Tool center point calibration method and device, and computer readable storage medium

Abstract

The application discloses a tool center point calibration method, device and computer readable storage medium. The calibration method comprises the following steps: controlling an end flange of a robot to move from a first position to a second position along a preset coordinate axis of a robot flange coordinate system; acquiring a first image and a second image; obtaining a first coordinate and a third coordinate of the tool center point in a visual coordinate system and a second coordinate and a fourth coordinate of a flange center point in the visual coordinate system according to the first image and the second image; determining distances of the tool center point relative to the flange center point on an X-axis and a Y-axis of the flange coordinate system according to the first coordinate, the second coordinate, the third coordinate and the fourth coordinate; and obtaining a distance of the tool center point relative to the flange center point on a Z-axis of the flange coordinate system according to a vertical distance of the tool center point to an installation surface of the end flange. The calibration method provided by the application can efficiently and accurately calibrate the tool center point of the robot.

Description

Technical Field

[0001] This application belongs to the field of robotics technology, and in particular relates to a method, apparatus and computer-readable storage medium for calibrating the center point of a tool. Background Technology

[0002] When calibrating the center point of a robot tool, manual teaching can be used. However, this method has several drawbacks: it is difficult to calibrate irregularly shaped tools, such as suction cups or grinding tools, and the accuracy is low. Furthermore, the calibration accuracy is highly dependent on the user's operation, making it difficult to control. Therefore, a tool center point calibration method that can improve calibration accuracy is urgently needed. Summary of the Invention

[0003] This application provides a method, apparatus, and computer-readable storage medium for calibrating the center point of a tool, which can efficiently and accurately calibrate the center point of a tool.

[0004] The first aspect of this application provides a method for calibrating the center point of a tool. The method includes: controlling the end flange of a robot to move from a first position to a second position along a preset coordinate axis of a robot flange coordinate system, wherein the preset coordinate axis is an X-axis or a Y-axis, the origin of the robot flange coordinate system coincides with the center point of the flange on the mounting surface of the end flange, and the Z-axis of the robot flange coordinate system is perpendicular to the mounting surface of the end flange; acquiring a first image and a second image, wherein the first image is obtained by a camera capturing images of the end flange and the tool on the end flange at the first position, and the second image is obtained by a camera capturing images of the end flange and the tool on the end flange at the second position, and the camera has the same shooting parameters for the first image and the second image; identifying the center point of the tool in the first image. The tool center point is identified, and its first coordinate in the visual coordinate system is obtained. The flange center point in the first image is identified, and its second coordinate in the visual coordinate system is obtained. The tool center point in the second image is identified, and its third coordinate in the visual coordinate system is obtained. The flange center point in the second image is identified, and its fourth coordinate in the visual coordinate system is obtained. Based on the first, second, third, and fourth coordinates, the distances between the tool center point and the flange center point on the X and Y axes of the flange coordinate system are determined. The distance between the tool center point and the flange center point on the Z axis of the flange coordinate system is obtained based on the vertical distance from the tool center point to the end flange mounting surface.

[0005] A second aspect of this application provides a calibration device, which includes a processor, a memory, and a communication circuit. The processor is coupled to the memory and the communication circuit, respectively. The memory stores program data, and the processor executes the program data in the memory to implement the steps in the above method.

[0006] A third aspect of this application provides a computer-readable storage medium storing a computer program that can be executed by a processor to implement the steps in the above-described method.

[0007] The beneficial effects are: the calibration method of this application takes pictures of the end flange and the tool installed on the end flange with a camera, and analyzes the pictures to calibrate the center point of the tool. The whole process can be carried out without human intervention, thereby reducing the influence of human factors on the calibration results and ensuring calibration accuracy. At the same time, it does not require disassembling the tool, which can characterize the calibration efficiency. Attached Figure Description

[0008] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort, wherein:

[0009] Figure 1 This is a flowchart illustrating one implementation method of the tool center point calibration method of this application;

[0010] Figure 2 This is a partial structural diagram of the robot;

[0011] Figure 3 This is a schematic diagram showing the relative positions of the visual coordinate system and the preset coordinate axes;

[0012] Figure 4 yes Figure 1 A flowchart illustrating step S150;

[0013] Figure 5 This is a schematic diagram of one embodiment of the calibration device;

[0014] Figure 6 This is a schematic diagram of one embodiment of the computer-readable storage medium of this application. Detailed Implementation

[0015] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of the embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0016] It should be noted that the terms "first" and "second" in this application are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or apparatus that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products, or apparatuses.

[0017] See Figure 1 , Figure 1 This is a flowchart illustrating one embodiment of the calibration method for the center point of the tool in this application. The method includes:

[0018] S110: Control the robot's end flange to move from the first position to the second position along the preset coordinate axis of the robot flange coordinate system. The preset coordinate axis is either the X-axis or the Y-axis. The origin of the robot flange coordinate system coincides with the center point of the flange on the end flange mounting surface. The Z-axis of the robot flange coordinate system is perpendicular to the end flange mounting surface.

[0019] Specifically, the calibration method for the center point of the tool in this application is performed by a calibration device, which can be a robot control cabinet or other devices such as a computer, as long as the device has algorithm processing capabilities.

[0020] The robot's end flange has a mounting surface on which a tool is mounted. The center point of the mounting surface is the flange center point. The mounted tool can be of any type and shape. The tool coordinate system is established based on the tool, with its origin at the tool center point (i.e., the TCP point). Figure 2 In the diagram, A refers to the center point of the tool. The directions of the X, Y, and Z axes of the tool coordinate system are as follows: Figure 2 As shown, the determination of the tool's center point can be found in the following description.

[0021] The robot flange coordinate system is established based on the mounting surface of the end flange, with its origin coinciding with the flange center point. The X, Y, and Z axes are mutually perpendicular, and the Z axis is perpendicular to the mounting surface of the end flange. It is understandable that the robot flange coordinate system moves as the end flange moves.

[0022] It is understandable that during the process of controlling the end flange to move from the first position to the second position along the preset coordinate axis of the robot flange coordinate system, for any point on the end flange, its direction of movement is parallel to the preset coordinate axis. For example, for the center point of the flange, its direction of movement is parallel to the preset coordinate axis. During the movement of the end flange, the robot's base remains stationary.

[0023] The end flange can move along the positive X-axis, positive Y-axis, negative X-axis, or negative Y-axis of the flange coordinate system.

[0024] S120: Acquire a first image and a second image, wherein the first image is obtained by the camera taking a picture of the end flange and the tool on the end flange at the first position, and the second image is obtained by the camera taking a picture of the end flange and the tool on the end flange at the second position, and the camera has the same shooting parameters for the first image and the second image.

[0025] Specifically, when the end flange is in the first position, the camera takes a picture of the end flange and the tool to obtain a first image; when the end flange is in the second position, the camera takes a picture of the end flange and the tool to obtain a second image.

[0026] During the movement of the end flange from the first position to the second position, the camera's shooting parameters remain unchanged, including the camera's position and the direction of its optical axis. This ensures that the camera's shooting parameters for the first and second images are identical. Understandably, the first and second images have the same resolution, and the background in which the end flange is located is the same.

[0027] S130: Identify the tool center point in the first image and obtain the first coordinates of the tool center point in the visual coordinate system; identify the flange center point in the first image and obtain the second coordinates of the flange center point in the visual coordinate system.

[0028] S140: Identify the tool center point in the second image and obtain the third coordinate of the tool center point in the visual coordinate system; identify the flange center point in the second image and obtain the fourth coordinate of the flange center point in the visual coordinate system.

[0029] Specifically, the visual coordinate system is only related to the camera itself and is independent of other external factors.

[0030] By performing image processing on the first and second images, the coordinates of the flange center point and the tool center point in the visual coordinate system can be obtained.

[0031] Before the camera takes a picture, marks can be manually set at the center point of the flange and the center point of the tool. For example, different marks can be made at the center point of the flange and the center point of the tool with a marker. After obtaining the first or second image, the marks can be identified to obtain the coordinates of the center point of the flange and the center point of the tool in the visual coordinate system.

[0032] However, in this embodiment, in order to ensure the accuracy of the calibration results, feature point recognition is performed on the image to obtain the coordinates of the tool center point. Specifically, the tool center point is usually the endpoint of the tool furthest from the end flange. Therefore, based on this feature, the tool center point can be identified from the first image and the second image.

[0033] Considering the diverse shapes of tools, when the end of the tool away from the end flange includes a single end, a point on that end is designated as the tool's center point. For example, when the end of the tool away from the end flange is a pointed tip, the tip of that tip is designated as the tool's center point. When the end of the tool away from the end flange includes multiple ends, a target point is designated as the tool's center point, where the target point is equidistant from all the ends. For example, when the tool is... Figure 2 When using the gripper tool shown, the end of the gripper tool away from the end flange includes two ends. You can first find a feature point on each end, then connect the two feature points found, and determine the midpoint of the line connecting them as the tool center point.

[0034] In the process of processing the first image and the second image, the tool center point can be identified according to the above process, so as to find the tool center point in the first image and the second image, and then obtain the first coordinate and the third coordinate of the tool center point in the visual coordinate system.

[0035] In this embodiment, the calibration method further includes: after the central axis of the control end flange is perpendicular to the camera lens, the control end flange rotates around the central axis, wherein the central axis passes through the center of the flange and is perpendicular to the mounting surface of the end flange; during the rotation of the end flange, the control camera takes pictures of the end flange and the tool to obtain multiple third images; the multiple third images are identified to obtain multiple coordinates of the tool center point in the visual coordinate system; using the multiple coordinates of the tool center point in the visual coordinate system, a circle is fitted to obtain the center coordinates of the fitted circle; after the end flange stops rotating, the control camera takes pictures of the end flange and the tool to obtain a first image.

[0036] Specifically, during the rotation of the end flange around the central axis, the position of the flange center point remains unchanged, while the tool center point rotates around the central axis. Therefore, the center of the circle fitted by multiple coordinates of the tool center point in the visual coordinate system is the flange center point.

[0037] In this process, the method described above can be used to identify each third image and obtain the coordinates of the tool's center point in the visual coordinate system.

[0038] After the end flange stops rotating, the camera takes a picture of the end flange to obtain the first image. Since the overall position of the end flange has not changed, the position of the flange center point has not changed. Therefore, the second coordinate of the flange center point in the visual coordinate system is the coordinate of the center of the fitted circle. Subsequently, the coordinate of the center of the circle can be directly used as the second coordinate of the flange center point in the visual coordinate system in the first image.

[0039] In this embodiment, the end flange does not rotate during the movement of the end flange. Step S140 specifically includes:

[0040] S141: Identify the tool center point in the second image and obtain the third coordinate of the tool center point in the visual coordinate system.

[0041] Specifically, the process of recognizing the second image to obtain the third coordinates has been described above; please refer to the above description for details.

[0042] S142: Based on the first, second, and third coordinates, obtain the fourth coordinate of the flange center point in the visual coordinate system, where the first, second, third, and fourth coordinates are the coordinates of the four vertices of the parallelogram, respectively.

[0043] Specifically, the first, second, and third coordinates had already been obtained prior to this, and were combined with... Figure 3 Since the end flange does not rotate during the movement, a parallelogram can be formed based on the first, second, third, and fourth coordinates. Therefore, after determining the first, second, and third coordinates, the fourth coordinate can be obtained.

[0044] It should be noted that, in other embodiments, the coordinates of the tool center point and the flange center point in the visual coordinate system can also be determined by manually calibrating the tool center point and the flange center point on the first image and the second image, respectively. Specifically, after obtaining the first image, the user can use the mouse to click on two points in sequence on the first image, and then the calibration device will determine these two points as the tool center point and the flange center point according to preset rules. Similarly, the tool center point and the flange center point in the second image can be determined in the same way.

[0045] Alternatively, in other embodiments, the end flange may also rotate during its movement. Accordingly, when determining the fourth coordinate, in addition to combining the first, second, and third coordinates, the angle of rotation of the end flange is also required.

[0046] The above describes the process of determining the first, second, third, and fourth coordinates based on the first and second images. Please refer to the following sections for further details. Figure 1 The steps following step S140 are described below.

[0047] S150: Based on the first, second, third, and fourth coordinates, determine the distances between the tool center point and the flange center point on the X and Y axes of the flange coordinate system.

[0048] Specifically, based on the first, second, third, and fourth coordinates, the angle between the line connecting the flange center point and the tool center point and the preset coordinate axis can be obtained, as well as the distance between the flange center point and the tool center point in the visual coordinate system. Then, based on the angle and the distance, the distance between the tool center point and the flange center point on the X and Y axes of the flange coordinate system can be determined.

[0049] In this embodiment, the end flange does not rotate during movement; see reference [link / reference needed]. Figure 4 Step S150 includes:

[0050] S151: Determine the distance between the center point of the flange and the center point of the tool in the visual coordinate system based on the first coordinate and the second coordinate.

[0051] S152: Based on the first coordinate and the second coordinate, determine the first angle between the line connecting the center point of the flange and the center point of the tool and the X-axis of the visual coordinate system.

[0052] S153: Determine the second angle between the preset coordinate axis and the X-axis of the visual coordinate system based on the second and fourth coordinates.

[0053] S154: Calculate the absolute value of the difference between the first included angle and the second included angle to obtain the third included angle between the line connecting the flange center point and the tool center point and the preset coordinate axis.

[0054] S155: Based on the distance and the third included angle, determine the distance between the tool center point and the flange center point on the X and Y axes of the flange coordinate system.

[0055] First, combine Figure 3 For ease of explanation, the first coordinates of the tool center point in the visual coordinate system are designated as (x1, y1), the second coordinates of the flange center point are designated as (x2, y2), the third coordinates of the tool center point are designated as (x′1, y′1), and the fourth coordinates of the flange center point are designated as (x′2, y′2). The distance between the flange center point and the tool center point in the visual coordinate system is defined as L. It is understood that the distance between the flange center point and the tool center point remains constant throughout the movement of the end flange.

[0056] Specifically, since the end flange does not rotate during movement, the direction of extension of one side of the parallelogram formed by the first, second, third, and fourth coordinates is the direction of movement of the end flange. Figure 3 In the diagram, the direction indicated by the arrow is the direction of movement of the end flange.

[0057] L is determined according to the following formula:

[0058]

[0059] The first angle θ1 between the line connecting the flange center point and the tool center point and the X-axis of the visual coordinate system is determined using the following formula:

[0060]

[0061] The second angle θ2 between the preset coordinate axis (i.e., the direction of movement of the end flange) and the X-axis of the visual coordinate system is determined using the following formula;

[0062]

[0063] The third angle θ between the line connecting the flange center point and the tool center point and the preset coordinate axis is determined using the following formula:

[0064] θ = |θ1 - θ2|

[0065] In one application scenario, when the preset coordinate axis is the X-axis of the flange coordinate system, step S155 specifically includes:

[0066] S1551: Calculate the product of distance L and the cosine of the third included angle θ to obtain the distance x between the tool center point and the flange center point on the X-axis of the flange coordinate system.

[0067] S1552: Calculate the product of distance L and the sine of the third included angle θ to obtain the distance y between the tool center point and the flange center point on the Y-axis of the flange coordinate system.

[0068] Specifically, the above process can be expressed by the following formula:

[0069] x=L×cosθ

[0070] y = L × sinθ

[0071] In another application scenario, when the preset coordinate axis is the Y-axis of the flange coordinate system, step S155 specifically includes:

[0072] S1553: Calculate the product of distance L and the cosine of the third included angle θ to obtain the distance y between the tool center point and the flange center point on the Y-axis of the flange coordinate system.

[0073] S1554: Calculate the product of distance L and the sine of the third included angle θ to obtain the distance x between the tool center point and the flange center point on the X-axis of the flange coordinate system.

[0074] Specifically, the above process can be expressed by the following formula:

[0075] x=L×sinθ

[0076] y = L × cosθ

[0077] S160: Based on the vertical distance from the tool center point to the end flange mounting surface, obtain the distance between the tool center point and the flange center point on the Z-axis of the flange coordinate system.

[0078] The vertical distance from the tool center point to the end flange mounting surface can be obtained by manual measurement. Then, based on the transformation relationship between the real world and the flange coordinate system, the distance between the tool center point and the flange center point on the Z-axis of the flange coordinate system can be obtained.

[0079] However, in this embodiment, to avoid errors from manual measurement, the distance between the tool center point and the flange center point on the Z-axis of the flange coordinate system is obtained through image processing. This process specifically includes:

[0080] S161: After the X-axis of the control tool coordinate system is perpendicular to the camera lens, control the camera to take a picture of the tool and obtain the fourth image.

[0081] S162: Identify feature points at both ends of the tool in the fourth image.

[0082] S163: Calculate the distance between the feature points at both ends of the tool to obtain the vertical distance from the center point of the tool to the mounting surface of the end flange.

[0083] S164: Define the vertical distance as the distance between the tool center point and the flange center point on the Z-axis of the flange coordinate system.

[0084] Specifically, the origin of the tool coordinate system is the tool center point, and the extension directions of the X-axis, Y-axis, and Z-axis of the tool coordinate system are as follows: Figure 2 As shown, after the X-axis of the control tool coordinate system is perpendicular to the camera lens, the camera takes a picture of the tool to obtain a fourth image. In the fourth image, the first end of the tool connected to the end flange and the second end of the tool away from the first end can be identified. Then, the distance between the feature points on the first end and the feature points on the second end is calculated to obtain the vertical distance from the center point of the tool to the mounting surface of the end flange. This vertical distance is then determined as the distance between the center point of the tool and the center point of the flange on the Z-axis of the flange coordinate system.

[0085] Through the above process, the distances of the tool center point relative to the flange center point on the X, Y, and Z axes of the flange coordinate system can be obtained. The position of the flange center point in the robot coordinate system (i.e., the base coordinate system, which is established based on the robot's base; as long as the robot's base does not move, the robot coordinate system will not change) is known. Therefore, the position of the tool center point in the robot coordinate system can be determined, thereby completing the calibration of the tool center point.

[0086] As can be seen from the above, the calibration method of this application takes pictures of the end flange and the tool installed on the end flange with a camera, and calibrates the center point of the tool based on the captured image. The whole process can be carried out without human intervention, thereby reducing the influence of human factors on the calibration results, ensuring calibration accuracy, and at the same time, it does not require disassembling the tool, thus demonstrating calibration efficiency.

[0087] See Figure 5 , Figure 5 This is a schematic diagram of one embodiment of the calibration device of this application. The calibration device 200 includes a processor 210, a memory 220, and a communication circuit 230. The processor 210 is coupled to the memory 220 and the communication circuit 230 respectively. The memory 220 stores program data. The processor 210 executes the program data in the memory 220 to implement the steps in any of the above embodiments. The detailed steps can be found in the above embodiments and will not be repeated here.

[0088] The calibration device 200 can be a robot control cabinet or other devices with algorithm processing capabilities, such as a computer, and there are no restrictions on that.

[0089] See Figure 6 , Figure 6 This is a schematic diagram of one embodiment of the computer-readable storage medium of this application. The computer-readable storage medium 400 stores a computer program 410, which can be executed by a processor to implement the steps in any of the above methods.

[0090] Specifically, the computer-readable storage medium 400 can be a USB flash drive, a portable hard drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk, or a device that can store the computer program 410. Alternatively, it can be a server that stores the computer program 410, which can send the stored computer program 410 to other devices for execution, or it can run the stored computer program 410 itself.

[0091] The above description is merely an embodiment of this application and does not limit the patent scope of this application. Any equivalent structural or procedural transformations made using the content of this application's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this application.

Claims

1. A method for calibrating the center point of a tool, characterized in that, The method includes: The robot's end flange moves from a first position to a second position along a preset coordinate axis of the robot flange coordinate system. The preset coordinate axis is either the X-axis or the Y-axis. The origin of the robot flange coordinate system coincides with the center point of the flange on the end flange mounting surface. The Z-axis of the robot flange coordinate system is perpendicular to the end flange mounting surface. A first image and a second image are acquired, wherein the first image is obtained by the camera taking a picture of the end flange and the tool on the end flange at the first position, and the second image is obtained by the camera taking a picture of the end flange and the tool on the end flange at the second position, and the camera has the same shooting parameters for the first image and the second image. Identify the tool center point of the tool in the first image to obtain the first coordinate of the tool center point in the visual coordinate system, and identify the flange center point in the first image to obtain the second coordinate of the flange center point in the visual coordinate system; Identify the tool center point of the tool in the second image to obtain the third coordinate of the tool center point in the visual coordinate system, and identify the flange center point in the second image to obtain the fourth coordinate of the flange center point in the visual coordinate system; Based on the first coordinate, the second coordinate, the third coordinate, and the fourth coordinate, determine the distance between the tool center point and the flange center point on the X and Y axes of the flange coordinate system; The distance between the tool center point and the flange center point on the Z-axis of the flange coordinate system is obtained based on the vertical distance from the tool center point to the end flange mounting surface. Before the end flange of the controlled robot moves from the first position to the second position along a preset coordinate axis of the robot flange coordinate system, the following steps are included: After controlling the central axis of the end flange to be perpendicular to the camera lens, the end flange is controlled to rotate around the central axis, wherein the central axis passes through the center of the flange and is perpendicular to the mounting surface of the end flange; During the rotation of the end flange, the camera is controlled to take pictures of the end flange and the tool, thereby obtaining multiple third images; The multiple third images are identified respectively to obtain multiple coordinates of the tool's center point in the visual coordinate system; Using the multiple coordinates of the tool's center point in the visual coordinate system, a circle is fitted to obtain the center coordinates of the fitted circle. After the end flange stops rotating, the camera is controlled to take pictures of the end flange and the tool to obtain the first image, wherein the center coordinates are used as the second coordinates of the flange center point in the visual coordinate system.

2. The method according to claim 1, characterized in that, During the movement of the end flange, the end flange does not rotate; The steps of identifying the tool center point in the second image and obtaining the third coordinate of the tool center point in the visual coordinate system, and identifying the flange center point in the second image and obtaining the fourth coordinate of the flange center point in the visual coordinate system, include: Identify the tool center point in the second image and obtain the third coordinates of the tool center point in the visual coordinate system; Based on the first coordinate, the second coordinate, and the third coordinate, the fourth coordinate of the flange center point in the visual coordinate system is obtained, wherein the first coordinate, the second coordinate, the third coordinate, and the fourth coordinate are the coordinates of the four vertices of the parallelogram.

3. The method according to claim 1, characterized in that, During the movement of the end flange, the end flange does not rotate; The step of determining the distance between the tool center point and the flange center point on the X and Y axes of the flange coordinate system based on the first coordinate, the second coordinate, the third coordinate, and the fourth coordinate includes: Based on the first coordinate and the second coordinate, determine the distance between the center point of the flange and the center point of the tool in the visual coordinate system; Based on the first coordinate and the second coordinate, determine the first angle between the line connecting the center point of the flange and the center point of the tool and the X-axis of the visual coordinate system; Based on the second coordinate and the fourth coordinate, determine the second included angle between the preset coordinate axis and the X-axis of the visual coordinate system; Calculate the absolute value of the difference between the first included angle and the second included angle to obtain the third included angle between the line connecting the center point of the flange and the center point of the tool and the preset coordinate axis; Based on the distance and the third included angle, determine the distance between the tool center point and the flange center point on the X and Y axes of the flange coordinate system.

4. The method according to claim 3, characterized in that, The preset coordinate axis is the X-axis of the robot flange coordinate system; The step of determining the distance between the tool center point and the flange center point on the X and Y axes of the flange coordinate system based on the distance and the third included angle includes: Calculate the product of the distance and the cosine of the third included angle to obtain the distance between the center point of the tool and the center point of the flange on the X-axis of the flange coordinate system; Calculate the product of the distance and the sine of the third included angle to obtain the distance between the center point of the tool and the center point of the flange on the Y-axis of the flange coordinate system.

5. The method according to claim 3, characterized in that, The preset coordinate axis is the Y-axis of the robot flange coordinate system; The step of determining the distance between the tool center point and the flange center point on the X and Y axes of the flange coordinate system based on the distance and the third included angle includes: Calculate the product of the distance and the cosine of the third included angle to obtain the distance between the center point of the tool and the center point of the flange on the Y-axis of the flange coordinate system; Calculate the product of the distance and the sine of the third included angle to obtain the distance between the center point of the tool and the center point of the flange on the X-axis of the flange coordinate system.

6. The method according to claim 1, characterized in that, The step of obtaining the distance between the tool center point and the flange center point on the Z-axis of the flange coordinate system based on the vertical distance from the tool center point to the end flange mounting surface includes: After the X-axis of the control tool coordinate system is perpendicular to the camera lens, control the camera to take a picture of the tool to obtain a fourth image; Identify feature points at both ends of the tool in the fourth image; Calculate the distance between the feature points at both ends of the tool to obtain the vertical distance from the center point of the tool to the mounting surface of the end flange; The vertical distance is defined as the distance between the center point of the tool and the center point of the flange on the Z-axis of the flange coordinate system.

7. The method according to claim 1, characterized in that, The method further includes: In response to the tool having an end portion located away from the end flange, a point on that end portion is defined as the center point of the tool; Alternatively, in response to the tool having multiple ends at one end away from the end flange, the target point is determined as the center point of the tool, wherein the target point is equidistant from the multiple ends.

8. A calibration device, characterized in that, The calibration device includes a processor, a memory, and a communication circuit. The processor is coupled to the memory and the communication circuit. The memory stores program data. The processor executes the program data in the memory to implement the steps of the method as described in any one of claims 1-7.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that can be executed by a processor to implement the steps of the method as described in any one of claims 1-7.

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