Robot calibration method, device and electronic equipment

Abstract

The application provides a robot calibration method and device and electronic equipment, obtains standard position coordinate values corresponding to concave points and multiple sets of measured position coordinate values to determine an error matrix; determines a first update matrix from NDI binocular vision to the robot end according to the multiple sets of measured position coordinate values and the error matrix; if the error matrix meets a preset threshold, determines a target update matrix from the robot flange to the robot end according to the first update matrix, a first conversion matrix from the NDI binocular vision to the robot base and a second conversion matrix from the robot base to the robot flange, to calibrate the robot. This method only needs to click the concave points by the probe to quickly collect multiple sets of measured position coordinate values, compares the error matrix with the preset threshold to determine whether the calibration is accurate, and after the preset threshold is met, quickly calibrates the robot through matrix conversion, thereby improving the calibration efficiency of the robot.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robots, in particular to a robot calibration method and device and electronic equipment. BACKGROUND

[0002] When a dental implant surgery needs to be performed, after image registration and oral robot arm registration are completed, due to position and posture adjustment of external optical instruments or due to deformation of a used instrument during use, system accuracy calibration needs to be performed before the dental implant, and in the related art, the oral robot usually needs to be sent to a special robot calibration mechanism for professional calibration and calibration, and since calibration cannot be performed on site, the calibration efficiency of the robot is reduced. SUMMARY

[0003] The present application relates to the technical field of robots, in particular to a robot calibration method and device and electronic equipment.

[0004] The present application provides a robot calibration method, and the robot end holds a correction block, and the correction block is provided with a concave point; the method comprises the following steps: obtaining a standard position coordinate value corresponding to the concave point and a plurality of groups of measured position coordinate values; wherein each group of measured position coordinate values is obtained by clicking the concave point by a preset probe; each group of measured position coordinate values is a coordinate value in an NDI binocular vision coordinate system; determining an error matrix according to the plurality of groups of measured position coordinate values and the standard position coordinate value; determining a first update matrix from the NDI binocular vision to the robot end according to the plurality of groups of measured position coordinate values and the error matrix; if the error matrix satisfies a preset threshold, determining a target update matrix from the robot end to the robot flange according to the first update matrix, and a first conversion matrix from the NDI binocular vision to the robot base and a second conversion matrix from the robot base to the robot flange which are obtained in advance, so as to calibrate the robot according to the target update matrix.

[0005] Further, the step of determining the error matrix according to the plurality of groups of measured position coordinate values and the standard position coordinate value comprises: determining a first deviation matrix according to the plurality of groups of measured position coordinate values and the standard position coordinate value; and determining the error matrix according to the first deviation matrix.

[0006] Further, the step of determining the first deviation matrix according to the plurality of groups of measured position coordinate values and the standard position coordinate value comprises: calculating a difference value between each group of measured position coordinate values and the standard position coordinate value respectively; and determining the first deviation matrix according to the plurality of difference values.

[0007] Further, the step of determining the error matrix according to the first deviation matrix comprises: constructing an objective function based on the plurality of sets of measured position coordinate values; determining a first calibration matrix according to the objective function; and solving the error matrix according to the first deviation matrix and the first calibration matrix by using a least square method.

[0008] Further, the method further comprises: if the error matrix does not satisfy the preset threshold, repeatedly performing the steps of obtaining the standard position coordinate value corresponding to the concave point and the plurality of sets of measured position coordinate values until the error matrix satisfies the preset threshold.

[0009] The application provides a robot calibration device, the robot end holds a correction block, and the correction block is provided with a concave point; the device comprises: an acquisition module, configured to acquire a standard position coordinate value corresponding to the concave point and a plurality of sets of measured position coordinate values; wherein each set of measured position coordinate values is obtained by clicking the concave point by a preset probe; each set of measured position coordinate values is a coordinate value in an NDI binocular vision coordinate system; a first determination module, configured to determine an error matrix according to the plurality of sets of measured position coordinate values and the standard position coordinate value; a second determination module, configured to determine a first update matrix from the NDI binocular vision to the robot end according to the plurality of sets of measured position coordinate values and the error matrix; and a third determination module, configured to, if the error matrix satisfies a preset threshold, determine a target update matrix from the mechanical arm flange to the robot end according to the first update matrix and a first conversion matrix from the NDI binocular vision to a mechanical arm base and a second conversion matrix from the mechanical arm base to the mechanical arm flange, so as to calibrate the robot according to the target update matrix.

[0010] Further, the first determination module is further configured to: determine a first deviation matrix according to the plurality of sets of measured position coordinate values and the standard position coordinate value; and determine the error matrix according to the first deviation matrix.

[0011] Further, the first determination module is further configured to: calculate a difference value between each set of measured position coordinate value and the standard position coordinate value respectively; and determine the first deviation matrix according to the plurality of difference values.

[0012] The application provides an electronic device, comprising a processor and a memory, the memory stores machine executable instructions capable of being executed by the processor, and the processor executes the machine executable instructions to realize the robot calibration method of any one of the above.

[0013] The application provides a machine readable storage medium, the machine readable storage medium stores machine executable instructions, and when the machine executable instructions are called and executed by a processor, the machine executable instructions prompt the processor to realize the robot calibration method of any one of the above.

[0014] This invention provides a robot calibration method, apparatus, and electronic device. The method acquires standard position coordinate values ​​and multiple sets of measured position coordinate values ​​corresponding to concave points. Each set of measured position coordinate values ​​is obtained by clicking the concave point with a preset probe. Each set of measured position coordinate values ​​is a coordinate value in the NDI binocular vision coordinate system. An error matrix is ​​determined based on the multiple sets of measured position coordinate values ​​and the standard position coordinate values. A first update matrix from the NDI binocular vision to the robot end effector is determined based on the multiple sets of measured position coordinate values ​​and the error matrix. If the error matrix meets a preset threshold, a target update matrix from the robot flange to the robot end effector is determined based on the first update matrix, and a pre-acquired first transformation matrix from the NDI binocular vision to the robot arm base and a second transformation matrix from the robot arm base to the robot arm flange. The robot is then calibrated based on the target update matrix. This method only requires a probe to click the concave point to quickly acquire multiple sets of measured position coordinate values. By setting a preset threshold, the accuracy of the calibration can be determined by comparing the error matrix with the preset threshold. After meeting the preset threshold, rapid robot calibration is achieved through matrix transformation, improving the efficiency of robot calibration. Attached Figure Description

[0015] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0016] Figure 1 A flowchart illustrating a robot calibration method provided in an embodiment of the present invention;

[0017] Figure 2 A calibration diagram of a robot provided in an embodiment of the present invention;

[0018] Figure 3 A schematic diagram of a calibration optical probe provided in an embodiment of the present invention;

[0019] Figure 4 A schematic diagram of a dental instrument head provided in an embodiment of the present invention;

[0020] Figure 5 A calibration diagram of a robot provided in an embodiment of the present invention;

[0021] Figure 6 A schematic diagram of the structure of a robot calibration device provided in an embodiment of the present invention;

[0022] Figure 7 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0023] The technical solutions of the present application will be described clearly and completely below in conjunction with the embodiments. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present application.

[0024] In the related art, the oral robot usually needs to be sent to a special robot calibration mechanism for professional calibration and demarcation. Since the calibration cannot be performed on the implantation surgery site, the on-site rapid demarcation cannot be realized, which reduces the demarcation efficiency of the robot.

[0025] Based on this, the embodiments of the present application provide a robot demarcation method and device and electronic equipment, which can be applied to applications requiring robot demarcation.

[0026] To facilitate the understanding of the present embodiment, first, a robot demarcation method disclosed by the embodiments of the present application is introduced. In the method, the robot end holds a correction block, and the correction block is provided with a concave point. The number of the concave point is usually only one. The robot mechanical arm is usually a six-axis mechanical arm, and the robot can be an oral robot, etc. As shown in the figure, the method comprises the following steps: Figure 1

[0027] Step S102, obtaining a standard position coordinate value corresponding to the concave point and a plurality of groups of measured position coordinate values; wherein each group of measured position coordinate values is obtained by clicking the concave point with a preset probe; and each group of measured position coordinate values is a coordinate value in the NDI binocular vision coordinate system.

[0028] The above standard position coordinate value is usually a standard pose demarcated by a laser range finder when the robot is shipped. In actual implementation, the probe can be used to click the concave point on the correction block held by the robot end to automatically collect n groups of measured position coordinate values. Each group of measured position coordinate values includes the x-axis direction coordinate, the y-axis direction coordinate and the z-axis direction coordinate in the NDI binocular vision coordinate system. The collected n groups of measured position coordinate values can be expressed as: α=[x1,…,x n ] T , β=[y1,…,y n ] T , ω=[z1,…,z n ] T .

[0029] Step S104, determining an error matrix according to the plurality of groups of measured position coordinate values and the standard position coordinate value.

[0030] ​The error matrix can be understood as a matrix that needs to be adjusted to the current conversion matrix of the NDI binocular vision to the robot end; after obtaining the plurality of sets of measured position coordinate values and the standard position coordinate values, the error matrix can be determined according to the obtained coordinate values.

[0031] In step S106, a first update matrix of the NDI binocular vision to the robot end is determined according to the plurality of sets of measured position coordinate values and the error matrix.

[0032] In step S108, if the error matrix meets a preset threshold, a target update matrix of the robot flange to the robot end is determined according to the first update matrix, and a first conversion matrix of the NDI binocular vision to the robot base and a second conversion matrix of the robot base to the robot flange obtained in advance, so as to calibrate the robot according to the target update matrix.

[0033] The preset threshold can be set according to actual needs. Generally, the smaller the threshold, the higher the precision of the calibrated robot, and the larger the threshold, the lower the precision of the calibrated robot; for example, Figure 2 The first update matrix can be understood as an updated matrix of the current conversion matrix of the NDI binocular vision to the robot end, which can be represented as The first conversion matrix can be represented as Generally, the calibration is realized by using a preset algorithm; the second conversion matrix can be represented as Generally, the second conversion matrix is calculated by the robot controller in advance; and the target update matrix can be represented as In actual implementation, when the error matrix meets the preset threshold, the target update matrix can be obtained according to the formula Thus, the target update matrix is obtained.

[0034] The robot calibration method comprises the following steps: acquiring a standard position coordinate value corresponding to a concave point and a plurality of groups of measured position coordinate values; each group of measured position coordinate values is obtained by clicking the concave point by a preset probe; each group of measured position coordinate values is a coordinate value in an NDI binocular vision coordinate system; determining an error matrix according to the plurality of groups of measured position coordinate values and the standard position coordinate value; determining a first updated matrix of the NDI binocular vision to the robot end according to the plurality of groups of measured position coordinate values and the error matrix; if the error matrix meets a preset threshold, determining a target updated matrix of the robot flange to the robot end according to the first updated matrix and a first conversion matrix of the NDI binocular vision to a robot base and a second conversion matrix of the robot base to the robot flange, and calibrating the robot according to the target updated matrix. In this way, the plurality of groups of measured position coordinate values can be quickly collected by clicking the concave point by the probe, the calibration accuracy can be determined by comparing the error matrix with the preset threshold, the robot can be quickly calibrated by matrix conversion after the preset threshold is met, and the calibration efficiency of the robot is improved.

[0035] Another robot calibration method is provided in the embodiments of the application, which is implemented on the basis of the above-mentioned method. The method comprises the following steps:

[0036] In step one, a standard position coordinate value corresponding to a concave point and a plurality of groups of measured position coordinate values are acquired; each group of measured position coordinate values is obtained by clicking the concave point by a preset probe; each group of measured position coordinate values is a coordinate value in an NDI binocular vision coordinate system.

[0037] In actual implementation, in order to quickly calibrate the robot and further improve the calibration accuracy of the robot system, the probe can be used to measure the concave point of the special correction block to obtain a plurality of groups of measured position coordinate values in the NDI binocular vision coordinate system, as shown in a schematic diagram of a robot calibration method in FIG. 1. The calibration optical probe can be held by hand, the probe of the calibration optical probe is in contact with the concave point of the correction block, and a plurality of groups of measured position coordinate values of the concave point can be automatically collected at this time. Referring to a schematic diagram of a calibration optical probe in FIG. 2, the tip of the calibration optical probe is the probe, the probe usually has three optical reflection balls, and the NDI binocular vision can measure the measured position coordinate values of the concave point of the correction block according to the optical reflection balls. Referring to a schematic diagram of a dental handpiece in FIG. 3, the dental handpiece is a tool for clamping the correction block by the robot. Figure 2 Figure 3 Figure 4

[0038] In step two, a first deviation matrix is determined according to the plurality of groups of measured position coordinate values and the standard position coordinate value.

[0039] Step two can be implemented through the following steps 20 to 21.​​​

[0040] Step 20, respectively calculate the difference between each group of measured position coordinate values and standard position coordinate values.

[0041] Step 21, determine the first deviation matrix according to the plurality of difference values.

[0042] Step three, determine the error matrix according to the first deviation matrix.

[0043] This step three can be realized by steps 30 to 32:

[0044] Step 30, construct a target function based on the plurality of measured position coordinate values.

[0045] Step 31, determine the first calibration matrix according to the target function.

[0046] Step 32, according to the first deviation matrix and the first calibration matrix, the least square method is used to solve, get the error matrix.

[0047] First define v m is the standard position coordinate value corresponding to the concave point, which is calibrated by laser range finder when leaving factory; v n is the nominal pose calculated by the measured position coordinate value of the parameters a, b, w obtained by the formula v e =k(a, b, w) and NDI binocular vision camera, wherein the subscripts m and n respectively indicate the sequence of the array collected, for example, 1 indicates the first group, 2 indicates the second group, etc. Set the standard position coordinate value calibrated by the laser range finder and the given measured position coordinate value in the NDI binocular vision coordinate system, the deviation Δv=v m -v n The accuracy measurement is given when the given attitude is given.

[0048] Under the assumption of small deviation, the following relationship is approximately calculated:

[0049]

[0050] Where Δa, Δb, Δw represent the deviation between the measured position coordinate value and the standard position coordinate value when the robot leaves the factory. In addition, represents a (m x n) matrix.

[0051] Synthesize a (3n x 1) vector ξ=[a T b T w T ] T Let be a (m x 4n) matrix for calculating the scalar value of the parameter ξ n . The formula can be written simply as: Δv=Φ(ξ n)Δξ; where ξ n This represents combining multiple sets of measured position coordinates into a (3n*1) vector ζ = [α]. T β T ω T ] T The set of; Δξ represents [Δα, Δβ, Δω], corresponding to the above error matrix.

[0052] Expected from ξ n v n Information and v m Δξ is calculated based on the measured value. It can be concluded that...

[0053]

[0054] Then, the least squares method is used to solve the problem, and the solution is in the following form:

[0055] in, A set expression representing the difference between the measured position coordinates and the standard position coordinates for each group; Δv1......Δv l These represent the differences between the measured position coordinates and the standard position coordinates for each group; Φ1......Φ l These represent the partial derivatives at each set of measured coordinate values; This represents the optimal solution for the partial derivatives at each set of measured position coordinates after least squares.

[0056] Step 4: Based on multiple sets of measured position coordinates and error matrices, determine the first update matrix from NDI binocular vision to the robot end effector.

[0057] The first update matrix described above can be represented by ξ′, then ξ′=ξ n +Δξ.

[0058] Step 5: If the error matrix meets the preset threshold, determine the target update matrix from the robot flange to the robot end effector based on the first update matrix, the first transformation matrix from NDI binocular vision to the robot arm base and the second transformation matrix from the robot arm base to the robot arm flange obtained in advance, so as to calibrate the robot according to the target update matrix.

[0059] Step 6: If the error matrix does not meet the preset threshold, repeat the steps of obtaining the standard position coordinates and multiple sets of measured position coordinates corresponding to the concave points until the error matrix meets the preset threshold.

[0060] If the error matrix does not meet the preset threshold, then... Figure 5 The probe tool shown performs NDI coordinate acquisition and can perform numerical iterations until Δξ converges to a given threshold. In each iteration, the matrix... The parameter estimation obtained by = x n + Δx in the previous iteration is updated.

[0061] The calibration method of the robot, the standard position coordinate value corresponding to the concave point and the plurality of sets of measured position coordinate values are obtained; the first deviation matrix is determined according to the plurality of sets of measured position coordinate values and the standard position coordinate value. The error matrix is determined according to the first deviation matrix. The first update matrix of the NDI binocular vision to the robot end is determined according to the plurality of sets of measured position coordinate values and the error matrix. If the error matrix meets the preset threshold, the target update matrix of the flange of the robot to the robot end is determined according to the first update matrix, and the first conversion matrix of the NDI binocular vision to the base of the robot arm and the second conversion matrix of the base of the robot arm to the flange of the robot arm, which are obtained in advance, so as to calibrate the robot according to the target update matrix. If the error matrix does not meet the preset threshold, the steps of obtaining the standard position coordinate value corresponding to the concave point and the plurality of sets of measured position coordinate values are repeatedly executed until the error matrix meets the preset threshold. This method only needs to click the concave point by the probe to quickly collect the plurality of sets of measured position coordinate values. By setting the preset threshold, the error matrix is compared with the preset threshold to determine whether the calibration is accurate. After the preset threshold is met, the robot is quickly calibrated through matrix conversion, and the calibration efficiency of the robot is improved.

[0062] The embodiment of the application provides a robot calibration device, the robot end holds a correction block, and the correction block is provided with a concave point; as shown in the figure, Figure 6 The device comprises: an acquisition module 60, configured to acquire a standard position coordinate value corresponding to a concave point and a plurality of sets of measured position coordinate values; wherein each set of measured position coordinate value is obtained by clicking the concave point by a preset probe; and each set of measured position coordinate value is a coordinate value in an NDI binocular vision coordinate system; a first determination module 61, configured to determine an error matrix according to the plurality of sets of measured position coordinate values and the standard position coordinate value; a second determination module 62, configured to determine a first update matrix of the NDI binocular vision to the robot end according to the plurality of sets of measured position coordinate values and the error matrix; and a third determination module 63, configured to determine a target update matrix of the flange of the robot to the robot end according to the first update matrix and a first conversion matrix of the NDI binocular vision to the base of the robot arm and a second conversion matrix of the base of the robot arm to the flange of the robot arm, which are obtained in advance, if the error matrix meets a preset threshold, so as to calibrate the robot according to the target update matrix.

[0063] The robot calibration device provided in the application comprises the following steps: obtaining a standard position coordinate value corresponding to a concave point and a plurality of groups of measured position coordinate values; wherein each group of measured position coordinate values is obtained by clicking the concave point by a preset probe; each group of measured position coordinate values is a coordinate value in an NDI binocular vision coordinate system; determining an error matrix according to the plurality of groups of measured position coordinate values and the standard position coordinate value; determining a first update matrix of the NDI binocular vision to the robot end according to the plurality of groups of measured position coordinate values and the error matrix; if the error matrix meets a preset threshold, determining a target update matrix of the robot flange to the robot end according to the first update matrix and a first conversion matrix of the NDI binocular vision to a robot base and a second conversion matrix of the robot base to the robot flange, and calibrating the robot according to the target update matrix. The device only needs to click the concave point by the probe to quickly collect a plurality of groups of measured position coordinate values, compares the error matrix with the preset threshold to determine whether the calibration is accurate, and realizes the rapid calibration of the robot through matrix conversion after the preset threshold is met, thereby improving the calibration efficiency of the robot.

[0064] Further, the first determination module is further configured to: determine a first deviation matrix according to the plurality of groups of measured position coordinate values and the standard position coordinate value; and determine the error matrix according to the first deviation matrix.

[0065] Further, the first determination module is further configured to: calculate a difference value between each group of measured position coordinate values and the standard position coordinate value respectively; and determine the first deviation matrix according to the plurality of difference values.

[0066] Further, the first determination module is further configured to: construct a target function based on the plurality of groups of measured position coordinate values; determine a first calibration matrix according to the target function; and obtain the error matrix by using the least square method according to the first deviation matrix and the first calibration matrix.

[0067] The device is further configured to: if the error matrix does not meet the preset threshold, repeatedly execute the steps of obtaining the standard position coordinate value corresponding to the concave point and the plurality of groups of measured position coordinate values until the error matrix meets the preset threshold.

[0068] The robot calibration device provided in the application embodiment has the same implementation principle and technical effects as the robot calibration method described above. For brevity, the part of the robot calibration device embodiment not mentioned can be referred to the corresponding content in the robot calibration method embodiment.

[0069] The application embodiment further provides an electronic device, as shown in Figure 7 The electronic device comprises a processor 130 and a memory 131, the memory 131 stores machine executable instructions capable of being executed by the processor 130, and the processor 130 executes the machine executable instructions to implement the robot calibration method described above.

[0070] Further, Figure 7 The electronic device also includes a bus 132 and a communication interface 133, and the processor 130, the communication interface 133 and the memory 131 are connected through the bus 132.

[0071] The memory 131 can include a high-speed random access memory (RAM) and can also include a non-volatile memory such as at least one disk memory. The communication connection between the system network element and at least one other network element is realized through at least one communication interface 133 (which can be wired or wireless), and the Internet, a wide area network, a local area network, a metropolitan area network, etc. can be used. The bus 132 can be an ISA bus, a PCI bus, an EISA bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 7 Only one bidirectional arrow is used in the figure, but it does not mean that there is only one bus or one type of bus.

[0072] The processor 130 can be an integrated circuit chip with signal processing capability. In the implementation process, each step of the above method can be completed by the integrated logic circuit of hardware in the processor 130 or the instruction in the form of software. The above processor 130 can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components. Each method, step and logic block disclosed in the embodiment of the present application can be implemented or executed. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor. The steps of the method disclosed in combination with the embodiment of the present application can be directly embodied as a hardware code processor for execution, or a combination of hardware and software modules in the code processor for execution. The software module can be located in a random access memory, a flash memory, a read-only memory, a programmable read-only memory, an electrically erasable programmable memory, a register, etc. The storage medium in the art. The storage medium is located in the memory 131, and the processor 130 reads the information in the memory 131, and combines the hardware to complete the steps of the method of the above embodiment.

[0073] The embodiment of the present application further provides a machine readable storage medium which stores machine executable instructions, when the machine executable instructions are invoked and executed by a processor, the machine executable instructions cause the processor to implement the robot calibration method described above, and the specific implementation can be referred to the method embodiment, and will not be repeated here.

[0074] The robot calibration method, device and computer program product of the electronic equipment provided by the embodiment of the present application include a computer readable storage medium which stores program codes, the instructions included in the program codes can be used to execute the method described in the foregoing method embodiment, and the specific implementation can be referred to the method embodiment, and will not be repeated here.

[0075] If the functions are realized in the form of software function units and sold or used as independent products, the functions can be stored in a computer readable storage medium. Based on this understanding, the technical solutions of the present application or parts of the technical solutions that make essential contributions to the prior art can be embodied in the form of software products, and the computer software products are stored in a storage medium, including a plurality of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the method described in the embodiments of the present application. The foregoing storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a magnetic disk or an optical disk, and various media that can store program codes.

[0076] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for part or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A method for calibrating a robot, characterized in that, The robot end effector holds a correction block, the correction block having recessed dots; the method includes: Obtain the standard position coordinates and multiple sets of measured position coordinates corresponding to the concave point; wherein, each set of measured position coordinates is obtained by clicking the concave point with a preset probe; each set of measured position coordinates is a coordinate value in the NDI binocular vision coordinate system; The error matrix is ​​determined based on multiple sets of measured position coordinate values ​​and standard position coordinate values. Based on multiple sets of measured position coordinate values ​​and the error matrix, determine the first update matrix from NDI binocular vision to the robot end effector; If the error matrix satisfies a preset threshold, the target update matrix from the robotic arm flange to the robot end is determined based on the first update matrix, the first transformation matrix from the NDI binocular vision to the robotic arm base and the second transformation matrix from the robotic arm base to the robotic arm flange, which are obtained in advance, so as to calibrate the robot according to the target update matrix.

2. The method according to claim 1, characterized in that, The steps for determining the error matrix based on multiple sets of measured position coordinate values ​​and standard position coordinate values ​​include: The first deviation matrix is ​​determined based on multiple sets of measured position coordinate values ​​and standard position coordinate values; The error matrix is ​​determined based on the first deviation matrix.

3. The method according to claim 2, characterized in that, The steps for determining the first deviation matrix based on multiple sets of measured position coordinate values ​​and standard position coordinate values ​​include: Calculate the difference between the measured position coordinates and the standard position coordinates for each group; The first deviation matrix is ​​determined based on multiple sets of differences.

4. The method according to claim 2, characterized in that, The steps for determining the error matrix based on the first deviation matrix include: Construct an objective function based on multiple sets of measured location coordinate values; Determine the first calibration matrix based on the objective function; The error matrix is ​​obtained by solving the first deviation matrix and the first calibration matrix using the least squares method.

5. The method according to claim 1, characterized in that, The method further includes: If the error matrix does not meet the preset threshold, the steps of obtaining the standard position coordinates and multiple sets of measured position coordinates corresponding to the concave point are repeated until the error matrix meets the preset threshold.

6. A calibration device for a robot, characterized in that, The robot end effector holds a correction block, the correction block having recessed dots; the device includes: The acquisition module is used to acquire the standard position coordinates and multiple sets of measured position coordinates corresponding to the concave point; wherein, each set of measured position coordinates is obtained by clicking the concave point with a preset probe; each set of measured position coordinates is a coordinate value in the NDI binocular vision coordinate system; The first determining module is used to determine an error matrix based on multiple sets of measured position coordinate values ​​and standard position coordinate values; The second determining module is used to determine the first update matrix from the NDI binocular vision to the robot end effector based on multiple sets of measured position coordinate values ​​and the error matrix. The third determining module is used to determine the target update matrix from the robotic arm flange to the robot end effector based on the first update matrix, the first transformation matrix from the NDI binocular vision to the robotic arm base and the second transformation matrix from the robotic arm base to the robotic arm flange, which are obtained in advance, if the error matrix meets a preset threshold, so as to calibrate the robot according to the target update matrix.

7. The apparatus according to claim 6, characterized in that, The first determining module is also used for: The first deviation matrix is ​​determined based on multiple sets of measured position coordinate values ​​and standard position coordinate values; The error matrix is ​​determined based on the first deviation matrix.

8. The apparatus according to claim 7, characterized in that, The first determining module is also used for: Calculate the difference between the measured position coordinates and the standard position coordinates for each group; The first deviation matrix is ​​determined based on multiple sets of differences.

9. An electronic device, characterized in that, It includes a processor and a memory, the memory storing machine-executable instructions that can be executed by the processor, the processor executing the machine-executable instructions to implement the calibration method of the robot according to any one of claims 1-5.

10. A machine-readable storage medium, characterized in that, The machine-readable storage medium stores machine-executable instructions, which, when invoked and executed by a processor, cause the processor to implement the calibration method for the robot according to any one of claims 1-5.

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