A robot parameter calibration method, device, equipment and storage medium

Abstract

This invention discloses a method, apparatus, device, and storage medium for robot parameter calibration, belonging to the field of robot calibration technology. The method includes: placing at least two calibration boards at different positions in the robot's workspace to determine at least two calibration areas and establishing a calibration board coordinate system; determining at least three calibration points from the at least two calibration areas and determining the calibration point coordinates of the calibration points in the calibration board coordinate system; controlling the robot to move and align it with the calibration points to acquire robot calibration data; wherein the robot calibration data includes robot joint coordinates and actual alignment point coordinates; and determining calibration parameter results based on the calibration point coordinates and the robot calibration data in the at least two calibration areas to achieve robot parameter calibration. This technical solution improves the accuracy of robot body parameter calibration.

Description

Technical Field

[0001] This invention relates to the field of robot calibration technology, and in particular to a robot parameter calibration method, apparatus, device, and storage medium. Background Technology

[0002] Current robot calibration techniques, known as single-region calibration, calibrate robot parameters based on data collected within the same calibration board coordinate system. This algorithm only guarantees positioning accuracy within the data acquisition area; accuracy outside this area is unpredictable. To ensure positioning accuracy over larger areas, single-region calibration solutions require large calibration boards, increasing costs and making them inconvenient to carry. Therefore, a more efficient and accurate robot parameter calibration method is urgently needed. Summary of the Invention

[0003] This invention provides a method, apparatus, device, and storage medium for calibrating robot parameters to improve the accuracy of robot body parameter calibration.

[0004] According to one aspect of the present invention, a robot parameter calibration method is provided, the method comprising:

[0005] Place at least two calibration plates at different positions in the robot's workspace, determine at least two calibration areas, and establish a calibration plate coordinate system;

[0006] At least three calibration points are determined from at least two calibration regions, and the calibration point coordinates of the calibration points in the calibration plate coordinate system are determined.

[0007] Control the robot to move and align it with the calibration point to obtain robot calibration data; wherein, the robot calibration data includes robot joint coordinates and actual alignment point coordinates;

[0008] Based on the coordinates of the calibration points and the robot calibration data in at least two calibration areas, the calibration parameters are determined to achieve robot parameter calibration.

[0009] According to another aspect of the present invention, a robot parameter calibration device is provided, the device comprising:

[0010] The calibration area information determination module is used to place at least two calibration boards at different positions in the robot's workspace, determine at least two calibration areas, and establish a calibration board coordinate system.

[0011] The calibration point coordinate determination module is used to determine at least three calibration points from at least two calibration areas respectively, and to determine the calibration point coordinates of the calibration points in the calibration plate coordinate system;

[0012] A robot calibration data determination module is used to control the robot to move and align it with the calibration point to obtain robot calibration data; wherein, the robot calibration data includes robot joint coordinates and actual alignment point coordinates;

[0013] The calibration parameter result determination module is used to determine the calibration parameter results based on the coordinates of the calibration point and the robot calibration data in at least two calibration areas, so as to realize the robot parameter calibration.

[0014] According to another aspect of the present invention, an electronic device is provided, the electronic device comprising:

[0015] At least one processor; and

[0016] A memory communicatively connected to the at least one processor; wherein,

[0017] The memory stores a computer program that can be executed by the at least one processor, which enables the at least one processor to perform the robot parameter calibration method according to any embodiment of the present invention.

[0018] According to another aspect of the present invention, a computer-readable storage medium is provided, the computer-readable storage medium storing computer instructions for causing a processor to execute and implement the robot parameter calibration method according to any embodiment of the present invention.

[0019] The technical solution of this invention involves placing at least two calibration plates at different positions in the robot's workspace to determine at least two calibration areas and establish a calibration plate coordinate system. Then, at least three calibration points are determined from each of the at least two calibration areas, and the coordinates of these calibration points in the calibration plate coordinate system are determined. The robot is then controlled to move and align with the calibration points, acquiring robot calibration data. Based on the calibration point coordinates and the robot calibration data from the at least two calibration areas, calibration parameters are determined to achieve robot parameter calibration. This technical solution improves the accuracy of robot parameter calibration by fusing calibration data from multiple regions.

[0020] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0021] To more clearly illustrate the technical solutions in the embodiments of the present invention, 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 the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0022] Figure 1A This is a flowchart of a robot parameter calibration method provided in Embodiment 1 of the present invention;

[0023] Figure 1B This is a schematic diagram of a calibration plate placement according to Embodiment 1 of the present invention;

[0024] Figure 2 This is a flowchart of a robot parameter calibration method provided in Embodiment 2 of the present invention;

[0025] Figure 3 This is a schematic diagram of a robot parameter calibration device according to Embodiment 3 of the present invention;

[0026] Figure 4 This is a schematic diagram of the structure of an electronic device that implements the robot parameter calibration method of this invention. Detailed Implementation

[0027] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0028] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0029] Furthermore, it should be noted that the collection, storage, use, processing, transmission, provision, and disclosure of data related to calibration boards and robots involved in the technical solution of this invention all comply with the provisions of relevant laws and regulations and do not violate public order and good morals.

[0030] Example 1

[0031] Figure 1A This is a flowchart of a robot parameter calibration method according to Embodiment 1 of the present invention. This embodiment is applicable to situations involving the calibration of robot parameters. The method can be executed by a robot parameter calibration device, which can be implemented in hardware and / or software and integrated into an electronic device that performs robot parameter calibration, such as a server. Figure 1A As shown, the method includes:

[0032] S110. Place at least two calibration plates at different positions in the robot's workspace, determine at least two calibration areas, and establish a calibration plate coordinate system.

[0033] In this embodiment, the calibration plate coordinate system refers to the coordinate system constructed based on the calibration plate.

[0034] Specifically, at least two calibration plates are placed in different locations within the robot's workspace, such as... Figure 1B As shown, the area in the robot's workspace where the calibration plate was placed is then designated as the calibration area, and a calibration plate coordinate system corresponding to this calibration area is established.

[0035] S120. Determine at least three calibration points from at least two calibration areas respectively, and determine the calibration point coordinates of the calibration points in the calibration plate coordinate system.

[0036] In this embodiment, the calibration point is a point on the calibration plate, i.e., in the calibration area. The calibration point coordinate system refers to the coordinates of the calibration point in the calibration plate coordinate system.

[0037] Specifically, for each calibration area, at least three calibration points are determined from that calibration area, i.e., the calibration plate, and the coordinates of each calibration point in the calibration plate coordinate system are determined. It should be noted that the at least three calibration points in the same calibration area are not on the same straight line.

[0038] S130. Control the robot to move so that it aligns with the calibration point and obtain robot calibration data.

[0039] In this embodiment, robot calibration data refers to the robot body-related data when the robot's end effector aligns with the calibration point; optionally, robot calibration data includes robot joint coordinates and actual alignment point coordinates; wherein, actual alignment point coordinates refer to the coordinates of the actual point of the robot alignment calibration point falling in the calibration area in the calibration plate coordinate system.

[0040] Specifically, the robot can be controlled to move its robotic arm so that the end of the robotic arm is aligned with each calibration point and the robot calibration data is recorded.

[0041] S140. Based on the coordinates of the calibration point and the robot calibration data in at least two calibration areas, determine the calibration parameter results to achieve robot parameter calibration.

[0042] In this embodiment, the calibration parameter result refers to the result after calibrating the robot body parameters.

[0043] An alternative approach is to fuse robot calibration data from at least two calibration areas based on the coordinates of calibration points to obtain calibration parameter results, thereby achieving robot parameter calibration.

[0044] The technical solution of this invention involves placing at least two calibration plates at different positions in the robot's workspace to determine at least two calibration areas and establish a calibration plate coordinate system. Then, at least three calibration points are determined from each of the at least two calibration areas, and the coordinates of these calibration points in the calibration plate coordinate system are determined. The robot is then controlled to move and align with the calibration points, acquiring robot calibration data. Based on the calibration point coordinates and the robot calibration data from the at least two calibration areas, calibration parameters are determined to achieve robot parameter calibration. This technical solution improves the accuracy of robot parameter calibration by fusing calibration data from multiple regions.

[0045] Based on the above embodiments, as an optional approach of this disclosure, before determining the calibration parameter results based on the calibration point coordinates and the robot calibration data of the robot in at least two calibration areas, the method further includes: determining the alignment error based on the calibration point coordinates and the actual alignment point coordinates; if the alignment error is greater than the error threshold, adjusting the robot and re-determining the robot calibration data until the alignment error is less than the error threshold.

[0046] The actual alignment point refers to the point in the calibration area that the end effector of the robot arm actually lands on when aligning with the calibration point.

[0047] Specifically, the error between the calibration point coordinates and the actual alignment point coordinates is calculated to obtain the alignment error. If the alignment error is greater than the error threshold, the position of the robot's end effector is adjusted, the calibration point is re-aligned, and the robot calibration data is re-determined until the alignment error is less than the error threshold.

[0048] It is understandable that the robot calibration data is updated through multiple iterations to obtain more accurate robot parameter calibration results.

[0049] Example 2

[0050] Figure 2 This is a flowchart of a robot parameter calibration method according to Embodiment 2 of the present invention. Based on the above embodiments, this embodiment further optimizes the step of "determining the calibration parameter results based on the coordinates of the calibration points and robot calibration data in at least two calibration areas," providing an optional implementation scheme. For example... Figure 2 As shown, the method includes:

[0051] S210. Place at least two calibration plates at different positions in the robot's workspace, determine at least two calibration areas, and establish a calibration plate coordinate system.

[0052] S220. Determine at least three calibration points from at least two calibration areas respectively, and determine the calibration point coordinates of the calibration points in the calibration plate coordinate system.

[0053] S230: Control the robot to move so that it aligns with the calibration point and obtain robot calibration data.

[0054] The robot calibration data includes robot joint coordinates and actual alignment point coordinates.

[0055] S240. Based on the coordinates of the calibration point and the robot calibration data in at least two calibration areas, determine the calibration parameter results to achieve robot parameter calibration.

[0056] An alternative approach involves determining the robot's Cartesian coordinates based on the robot's joint coordinates and forward kinematics; determining the coordinate transformation relationship between the robot's coordinate system and the calibration plate coordinate system based on the robot's Cartesian coordinates and the calibration point coordinates; transforming the actual alignment point coordinates in at least two calibration areas to the robot's coordinate system based on the coordinate transformation relationship to obtain the alignment point's Cartesian coordinates; and determining the calibration parameter results based on the alignment point's Cartesian coordinates using a body parameter calibration algorithm.

[0057] Robot Cartesian coordinates refer to the coordinates of robot joints in the robot coordinate system, which is also the Cartesian coordinate system. Alignment point Cartesian coordinates refer to the coordinates of the actual alignment point transformed into the robot coordinate system.

[0058] Specifically, based on the robot's forward kinematics and joint coordinates, the robot's Cartesian coordinates are obtained. Then, for each calibration region, the coordinate transformation relationship between the robot's coordinate system and the calibration board's coordinate system is determined based on the robot's Cartesian coordinates and the calibration point coordinates corresponding to that region. Subsequently, the actual alignment point coordinates of the calibration region are transformed into the robot's coordinate system to obtain the alignment point's Cartesian coordinates. Finally, based on the body parameter calibration algorithm, the alignment point's Cartesian coordinates corresponding to each calibration region are determined as the calibration parameter results.

[0059] Understandably, using robot calibration data from multiple calibration areas to calibrate robot parameters can improve the accuracy of robot body parameter calibration.

[0060] The technical solution of this invention involves placing at least two calibration plates at different positions in the robot's workspace to determine at least two calibration areas and establish a calibration plate coordinate system. Then, at least three calibration points are determined from each of the at least two calibration areas, and the coordinates of these calibration points in the calibration plate coordinate system are determined. The robot is then controlled to move and align with the calibration points, acquiring robot calibration data. Based on the calibration point coordinates and the robot calibration data from the at least two calibration areas, calibration parameters are determined to achieve robot parameter calibration. This technical solution improves the accuracy of robot parameter calibration by fusing calibration data from multiple regions.

[0061] Example 3

[0062] Figure 3 This is a schematic diagram of a robot parameter calibration device according to Embodiment 3 of the present invention. This embodiment is applicable to various situations involving robot parameter calibration. The device can be implemented in hardware and / or software and can be integrated into an electronic device that performs robot parameter calibration, such as a server. Figure 3 As shown, the device includes:

[0063] The calibration area information determination module 310 is used to place at least two calibration plates at different positions in the robot's workspace, determine at least two calibration areas, and establish a calibration plate coordinate system.

[0064] The calibration point coordinate determination module 320 is used to determine at least three calibration points from at least two calibration areas respectively, and to determine the calibration point coordinates in the calibration plate coordinate system;

[0065] The robot calibration data determination module 330 is used to control the robot's movement to align it with the calibration point and acquire robot calibration data; wherein, the robot calibration data includes robot joint coordinates and actual alignment point coordinates;

[0066] The calibration parameter result determination module 340 is used to determine the calibration parameter result based on the calibration point coordinates and the robot calibration data in at least two calibration areas, so as to realize the robot parameter calibration.

[0067] The technical solution of this invention involves placing at least two calibration plates at different positions in the robot's workspace to determine at least two calibration areas and establish a calibration plate coordinate system. Then, at least three calibration points are determined from each of the at least two calibration areas, and the coordinates of these calibration points in the calibration plate coordinate system are determined. The robot is then controlled to move and align with the calibration points, acquiring robot calibration data. Based on the calibration point coordinates and the robot calibration data from the at least two calibration areas, calibration parameters are determined to achieve robot parameter calibration. This technical solution improves the accuracy of robot parameter calibration by fusing calibration data from multiple regions.

[0068] Optionally, the device also includes a calibration data update module for:

[0069] Before determining the calibration parameter results based on the calibration point coordinates and robot calibration data in at least two calibration areas, the alignment error is determined based on the calibration point coordinates and the actual alignment point coordinates.

[0070] If the alignment error is greater than the error threshold, the robot is adjusted and the robot calibration data is redefined until the alignment error is less than the error threshold.

[0071] Optionally, the actual alignment point coordinates refer to the coordinates of the actual point in the calibration area where the robot alignment calibration point falls within the calibration plate coordinate system.

[0072] Optionally, the calibration parameter result determination module 340 is specifically used for:

[0073] Determine the robot's Cartesian coordinates based on the robot's joint coordinates and forward kinematics;

[0074] Based on the robot's Cartesian coordinates and the coordinates of the calibration point, determine the coordinate transformation relationship between the robot's coordinate system and the calibration plate's coordinate system;

[0075] Based on the coordinate transformation relationship, the actual alignment point coordinates in at least two calibration areas are transformed to the robot coordinate system to obtain the Cartesian coordinates of the alignment points;

[0076] Based on the ontological parameter calibration algorithm, the calibration parameter results are determined according to the Cartesian coordinates of the alignment point.

[0077] The robot parameter calibration device provided in this embodiment of the invention can execute the robot parameter calibration method provided in any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0078] Example 4

[0079] Figure 4 This is a schematic diagram of the structure of an electronic device that implements the robot parameter calibration method of this invention. Figure 4 A schematic diagram of an electronic device 10 that can be used to implement embodiments of the present invention is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the invention described and / or claimed herein.

[0080] like Figure 4 As shown, the electronic device 10 includes at least one processor 11 and a memory, such as a read-only memory (ROM) 12 or a random access memory (RAM) 13, communicatively connected to the at least one processor 11. The memory stores computer programs executable by the at least one processor. The processor 11 can perform various appropriate actions and processes based on the computer program stored in the ROM 12 or loaded from storage unit 18 into the RAM 13. The RAM 13 may also store various programs and data required for the operation of the electronic device 10. The processor 11, ROM 12, and RAM 13 are interconnected via a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0081] Multiple components in electronic device 10 are connected to I / O interface 15, including: input unit 16, such as keyboard, mouse, etc.; output unit 17, such as various types of displays, speakers, etc.; storage unit 18, such as disk, optical disk, etc.; and communication unit 19, such as network card, modem, wireless transceiver, etc. Communication unit 19 allows electronic device 10 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0082] Processor 11 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. Processor 11 performs the various methods and processes described above, such as robot parameter calibration methods.

[0083] In some embodiments, the robot parameter calibration method may be implemented as a computer program tangibly contained in a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or mounted on electronic device 10 via ROM 12 and / or communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the robot parameter calibration method described above may be performed. Alternatively, in other embodiments, processor 11 may be configured to perform the robot parameter calibration method by any other suitable means (e.g., by means of firmware).

[0084] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SoCs), payload-programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0085] Computer programs used to implement the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when executed by the processor, the computer programs cause the functions / operations specified in the flowcharts and / or block diagrams to be performed. The computer programs may be executed entirely on a machine, partially on a machine, or as a standalone software package, partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0086] In the context of this invention, a computer-readable storage medium can be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, apparatus, or device. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination thereof. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0087] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the electronic device. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0088] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), or computing systems that include middleware components (e.g., application servers), or computing systems that include frontend components (e.g., user computers with graphical user interfaces or web browsers through which users can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., communication networks). Examples of communication networks include local area networks (LANs), wide area networks (WANs), blockchain networks, and the Internet.

[0089] A computing system can include clients and servers. Clients and servers are generally located far apart and typically interact through communication networks. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a hosting product within the cloud computing service system to address the shortcomings of traditional physical hosts and VPS services, such as high management difficulty and weak business scalability.

[0090] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and this is not limited herein.

[0091] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A method for calibrating robot parameters, characterized in that, include: Place at least two calibration plates at different positions in the robot's workspace, determine at least two calibration areas, and establish a calibration plate coordinate system; At least three calibration points are determined from at least two calibration regions, and the calibration point coordinates of the calibration points in the calibration plate coordinate system are determined. Control the robot to move and align it with the calibration point to obtain robot calibration data; wherein, the robot calibration data includes robot joint coordinates and actual alignment point coordinates; Based on the coordinates of the calibration points and the robot calibration data in at least two calibration areas, the calibration parameters are determined to achieve robot parameter calibration.

2. The method according to claim 1, characterized in that, Before determining the calibration parameter results based on the calibration point coordinates and robot calibration data from at least two calibration areas, the following steps are also included: The alignment error is determined based on the coordinates of the calibration point and the coordinates of the actual alignment point. If the alignment error is greater than the error threshold, the robot is adjusted and the robot calibration data is redefined until the alignment error is less than the error threshold.

3. The method according to claim 1, characterized in that, The actual alignment point coordinates refer to the coordinates of the actual point in the calibration area where the robot alignment calibration point falls within the calibration plate coordinate system.

4. The method according to claim 1, characterized in that, Based on the coordinates of the calibration points and the robot calibration data in at least two calibration areas, determine the calibration parameter results, including: Determine the robot's Cartesian coordinates based on the robot's joint coordinates and forward kinematics; Based on the robot's Cartesian coordinates and the calibration point coordinates, determine the coordinate transformation relationship between the robot coordinate system and the calibration plate coordinate system; Based on the coordinate transformation relationship, the actual alignment point coordinates in at least two calibration areas are transformed to the robot coordinate system to obtain the Cartesian coordinates of the alignment points; Based on the ontological parameter calibration algorithm, the calibration parameter results are determined according to the Cartesian coordinates of the alignment point.

5. A robot parameter calibration device, characterized in that, include: The calibration area information determination module is used to place at least two calibration boards at different positions in the robot's workspace, determine at least two calibration areas, and establish a calibration board coordinate system. The calibration point coordinate determination module is used to determine at least three calibration points from at least two calibration areas respectively, and to determine the calibration point coordinates of the calibration points in the calibration plate coordinate system; A robot calibration data determination module is used to control the robot to move and align it with the calibration point to obtain robot calibration data; wherein, the robot calibration data includes robot joint coordinates and actual alignment point coordinates; The calibration parameter result determination module is used to determine the calibration parameter results based on the coordinates of the calibration point and the robot calibration data in at least two calibration areas, so as to realize the robot parameter calibration.

6. The apparatus according to claim 5, characterized in that, The device also includes a calibration data update module for: Before determining the calibration parameter results based on the calibration point coordinates and robot calibration data in at least two calibration areas, the alignment error is determined based on the calibration point coordinates and the actual alignment point coordinates. If the alignment error is greater than the error threshold, the robot is adjusted and the robot calibration data is redefined until the alignment error is less than the error threshold.

7. The apparatus according to claim 5, characterized in that, The actual alignment point coordinates refer to the coordinates of the actual point in the calibration area where the robot alignment calibration point falls within the calibration plate coordinate system.

8. The apparatus according to claim 5, characterized in that, The calibration parameter result determination module is specifically used for: Determine the robot's Cartesian coordinates based on the robot's joint coordinates and forward kinematics; Based on the robot's Cartesian coordinates and the calibration point coordinates, determine the coordinate transformation relationship between the robot coordinate system and the calibration plate coordinate system; Based on the coordinate transformation relationship, the actual alignment point coordinates in at least two calibration areas are transformed to the robot coordinate system to obtain the Cartesian coordinates of the alignment points; Based on the ontological parameter calibration algorithm, the calibration parameter results are determined according to the Cartesian coordinates of the alignment point.

9. An electronic device, characterized in that, The electronic device includes: At least one processor; and A memory communicatively connected to the at least one processor; wherein, The memory stores a computer program that can be executed by the at least one processor, the computer program being executed by the at least one processor to enable the at least one processor to perform the robot parameter calibration method according to any one of claims 1-4.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions that cause a processor to execute the robot parameter calibration method according to any one of claims 1-4.

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