordinate system in the calibration system has changed, and obtaining the pose relationship between the moving end coordinate system of the robotic arm and the optical positioning system coordinate system, as well as the pose relationship between the fixed end coordinate system and the moving end coordinate system of the robotic arm, the calibration update result of the calibration system is determined based on the first pose relationship, the second pose relationship, and the pre-determined calibration relationship expression between the fixed end coordinate system of the robotic arm and the optical positioning system coordinate system. This allows for calibration updates of the robotic arm system and the optical positioning system without reconstructing the calibration relationship, improving calibration efficiency and adaptability. Attached Figure Description

[0078] Figure 1 This is a flowchart illustrating the adaptive calibration method for a robotic arm provided in Embodiment 1 of this application;

[0079] Figure 2 This is a flowchart illustrating the adaptive calibration method for a robotic arm provided in Embodiment 2 of this application;

[0080] Figure 3 This is a schematic diagram of the structure of the adaptive calibration device for a robotic arm provided in Embodiment 3 of this application;

[0081] Figure 4 This is a schematic diagram of the structure of the electronic device provided in Embodiment 4 of this application. Detailed Implementation

[0082] In order to make the purposes, technical solutions and advantages of the present application clearer, the specific embodiments of the present application are further described in detail below with reference to the drawings. It can be understood that the specific embodiments described herein are only used to explain the present application, but not to limit the present application. In addition, it should be noted that, for the convenience of description, only parts related to the present application are shown in the drawings, but not all. Before discussing the example embodiments in more detail, it should be mentioned that some example embodiments are described as processes or methods depicted as flowcharts. Although the flowcharts describe the operations (or steps) as sequential processes, many of the operations can be implemented in parallel, concurrently or simultaneously. In addition, the order of the operations can be rearranged. The processes can be terminated when the operations are completed, but can also have additional steps not included in the drawings. The processes can correspond to methods, functions, procedures, subroutines, etc.

[0083] The technical solutions in the embodiments of the present application will be described clearly below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, but not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art belong to the scope of protection of the present application.

[0084] The terms "first", "second", and the like in the specification and claims of the present application are used to distinguish similar objects, and are not used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged under appropriate circumstances, so that the embodiments of the present application can be implemented in an order other than those illustrated or described herein, and the objects distinguished by "first", "second", etc. are usually a class, not limited to the number of objects, for example, the first object can be one or more. In addition, "and / or" in the specification and claims means at least one of the connected objects, and the character " / ", generally indicates that the objects before and after are in an "or" relationship.

[0085] The mechanical arm adaptive calibration method, device, equipment and medium provided by the embodiments of the present application will be described in detail below with reference to the drawings, through specific embodiments and application scenarios.

[0086] Embodiment one

[0087] Figure 1 is a flowchart of the mechanical arm adaptive calibration method provided by the first embodiment of the present application. As shown in Figure 1 , the specific steps include the following steps:

[0088] S101, identifying whether the relative pose between the fixed end coordinate system of the mechanical arm in the calibration system and the optical positioning system coordinate system changes;

[0089] Firstly, the use scenario of the present solution can be a scenario of calibrating a mechanical arm system and an optical positioning system, especially a scenario of updating calibration when the relative pose of the mechanical arm and the optical positioning system changes.

[0090] Based on the above use scenario, it can be understood that the execution subject of the present application can be a software or a system platform with data receiving, data processing and encoding calculation capabilities installed on a mobile phone, a computer and a tablet, etc., which is not limited here.

[0091] Among them, the mechanical arm fixed end coordinate system can be a coordinate system constructed by components for installing, fixing and supporting the mechanical arm, such as a mechanical arm base coordinate system. And the position of the mechanical arm fixed end can change. The optical positioning system coordinate system can be a coordinate system constructed by an optical positioning instrument and other engineering positioning tools.

[0092] In an embodiment, whether the relative pose between the mechanical arm fixed end coordinate system and the optical positioning system coordinate system changes can be judged by respectively identifying whether the pose of the mechanical arm fixed end and the pose of the optical positioning system tool change; it can also be identified by installing a marker ball at the end of the mechanical arm and positioning the marker ball by the optical positioning system, and by judging whether the marker ball coordinate configuration changes, whether the relative pose between the mechanical arm fixed end coordinate system and the optical positioning system coordinate system changes, etc., which is not limited here.

[0093] S102, if yes, the first pose relationship and the second pose relationship in the calibration system are obtained; wherein the first pose relationship includes the pose relationship between the mechanical arm moving end coordinate system and the optical positioning system coordinate system; the second pose relationship includes the pose relationship between the mechanical arm fixed end coordinate system and the mechanical arm moving end coordinate system;

[0094] Among them, the mechanical arm moving end coordinate system can be a coordinate system for installing the end of the mechanical arm of the execution tool. The pose relationship can be the rotation relationship and the translation relationship between the coordinate systems.

[0095] In an embodiment, since the mechanical arm moving end coordinate system and the optical positioning system coordinate system can both be represented by three-dimensional coordinate systems, the first pose relationship can be calculated by establishing two three-dimensional coordinate systems respectively. Specifically, the mechanical arm moving end coordinate system and the optical positioning system coordinate system can be established respectively, and the same marker ball can be set, the marker ball can be positioned by the mechanical arm moving end coordinate system and the optical positioning system coordinate system respectively, the coordinate values of the same marker ball under different coordinate systems can be obtained, and then the first pose relationship can be calculated according to the coordinate values.

[0096] In an embodiment, the second pose relationship between the fixed end coordinate system of the robot arm and the moving end coordinate system of the robot arm can be read through data uploaded by the robot arm. The robot arm has the function of obtaining the rotation transformation matrix and the translation transformation matrix between the fixed end coordinate system of the robot arm and the moving end coordinate system of the robot arm.

[0097] Based on the above embodiment, optionally, the obtaining of the first pose relationship and the second pose relationship in the calibration system comprises:

[0098] calculating a first transformation matrix and a second transformation matrix between the moving end coordinate system of the robot arm and the optical positioning system coordinate system; wherein the first transformation matrix comprises a rotation matrix between the moving end coordinate system of the robot arm and the optical positioning system coordinate system; and the second transformation matrix comprises a translation matrix between the moving end coordinate system of the robot arm and the optical positioning system coordinate system.

[0099] obtaining a third transformation matrix and a fourth transformation matrix between the fixed end coordinate system of the robot arm and the moving end coordinate system of the robot arm; wherein the third transformation matrix comprises a rotation matrix between the fixed end coordinate system of the robot arm and the moving end coordinate system of the robot arm; and the fourth transformation matrix comprises a translation matrix between the fixed end coordinate system of the robot arm and the moving end coordinate system of the robot arm.

[0100] In an embodiment, the calculation process of the first pose relationship between the moving end coordinate system of the robot arm and the optical positioning system coordinate system can be to construct the moving end coordinate system S t of the robot arm in the robot arm system by pre-setting at least two marker points, to obtain different coordinate values of the same marker point in the moving end coordinate system S t and the optical positioning system coordinate system S o respectively, and to calculate the coordinate values by SVD decomposition to obtain the first transformation matrix and the second transformation matrix between the moving end coordinate system of the robot arm and the optical positioning system coordinate system. The construction of the moving end coordinate system S t of the robot arm in the robot arm system by pre-setting at least two marker points can be to take the center of the moving end fitting plane as the coordinate origin, to take the unit vector pointing to the center of one of the marker points as the X axis, denoted as v tx , and to take the unit vector pointing to the center of the other marker ball as the Y axis, denoted as v The unit vectors of the Y axis and the Z axis of the moving end coordinate system of the robot arm are calculated by the following formula:

[0101]

[0102] wherein v tz , vty respectively represent the unit vectors of the Y-axis and the Z-axis of the moving end coordinate system of the robot arm.

[0103] In an embodiment, the third transformation matrix and the fourth transformation matrix between the fixed end coordinate system of the robot arm and the moving end coordinate system of the robot arm can be obtained by reading the data reported by the robot; wherein the third transformation matrix comprises a rotation matrix between the fixed end coordinate system of the robot arm and the moving end coordinate system of the robot arm; and the fourth transformation matrix comprises a translation matrix between the fixed end coordinate system of the robot arm and the moving end coordinate system of the robot arm.

[0104] According to the above embodiment, the first pose relationship can be obtained by establishing the coordinate system, and the second pose relationship can be obtained by reading the data of the robot arm. The reliability and efficiency of the first pose relationship and the second pose relationship can be obtained.

[0105] According to the above embodiment, the moving end of the robot arm comprises a robot arm end and an execution tool; and the execution tool is fixed to the robot arm end.

[0106] Correspondingly, the method further comprises:

[0107] According to the predetermined pose relationship between the robot arm end coordinate system and the execution tool coordinate system, a third pose relationship is determined.

[0108] Correspondingly, according to the first pose relationship, the second pose relationship, and the predetermined calibration relationship expression between the fixed end coordinate system of the robot arm and the optical positioning system coordinate system, a calibration update result of the calibration system is determined, comprising:

[0109] According to the first pose relationship, the second pose relationship, the third pose relationship, and the predetermined calibration relationship expression between the fixed end coordinate system of the robot arm and the optical positioning system coordinate system, a calibration update result of the calibration system is determined.

[0110] The third pose relationship can be the pose relationship between the robot arm end coordinate system and the execution tool coordinate system, comprising a rotation relationship and a translation relationship.

[0111] In an embodiment, the moving end of the robot arm comprises a robot arm end and an execution tool, and the execution tool is fixed to the robot arm end. Therefore, the third pose relationship is fixed. The third pose relationship can be determined by calculating the pose relationship between the robot arm end coordinate system and the execution tool coordinate system. Then, according to the first pose relationship, the second pose relationship, the third pose relationship, and the predetermined calibration relationship expression between the fixed end coordinate system of the robot arm and the optical positioning system coordinate system, a calibration update result of the calibration system is determined.

[0112] According to the third pose relationship between the end-of-arm coordinate system and the execution tool coordinate system, and the first pose relationship, the second pose relationship, the third pose relationship, and the pre-determined calibration relationship expression between the fixed end-of-arm coordinate system and the optical positioning system coordinate system, the calibration update result of the calibration system is determined, so that the reliability of calibration update can be improved.

[0113] S103, according to the first pose relationship, the second pose relationship, and the pre-determined calibration relationship expression between the fixed end-of-arm coordinate system and the optical positioning system coordinate system, a calibration update result of the calibration system is determined.

[0114] The calibration relationship expression between the fixed end-of-arm coordinate system and the optical positioning system coordinate system can be a pose relationship expression, including a rotation transformation relationship and a translation transformation relationship.

[0115] In an embodiment, since the execution tool is installed at the end of the arm in the moving end of the arm, the pose relationship between the execution tool coordinate system and the end-of-arm coordinate system is fixed, the pose relationship between the execution tool coordinate system and the end-of-arm coordinate system can be pre-calculated, and then the calibration relationship expression between the fixed end-of-arm coordinate system and the optical positioning system coordinate system is determined according to the first pose relationship, the second pose relationship, the pose relationship between the execution tool coordinate system and the end-of-arm coordinate system, and the pre-determined calibration relationship expression between the fixed end-of-arm coordinate system and the optical positioning system coordinate system, and then the fixed end-of-arm coordinate system and the optical positioning system coordinate system are recalibrated according to the above transformation matrix and expression, so as to obtain the calibration update result of the fixed end-of-arm coordinate system and the optical positioning system coordinate system.

[0116] Based on the above embodiment, the pre-determined calibration relationship expression between the fixed end-of-arm coordinate system and the optical positioning system coordinate system includes:

[0117]

[0118] Among them, The first calibration update result of the fixed end-of-arm coordinate system and the optical positioning system coordinate system is represented; The second calibration update result of the fixed end-of-arm coordinate system and the optical positioning system coordinate system is represented; The third transformation matrix between the fixed end-of-arm coordinate system and the end-of-arm coordinate system is represented; The fourth transformation matrix between the fixed end-of-arm coordinate system and the end-of-arm coordinate system is represented; a first transformation matrix between the execution tool coordinate system and the optical positioning system coordinate system; a second transformation matrix between the execution tool coordinate system and the optical positioning system coordinate system; a fifth transformation matrix between the mechanical arm end coordinate system and the execution tool coordinate system; a sixth transformation matrix between the mechanical arm end coordinate system and the execution tool coordinate system.

[0119] In an embodiment, the pre-determined calibration relationship expression between the mechanical arm fixed end coordinate system and the optical positioning system coordinate system can be expressed by the following formula:

[0120]

[0121] wherein, a first calibration update result between the mechanical arm fixed end coordinate system and the optical positioning system coordinate system; a second calibration update result between the mechanical arm fixed end coordinate system and the optical positioning system coordinate system; a third transformation matrix between the mechanical arm fixed end coordinate system and the mechanical arm end coordinate system; a fourth transformation matrix between the mechanical arm fixed end coordinate system and the mechanical arm end coordinate system; a first transformation matrix between the execution tool coordinate system and the optical positioning system coordinate system; a second transformation matrix between the execution tool coordinate system and the optical positioning system coordinate system; a fifth transformation matrix between the mechanical arm end coordinate system and the execution tool coordinate system; a sixth transformation matrix between the mechanical arm end coordinate system and the execution tool coordinate system.

[0122] According to the scheme, by fixing the execution tool at the mechanical arm end, the pose relationship between the execution tool and the mechanical arm end can be fixed, and by pre-determining the calibration relationship expression between the mechanical arm fixed end coordinate system and the optical positioning system coordinate system, the calibration update efficiency can be improved.

[0123] The technical solution provided in this application identifies whether the relative pose between the fixed end coordinate system of the robotic arm and the coordinate system of the optical positioning system in the calibration system has changed; if so, it obtains the first pose relationship and the second pose relationship in the calibration system; wherein, the first pose relationship includes the pose relationship between the moving end coordinate system of the robotic arm and the coordinate system of the optical positioning system; the second pose relationship includes the pose relationship between the fixed end coordinate system of the robotic arm and the moving end coordinate system of the robotic arm; and the calibration update result of the calibration system is determined based on the first pose relationship, the second pose relationship, and a predetermined calibration relationship expression between the fixed end coordinate system of the robotic arm and the coordinate system of the optical positioning system. The aforementioned adaptive calibration method for robotic arms solves the problems of cumbersome calibration steps, low calibration efficiency, and poor adaptability in existing technologies. By identifying whether the relative pose between the fixed end coordinate system of the robotic arm and the optical positioning system coordinate system in the calibration system has changed, and obtaining the pose relationship between the moving end coordinate system of the robotic arm and the optical positioning system coordinate system, as well as the pose relationship between the fixed end coordinate system and the moving end coordinate system of the robotic arm, the calibration update result of the calibration system is determined based on the first pose relationship, the second pose relationship, and the pre-determined calibration relationship expression between the fixed end coordinate system of the robotic arm and the optical positioning system coordinate system. This allows for calibration updates of the robotic arm system and the optical positioning system without reconstructing the calibration relationship, improving calibration efficiency and adaptability.

[0124] Example 2

[0125] Figure 2 This is a flowchart illustrating the method for determining the calibration relationship expression between the coordinate system of the fixed end of the robotic arm and the coordinate system of the optical positioning system, as provided in Embodiment 2 of this application. Figure 2 As shown, the specific steps include the following:

[0126] S201, Calculate the first transformation matrix and the second transformation matrix;

[0127] S202, Calculate the seventh transformation matrix between the coordinate system of the fixed end of the robotic arm and the coordinate system of the optical positioning system;

[0128] The seventh transformation matrix between the coordinate system of the fixed end of the robotic arm and the coordinate system of the optical positioning system can be a rotation matrix between the coordinate system of the fixed end of the robotic arm and the coordinate system of the optical positioning system.

[0129] In an embodiment, since the fixed end coordinate system of the robot arm is a six-dimensional coordinate system, the seventh transformation matrix between the fixed end coordinate system of the robot arm and the optical positioning system coordinate system can be calculated according to the transformation relationship between each coordinate system among the fixed end coordinate system of the robot arm, the moving end coordinate system of the robot arm, the moving end coordinate system of the robot arm, and the optical positioning system coordinate system.

[0130] Based on the above embodiment, optionally, the calculation of the seventh transformation matrix between the fixed end coordinate system of the robot arm and the optical positioning system coordinate system comprises:

[0131] constructing the pose relationship between the end coordinate system of the robot arm and the execution tool coordinate system;

[0132] calculating the seventh transformation matrix according to the pose relationship, the first transformation matrix, and the third transformation matrix.

[0133] The pose relationship can be the relative pose relationship between the end coordinate system of the robot arm and the execution tool coordinate system, including the rotation relationship and the translation relationship.

[0134] In an embodiment, since the first transformation matrix has been calculated in step S201 and is a known quantity, the third transformation matrix can be directly read and is also a known quantity, and the pose relationship between the end coordinate system of the robot arm and the execution tool coordinate system is a fixed relationship, therefore, the pose relationship between the end coordinate system of the robot arm and the execution tool coordinate system can be constructed according to the transformation relationship among the first transformation matrix, the third transformation matrix, the fifth transformation matrix, and the seventh transformation matrix, and then the seventh transformation matrix can be calculated according to the pose relationship and the above transformation matrices. Specifically, the optical positioning system coordinate system can be defined as S o , the fixed end coordinate system of the robot arm can be defined as S b , the moving end coordinate system of the robot arm can be defined as S e , and the pose relationship between the end coordinate system of the robot arm and the execution tool coordinate system can be constructed by using the following formula:

[0135]

[0136] wherein, represents the pose relationship between the moving end coordinate system of the robot arm and the fixed end coordinate system of the robot arm; represents the pose relationship between the optical positioning system coordinate system and the moving end coordinate system of the robot arm; represents the pose relationship between the fixed end coordinate system of the robot arm and the optical positioning system coordinate system.

[0137] The coordinates of any marker point in the moving end coordinate system of the robot arm i Pt and the coordinate of the point in the moving end coordinate system of the robot arm i P e The relationship can be expressed by the following formula:

[0138]

[0139] Using the above formula, the coordinate relationship between the marker point i and the marker point i+1 in the end coordinate system of the robot arm and the execution tool coordinate system can be calculated. Since the fifth transformation matrix is fixed, is equal to and is equal to that is When only considering the rotation transformation between coordinate systems, the above formula can be rearranged as follows:

[0140]

[0141] Let Then the above formula can be equivalent to AX = XB, and then the seventh transformation matrix can be obtained according to the Lie group algorithm.

[0142] According to the characteristics that the pose relationship between coordinate systems is unchanged when the relative position of the robot arm system and the optical positioning system is unchanged, the rotation matrix between the fixed end coordinate system of the robot arm and the optical positioning system coordinate system is calculated using the calculated and obtained rotation matrix, which simplifies the calculation steps and improves the calculation efficiency.

[0143] S203, the fifth transformation matrix and the sixth transformation matrix are calculated respectively;

[0144] The fifth transformation matrix can be a rotation transformation matrix between the end coordinate system of the robot arm and the execution tool coordinate system. The sixth transformation matrix can be a translation transformation matrix between the end coordinate system of the robot arm and the execution tool coordinate system.

[0145] In an embodiment, the moving end of the robot arm is fixedly installed on the moving end of the robot arm and moves uniformly with the moving end of the robot arm, so that the pose relationship between the end coordinate system of the robot arm and the execution tool coordinate system is fixed. The pose relationship can be represented by a rotation matrix and a translation matrix between coordinate systems. Specifically, the fifth transformation matrix and the sixth transformation matrix can be obtained by a sensor installed on the moving end of the robot arm, and the fifth transformation matrix and the sixth transformation matrix can also be calculated according to the relationship between the above transformation matrices.

[0146] Based on the above embodiment, the fifth transformation matrix and the sixth transformation matrix can be calculated respectively, comprising:​

[0147] According to the pose relationship between the robot arm end coordinate system and the execution tool coordinate system, the first transformation matrix, the third transformation matrix, and the seventh transformation matrix, the fifth transformation matrix is calculated.

[0148] According to the first transformation matrix and the second transformation matrix, a first coordinate relationship between the robot arm end center and the execution tool coordinate system and the optical positioning system coordinate system is constructed, and a second coordinate relationship between the execution tool origin and the execution tool coordinate system and the optical positioning system coordinate system is constructed.

[0149] According to the first coordinate relationship and the second coordinate relationship, the sixth transformation matrix is calculated.

[0150] In an embodiment, the pose relationship between the robot arm end coordinate system and the execution tool coordinate system can be represented by the following formula:

[0151]

[0152] Further, according to the pose relationship between the robot arm end coordinate system and the execution tool coordinate system, the first transformation matrix, the third transformation matrix, and the seventh transformation matrix, the fifth transformation matrix is calculated. Specifically, when only considering the rotation transformation between coordinate systems, the fifth transformation matrix can be calculated by the following formula:

[0153]

[0154] wherein, represents the seventh transformation matrix; represents the third transformation matrix; represents the first transformation matrix; represents the fifth transformation matrix.

[0155] In an embodiment, according to the first transformation matrix and the second transformation matrix, a first coordinate relationship between the robot arm moving end center and the robot arm moving end coordinate system and the optical positioning system coordinate system is constructed, and a second coordinate relationship between the robot arm moving end origin and the robot arm moving end coordinate system and the optical positioning system coordinate system is constructed, and further, according to the first coordinate relationship and the second coordinate relationship, the sixth transformation matrix is calculated. Specifically, the first coordinate relationship and the second coordinate relationship can be represented by the following formula:

[0156]

[0157] wherein, represents the three-dimensional coordinates of the center of the moving end of the robot arm in the moving end coordinate system of the robot arm, represents the three-dimensional coordinates of the center of the moving end of the robot arm in the optical positioning system coordinate system, represents the coordinates of the origin of the moving end of the robot arm in the optical positioning system coordinate system; represents the coordinates of the origin of the moving end of the robot arm in the moving end coordinate system of the robot arm, is the first transformation matrix; is the second transformation matrix. The coordinates of the origin of the moving end of the robot arm in the moving end coordinate system of the robot arm are 0, so

[0158] The position of the center of the moving end of the robot arm is fixed, and the robot arm is controlled to rotate around the center of the moving end of the robot arm, at this time, and The above formula is calculated to obtain the following formula:

[0159]

[0160] The arrangement can obtain:

[0161]

[0162] The robot arm is controlled to move to different poses, and different attitude and record the different attitude and and the equation is extended to obtain:

[0163]

[0164] Let The above formula can be converted into a linear overdetermined equation CX=D. Where C and D have been calculated, X is the sixth transformation matrix, that is Therefore, the sixth transformation matrix can be calculated by the following formula:

[0165]

[0166] According to the pose relationship between the mechanical arm end coordinate system and the execution tool coordinate system, the first transformation matrix, the third transformation matrix, and the seventh transformation matrix, the fifth transformation matrix is calculated, and the first coordinate relationship and the second coordinate relationship between the mechanical arm moving end coordinate system and the optical positioning system coordinate system are constructed, and then according to the first coordinate relationship and the second coordinate relationship, the sixth transformation matrix is calculated, so that the efficiency and reliability of calculating the rotation transformation matrix and the translation transformation matrix between the mechanical arm end coordinate system and the execution tool coordinate system are improved.

[0167] In S204, according to the first transformation matrix, the second transformation matrix, the third transformation matrix, the fourth transformation matrix, the fifth transformation matrix, and the sixth transformation matrix, a calibration relationship expression between the mechanical arm fixed end coordinate system and the optical positioning system coordinate system is determined.

[0168] The calibration relationship expression between the mechanical arm fixed end coordinate system and the optical positioning system coordinate system can be the above-mentioned pose relationship expression between the coordinate systems, including a rotation relationship expression and a translation relationship expression.

[0169] In an embodiment, according to the pose relationship between the mechanical arm system coordinate system and the optical positioning system coordinate system, and the first transformation matrix, the second transformation matrix, the third transformation matrix, the fourth transformation matrix, the fifth transformation matrix, and the sixth transformation matrix calculated or read in the above-mentioned steps, the calibration relationship expression between the mechanical arm fixed end coordinate system and the optical positioning system coordinate system is determined.

[0170] Based on the above-mentioned embodiment, optionally, the calibration relationship expression between the mechanical arm fixed end coordinate system and the optical positioning system coordinate system is determined according to the first transformation matrix, the second transformation matrix, the third transformation matrix, the fourth transformation matrix, the fifth transformation matrix, and the sixth transformation matrix, including:

[0171] The pose relationship between the optical positioning system coordinate system and the mechanical arm fixed end coordinate system is constructed;

[0172] According to the pose relationship between the optical positioning system coordinate system and the mechanical arm fixed end coordinate system, the first transformation matrix, the third transformation matrix, and the fifth transformation matrix, the first calibration update result is calculated;

[0173] According to the second transformation matrix, the third transformation matrix, the fourth transformation matrix, the fifth transformation matrix, and the sixth transformation matrix, the second calibration update result is determined.

[0174] The first calibration update result can be the rotation transformation matrix between the optical positioning system coordinate system and the robot arm fixed end coordinate system after the relative pose of the two coordinate systems changes. The second calibration update result is the translation transformation matrix between the optical positioning system coordinate system and the robot arm fixed end coordinate system after the relative pose of the two coordinate systems changes.

[0175] In one embodiment, the coordinates P of the same marker point in the coordinate system of the fixed end of the robotic arm are... b The coordinates P of the marker point in the optical positioning system coordinate system o The coordinate relationship between them can be calculated using the following formula:

[0176]

[0177] The pose relationship between the coordinate system of the optical positioning system and the coordinate system of the fixed end of the robotic arm can be expressed by the following formula:

[0178]

[0179] When the relative pose between the coordinate system of the fixed end of the robotic arm and the coordinate system of the optical positioning system changes, since the third transformation matrix can be directly read from the robotic arm, the fifth transformation matrix is ​​a constant, and the first transformation matrix can be obtained by constructing a three-dimensional coordinate system, the first calibration update result can be calculated using the following formula, considering only rotational transformation:

[0180]

[0181] Considering both rotation and translation transformations, the following formula can be derived using the pose relationship between the coordinate system of the optical positioning system and the coordinate system of the fixed end of the robotic arm.

[0182]

[0183] The second calibration update result can be calculated using the above formula based on the second transformation matrix, the third transformation matrix, the fourth transformation matrix, the fifth transformation matrix, and the sixth transformation matrix.

[0184] Therefore, the calibration relationship between the coordinate system of the fixed end of the robotic arm and the coordinate system of the optical positioning system can be expressed by the following formula:

[0185]

[0186] The pose relationship between the optical positioning system coordinate system and the fixed end coordinate system of the mechanical arm is constructed, and the first calibration update result is calculated according to the pose relationship, the first transformation matrix, the third transformation matrix and the fifth transformation matrix, and the second calibration update result is determined according to the second transformation matrix, the third transformation matrix, the fourth transformation matrix, the fifth transformation matrix and the sixth transformation matrix, so that the calibration calculation method is simplified, and the calibration update efficiency is improved.

[0187] Based on the above embodiment, optionally, the pose relationship between the optical positioning system coordinate system and the fixed end coordinate system of the mechanical arm includes:

[0188]

[0189] wherein, represents the pose relationship between the end coordinate system of the mechanical arm and the execution tool coordinate system; represents the pose relationship between the fixed end coordinate system of the mechanical arm and the end coordinate system of the mechanical arm; represents the pose relationship between the execution tool coordinate system and the optical positioning system coordinate system.

[0190] In an embodiment, since the pose relationship between the moving end of the mechanical arm and the moving end of the mechanical arm is fixed, the pose relationship between the fixed end of the mechanical arm and the moving end of the mechanical arm can be directly read by the mechanical arm, and therefore, the pose relationship between the optical positioning system coordinate system and the fixed end coordinate system of the mechanical arm can be represented by the following formula:

[0191]

[0192] wherein, represents the pose relationship between the end coordinate system of the mechanical arm and the execution tool coordinate system; represents the pose relationship between the fixed end coordinate system of the mechanical arm and the moving end coordinate system of the mechanical arm; represents the pose relationship between the moving end coordinate system of the mechanical arm and the optical positioning system coordinate system.

[0193] The pose relationship between the optical positioning system coordinate system and the fixed end coordinate system of the mechanical arm is represented as The calculation step of the pose relationship can be simplified, and the calibration update efficiency of the optical positioning system coordinate system and the fixed end coordinate system of the mechanical arm can be improved.

[0194] The technical scheme provided in the embodiments of the present application comprises: calculating the first transformation matrix and the second transformation matrix; calculating a seventh transformation matrix of the fixed end coordinate system of the mechanical arm and the coordinate system of the optical positioning system; calculating the fifth transformation matrix and the sixth transformation matrix respectively; and determining an expression of the calibration relationship between the fixed end coordinate system of the mechanical arm and the coordinate system of the optical positioning system according to the first transformation matrix, the second transformation matrix, the third transformation matrix, the fourth transformation matrix, the fifth transformation matrix and the sixth transformation matrix. Through the above method for determining the expression of the calibration relationship between the fixed end coordinate system of the mechanical arm and the coordinate system of the optical positioning system, the calculation steps of the conversion relationship between the coordinate systems can be simplified, and the efficiency of constructing and calculating the expression can be improved.

[0195] Embodiment three

[0196] Figure 3 is a structural schematic diagram of a mechanical arm adaptive calibration device provided in Embodiment three of the present application. As shown in Figure 3 , it specifically comprises the following:

[0197] The recognition module 301 is configured to recognize whether the relative pose between the fixed end coordinate system of the mechanical arm and the coordinate system of the optical positioning system in the calibration system changes.

[0198] The pose relationship acquisition module 302 is configured to acquire a first pose relationship and a second pose relationship in the calibration system when it is recognized that the relative pose between the fixed end coordinate system of the mechanical arm and the coordinate system of the optical positioning system in the calibration system changes. The first pose relationship comprises the pose relationship between the moving end coordinate system of the mechanical arm and the coordinate system of the optical positioning system. The second pose relationship comprises the pose relationship between the fixed end coordinate system of the mechanical arm and the moving end coordinate system of the mechanical arm.

[0199] The calibration update module 303 is configured to determine a calibration update result of the calibration system according to the first pose relationship, the second pose relationship and a pre-determined expression of the calibration relationship between the fixed end coordinate system of the mechanical arm and the coordinate system of the optical positioning system.

[0200] Further, the pose relationship acquisition module 302 is specifically configured to:

[0201] calculate a first transformation matrix and a second transformation matrix between the moving end coordinate system of the mechanical arm and the coordinate system of the optical positioning system. The first transformation matrix comprises a rotation matrix between the moving end coordinate system of the mechanical arm and the coordinate system of the optical positioning system. The second transformation matrix comprises a translation matrix between the moving end coordinate system of the mechanical arm and the coordinate system of the optical positioning system.

[0202] obtaining a third transformation matrix and a fourth transformation matrix between the fixed end coordinate system of the robot arm and the moving end coordinate system of the robot arm; wherein the third transformation matrix comprises a rotation matrix between the fixed end coordinate system of the robot arm and the moving end coordinate system of the robot arm; and the fourth transformation matrix comprises a translation matrix between the fixed end coordinate system of the robot arm and the moving end coordinate system of the robot arm.

[0203] Further, the moving end of the robot arm comprises a robot arm end and an execution tool; and the execution tool is fixed to the robot arm end.

[0204] Correspondingly, the device further comprises:

[0205] a third pose relationship determination module configured to determine a third pose relationship according to a pre-determined pose relationship between the robot arm end coordinate system and the execution tool coordinate system.

[0206] Correspondingly, the calibration update module is specifically configured to:

[0207] determine a calibration update result of the calibration system according to the first pose relationship, the second pose relationship, the third pose relationship, and a pre-determined calibration relationship expression between the fixed end coordinate system of the robot arm and the optical positioning system coordinate system.

[0208] Further, the pre-determined calibration relationship expression between the fixed end coordinate system of the robot arm and the optical positioning system coordinate system comprises:

[0209]

[0210] wherein, represents a first calibration update result of the fixed end coordinate system of the robot arm and the optical positioning system coordinate system; represents a second calibration update result of the fixed end coordinate system of the robot arm and the optical positioning system coordinate system; represents a third transformation matrix between the fixed end coordinate system of the robot arm and the robot arm end coordinate system; represents a fourth transformation matrix between the fixed end coordinate system of the robot arm and the robot arm end coordinate system; represents a first transformation matrix between the execution tool coordinate system and the optical positioning system coordinate system; represents a second transformation matrix between the execution tool coordinate system and the optical positioning system coordinate system; represents a fifth transformation matrix between the robot arm end coordinate system and the execution tool coordinate system; represents a sixth transformation matrix between the robot arm end coordinate system and the execution tool coordinate system.

[0211] Further, the apparatus further comprises:

[0212] a first calculation module configured to calculate the first transformation matrix and the second transformation matrix;

[0213] a second calculation module configured to calculate a seventh transformation matrix between the fixed end coordinate system of the robot arm and the coordinate system of the optical positioning system;

[0214] a third calculation module configured to calculate the fifth transformation matrix and the sixth transformation matrix respectively;

[0215] an expression determination module configured to determine a calibration expression between the fixed end coordinate system of the robot arm and the coordinate system of the optical positioning system according to the first transformation matrix, the second transformation matrix, the third transformation matrix, the fourth transformation matrix, the fifth transformation matrix and the sixth transformation matrix.

[0216] Further, the second calculation module is specifically configured to:

[0217] construct a pose relationship between the end coordinate system of the robot arm and the coordinate system of the execution tool;

[0218] calculate the seventh transformation matrix according to the pose relationship, the first transformation matrix and the third transformation matrix.

[0219] Further, the third calculation module is specifically configured to:

[0220] calculate the fifth transformation matrix according to the pose relationship between the end coordinate system of the robot arm and the coordinate system of the execution tool, the first transformation matrix, the third transformation matrix and the seventh transformation matrix;

[0221] construct a first coordinate relationship between the execution tool coordinate system and the optical positioning system coordinate system with the center of the end of the robot arm as the origin, and construct a second coordinate relationship between the execution tool coordinate system and the optical positioning system coordinate system with the origin of the execution tool as the origin according to the first transformation matrix and the second transformation matrix;

[0222] calculate the sixth transformation matrix according to the first coordinate relationship and the second coordinate relationship.

[0223] Further, the expression determination module is specifically configured to:

[0224] construct a pose relationship between the coordinate system of the optical positioning system and the fixed end coordinate system of the robot arm;

[0225] According to the pose relationship between the optical positioning system coordinate system and the mechanical arm fixed end coordinate system, the first transformation matrix, the third transformation matrix, and the fifth transformation matrix, the first calibration update result is calculated.

[0226] According to the second transformation matrix, the third transformation matrix, the fourth transformation matrix, the fifth transformation matrix, and the sixth transformation matrix, the second calibration update result is determined.

[0227] Further, the pose relationship between the optical positioning system coordinate system and the mechanical arm fixed end coordinate system includes:

[0228]

[0229] wherein, indicates the pose relationship between the mechanical arm end coordinate system and the execution tool coordinate system; indicates the pose relationship between the mechanical arm fixed end coordinate system and the mechanical arm end coordinate system; indicates the pose relationship between the execution tool coordinate system and the optical positioning system coordinate system.

[0230] The technical scheme provided in the embodiments of the present application comprises: a recognition module, configured to recognize whether a relative pose between a fixed end coordinate system of a robot arm in a calibration system and a coordinate system of an optical positioning system changes; a pose relationship acquisition module, configured to acquire a first pose relationship and a second pose relationship in the calibration system in a case where it is recognized that the relative pose between the fixed end coordinate system of the robot arm in the calibration system and the coordinate system of the optical positioning system changes; wherein the first pose relationship comprises a pose relationship between a moving end coordinate system of the robot arm and the coordinate system of the optical positioning system; the second pose relationship comprises a pose relationship between the fixed end coordinate system of the robot arm and the moving end coordinate system of the robot arm; and a calibration update module, configured to determine a calibration update result of the calibration system according to the first pose relationship, the second pose relationship, and a predetermined calibration relationship expression between the fixed end coordinate system of the robot arm and the coordinate system of the optical positioning system. Through the above robot arm self-adaptive calibration device, the problems of complicated calibration steps, low calibration efficiency, and poor adaptability of the calibration method in the prior art are solved. By recognizing whether the relative pose between the fixed end coordinate system of the robot arm in the calibration system and the coordinate system of the optical positioning system changes, and acquiring the pose relationship between the moving end coordinate system of the robot arm and the coordinate system of the optical positioning system and the pose relationship between the fixed end coordinate system of the robot arm and the moving end coordinate system of the robot arm in the calibration system, and then determining the calibration update result of the calibration system according to the first pose relationship, the second pose relationship, and the predetermined calibration relationship expression between the fixed end coordinate system of the robot arm and the coordinate system of the optical positioning system, the robot arm system and the optical positioning system can be calibrated and updated without the need to re-construct the calibration relationship, and the calibration efficiency and the adaptability of the calibration method are improved.

[0231] The robot arm self-adaptive calibration device in the embodiments of the present application can be a device, or a component, an integrated circuit, or a chip in a terminal. The device can be a mobile electronic device or a non-mobile electronic device. Exemplarily, the mobile electronic device can be a mobile phone, a tablet computer, a notebook computer, a palm computer, a vehicle-mounted electronic device, a wearable device, an ultra-mobile personal computer (UMPC), a netbook, or a personal digital assistant (PDA), etc., and the non-mobile electronic device can be a server, a network attached storage (NAS), a personal computer (PC), a television (TV), a teller machine, or a self-service machine, etc., and the embodiments of the present application are not limited in this regard.

[0232] The mechanical arm adaptive calibration device in the embodiments of the present applicationapplicationbe a device with an operating system. The operating systemapplicationbe an Android operating system, an ios operating system, or other possible operating systems, and the embodiments of the present application do not make specific limitations.

[0233] The mechanical arm adaptive calibration device provided in the embodiments of the present applicationapplicationimplement the various processes implemented by the method embodiments described above, and thus repeated descriptions are not given herein.

[0234] Embodiment Four

[0235] As shown in Figure 4 The embodiments of the present application also provide an electronic device 400, which includes a processor 401, a memory 402, and a program or instruction stored in the memory 402 and executable on the processor 401. When the program or instruction is executed by the processor 401, the various processes of the mechanical arm adaptive calibration device embodiments described above are implemented, and the same technical effects are achieved. Thus, repeated descriptions are not given herein.

[0236] It should be noted that the electronic device in the embodiments of the present applicationapplicationinclude the mobile electronic device and the non-mobile electronic device described above.

[0237] Embodiment Five

[0238] The embodiments of the present application also provide a readable storage medium having a program or instruction stored thereon. When the program or instruction is executed by a processor, the various processes of the mechanical arm adaptive calibration device embodiments described above are implemented, and the same technical effects are achieved. Thus, repeated descriptions are not given herein.

[0239] The processorapplicationbe the processor in the electronic device described in the embodiments above. The readable storage mediumapplicationinclude a computer readable storage medium, such as a computer readable only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, and the like.

[0240] Embodiment Six

[0241] The embodiments of the present application also provide a chip, which includes a processor and a communication interface. The communication interface is coupled to the processor, and the processorapplicationbe configured to execute a program or instruction to implement the various processes of the mechanical arm adaptive calibration device embodiments described above, and achieve the same technical effects. Thus, repeated descriptions are not given herein.

[0242] It should be understood that the chip mentioned in the embodiments of the present applicationapplicationalso be referred to as a system-level chip, a system chip, a chip system, or a system-on-chip, and the like.

[0243] It should be noted that, in the present document, the terms "comprises", "comprising", or any other variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can include other elements not expressly listed or inherent to such process, method, article, or apparatus. An element proceeded by "comprises a", "comprising", or "includes a", does not, without more constraints, preclude the existence of additional identical elements in the process, method, article, or apparatus that comprises the element. Additionally, it should be noted that the methods and apparatus of the present embodiments are not limited by the order of the steps or the sequence for performing the steps, as some steps can occur in different orders and / or concurrently with each other. Furthermore, the features of certain examples can be combined with features of other examples.

[0244] From the above description of the embodiments, it is apparent that the above-mentioned method of the embodiments can be realized by means of software and necessary universal hardware platforms, of course, can also be realized by hardware, but in many cases, the former is a better embodiment. Based on such understanding, the technical solutions of the present application can be embodied in the form of a computer software product, which is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk), and includes a plurality of instructions for making a terminal (which can be a mobile phone, computer, server, or network equipment, etc.) execute the method described in each embodiment of the present application.

[0245] The embodiments of the present application are described above in conjunction with the accompanying drawings, but the present application is not limited to the above-mentioned specific embodiments, and the above-mentioned specific embodiments are only illustrative, not restrictive, and those skilled in the art can make many forms under the inspiration of the present application without departing from the scope of the present application and the protection scope of the claims.

[0246] The above are only the preferred embodiments of the present application and the technical principles used. The present application is not limited to the specific embodiments described herein, and various obvious changes, readjustments and replacements made by those skilled in the art do not deviate from the protection scope of the present application. Therefore, although the present application has been described in more detail through the above embodiments, the present application is not limited to the above embodiments, and can include more other equivalent embodiments without deviating from the concept of the present application, and the scope of the present application is determined by the scope of the claims.

Claims

1. An adaptive calibration method for a robotic arm, characterized in that, The method comprises: identifying whether a relative pose between a fixed end coordinate system of a robot arm in a calibration system and a coordinate system of an optical positioning system changes; if so, obtaining a first pose relationship and a second pose relationship in the calibration system; wherein the first pose relationship comprises a pose relationship between a moving end coordinate system of the robot arm and the coordinate system of the optical positioning system; the second pose relationship comprises a pose relationship between the fixed end coordinate system of the robot arm and the moving end coordinate system of the robot arm; determining a calibration update result of the calibration system according to the first pose relationship, the second pose relationship, and a predetermined calibration relationship expression between the fixed end coordinate system of the robot arm and the coordinate system of the optical positioning system; the obtaining of the first pose relationship and the second pose relationship in the calibration system comprises: calculating a first transformation matrix and a second transformation matrix between the moving end coordinate system of the robot arm and the coordinate system of the optical positioning system; wherein the first transformation matrix comprises a rotation matrix between the moving end coordinate system of the robot arm and the coordinate system of the optical positioning system; the second transformation matrix comprises a translation matrix between the moving end coordinate system of the robot arm and the coordinate system of the optical positioning system; obtaining a third transformation matrix and a fourth transformation matrix between the fixed end coordinate system of the robot arm and the moving end coordinate system of the robot arm; wherein the third transformation matrix comprises a rotation matrix between the fixed end coordinate system of the robot arm and the moving end coordinate system of the robot arm; the fourth transformation matrix comprises a translation matrix between the fixed end coordinate system of the robot arm and the moving end coordinate system of the robot arm.

2. The method of claim 1, wherein, the moving end of the robot arm comprises a robot arm tip and an execution tool; the execution tool is fixed to the robot arm tip; correspondingly, the method further comprises: determining a third pose relationship according to a predetermined pose relationship between a robot arm tip coordinate system and an execution tool coordinate system; correspondingly, the determining of the calibration update result of the calibration system according to the first pose relationship, the second pose relationship, and the predetermined calibration relationship expression between the fixed end coordinate system of the robot arm and the coordinate system of the optical positioning system comprises: determining the calibration update result of the calibration system according to the first pose relationship, the second pose relationship, the third pose relationship, and the predetermined calibration relationship expression between the fixed end coordinate system of the robot arm and the coordinate system of the optical positioning system.

3. The method of claim 2, wherein, the predetermined calibration relationship expression between the fixed end coordinate system of the robot arm and the coordinate system of the optical positioning system comprises: ； wherein, denotes a first calibration update result of the fixed end coordinate system of the robot arm and the optical positioning system coordinate system; denotes a second calibration update result of the fixed end coordinate system of the robot arm and the optical positioning system coordinate system; denotes a third transformation matrix between the fixed end coordinate system of the robot arm and the end coordinate system of the robot arm; denotes a fourth transformation matrix between the fixed end coordinate system of the robot arm and the end coordinate system of the robot arm; denotes a first transformation matrix between the execution tool coordinate system and the optical positioning system coordinate system; denotes a second transformation matrix between the execution tool coordinate system and the optical positioning system coordinate system; denotes a fifth transformation matrix between the end coordinate system of the robot arm and the execution tool coordinate system; denotes a sixth transformation matrix between the end coordinate system of the robot arm and the execution tool coordinate system.

4. The method of claim 3, wherein, a determination process of the calibration relationship expression between the fixed end coordinate system of the robot arm and the coordinate system of the optical positioning system comprises: calculating the first transformation matrix and the second transformation matrix; calculating a seventh transformation matrix of the fixed end coordinate system of the robot arm and the coordinate system of the optical positioning system; respectively calculating the fifth transformation matrix and the sixth transformation matrix; According to the first transformation matrix, the second transformation matrix, the third transformation matrix, the fourth transformation matrix, the fifth transformation matrix, and the sixth transformation matrix, a calibration relationship expression between the fixed end coordinate system of the mechanical arm and the optical positioning system coordinate system is determined.

5. The method of claim 4, wherein, The calculation of the seventh transformation matrix of the fixed end coordinate system of the mechanical arm and the optical positioning system coordinate system comprises: The pose relationship between the end coordinate system of the mechanical arm and the execution tool coordinate system is constructed; According to the pose relationship, the first transformation matrix, and the third transformation matrix, the seventh transformation matrix is calculated.

6. The method of claim 4, wherein, The calculation of the fifth transformation matrix and the sixth transformation matrix respectively comprises: According to the pose relationship between the end coordinate system of the mechanical arm and the execution tool coordinate system, the first transformation matrix, the third transformation matrix, and the seventh transformation matrix, the fifth transformation matrix is calculated; According to the first transformation matrix and the second transformation matrix, a first coordinate relationship between the execution tool coordinate system and the optical positioning system coordinate system with the center of the end of the mechanical arm, and a second coordinate relationship between the execution tool coordinate system and the optical positioning system coordinate system with the origin of the execution tool are constructed; According to the first coordinate relationship and the second coordinate relationship, the sixth transformation matrix is calculated.

7. The method of claim 4, wherein, The determination of the calibration relationship expression between the fixed end coordinate system of the mechanical arm and the optical positioning system coordinate system according to the first transformation matrix, the second transformation matrix, the third transformation matrix, the fourth transformation matrix, the fifth transformation matrix, and the sixth transformation matrix comprises: The pose relationship between the optical positioning system coordinate system and the fixed end coordinate system of the mechanical arm is constructed; According to the pose relationship between the optical positioning system coordinate system and the fixed end coordinate system of the mechanical arm, the first transformation matrix, the third transformation matrix, and the fifth transformation matrix, the first calibration update result is calculated; According to the second transformation matrix, the third transformation matrix, the fourth transformation matrix, the fifth transformation matrix, and the sixth transformation matrix, the second calibration update result is determined.

8. The method of claim 7, wherein, The pose relationship between the optical positioning system coordinate system and the fixed end coordinate system of the mechanical arm comprises: ； wherein, represents a pose relationship between the mechanical arm end coordinate system and the execution tool coordinate system; represents a pose relationship between the mechanical arm fixed end coordinate system and the mechanical arm end coordinate system; represents a pose relationship between the execution tool coordinate system and the optical positioning system coordinate system.

9. The method of claim 1, wherein, The device for implementing the method comprises: The recognition module is configured to recognize whether the relative pose between the fixed end coordinate system of the mechanical arm and the optical positioning system coordinate system in the calibration system changes. The pose relationship acquisition module is configured to acquire a first pose relationship and a second pose relationship in the calibration system when it is identified that the relative pose between the fixed end coordinate system of the robot arm and the optical positioning system coordinate system in the calibration system changes, wherein the first pose relationship includes a pose relationship between the moving end coordinate system of the robot arm and the optical positioning system coordinate system, and the second pose relationship includes a pose relationship between the fixed end coordinate system of the robot arm and the moving end coordinate system of the robot arm. The calibration updating module is configured to determine a calibration updating result of the calibration system according to the first pose relationship, the second pose relationship, and a pre-determined calibration relationship expression between the fixed end coordinate system of the robot arm and the optical positioning system coordinate system.

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