A robot and its light source calibration method

Abstract

The present invention discloses a robot and a method for correcting its light source. The robot includes: an automated guided vehicle, a vision photographing module, a correction module, a light source, and a control module; the vision photographing module is arranged on the automated guided vehicle, and the light source is assembled on the automated guided vehicle through the correction module; the control module is electrically connected to the vision photographing module and the correction module respectively; the vision photographing module is used for collecting the current image of the calibration board after the automated guided vehicle reaches near the target station; the control module compares the pose of the calibration board in the current image with the pose in the pre-stored standard calibration board image, calculates and obtains the position deviation of the calibration board in the vehicle coordinate system to determine the position deviation of the automated guided vehicle in the calibration board coordinate system; the correction module corrects the light source according to the position deviation of the automated guided vehicle in the calibration board coordinate system. With the above structure, accurate correction of the robot light source is achieved, and the success rate of precision detection is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of automated guided vehicles, and particularly to a robot and a light source calibration method thereof. Background Art

[0002] With the booming development of robot technology and artificial intelligence technology, replacing manual work with machines has become a trend and necessity in social development. An AGV (Automated Guided Vehicle)-type composite robot is a new type of robot that combines an AGV and a robotic arm. By carrying a high-precision vision device to cooperate with the operation of the robotic arm, it replaces manual work for related positioning operations, so that the light source on the robot can accurately irradiate the object to be measured.

[0003] At the current stage, there will be a certain positioning deviation when the robot is positioning, resulting in the light source ultimately unable to irradiate the center of the object to be measured. Therefore, it is necessary to calibrate the light source. The existing calibration of the light source set on the AGV usually increases the diameter of the light source beam, thereby improving the error tolerance so that the light source can irradiate the center of the object to be measured. However, this method cannot fundamentally solve the problem of robot positioning deviation, and increasing the diameter of the light source beam requires a larger light source to meet the requirement, which increases the volume of the robot and is not conducive to carrying.

[0004] In addition, the position of the robot can be accurately located by pasting two-dimensional codes on the ground, so that the light source can accurately enter the center of the object to be measured. This method can improve the positioning accuracy of the robot, but the beat of precise positioning is long, consuming more time, and in most cases, the condition of pasting two-dimensional codes on the ground is not available, and the applicable scenarios are few. Summary of the Invention

[0005] The present invention provides a robot and a light source calibration method thereof, which realizes accurate calibration of the robot light source, improves the success rate of precision detection, has a wide range of applicable scenarios, is easy to integrate, has a small volume and is convenient to carry.

[0006] In a first aspect, the present invention provides a robot, including an automated guided vehicle, a vision photographing module, a calibration module, a light source, and a control module;

[0007] The vision photographing module is arranged on the automated guided vehicle, and the light source is assembled on the automated guided vehicle through the calibration module;

[0008] The control module is electrically connected to the automated guided vehicle, the vision photographing module, and the calibration module respectively;

[0009] The control module is used to control the automated guided vehicle to move towards the target station until it reaches near the target station;

[0010] The vision photographing module is used to collect an image of the calibration board near the target site after the automatic guided vehicle arrives near the target site, and obtain the current image;

[0011] The control module is further used to compare the pose of the calibration board in the current image with the pose of the calibration board in the pre-stored standard calibration board image, and calculate the position deviation of the calibration board in the coordinate system of the transport vehicle; wherein, the standard calibration board image is an image of the calibration board at the target site collected by the vision photographing module when the automatic guided vehicle is located at the target site; the coordinate system of the transport vehicle is a coordinate system with the automatic guided vehicle as the reference;

[0012] The control module is further used to determine the position deviation of the automatic guided vehicle in the coordinate system of the calibration board according to the position deviation of the calibration board in the coordinate system of the transport vehicle; wherein, the coordinate system of the calibration board is a coordinate system with the calibration board as the reference;

[0013] The correction module is used to correct the light source according to the position deviation of the automatic guided vehicle in the coordinate system of the calibration board, so that the light source is aligned with the object to be detected at the target site.

[0014] Optionally, the robot further includes: a robotic arm;

[0015] The robotic arm includes a base and a end, the base is connected to the control module, and the end is fixedly connected to the vision photographing module.

[0016] Optionally, the correction module includes a control unit and two servo adjustment units;

[0017] The control unit is used to receive the position deviation of the automatic guided vehicle in the coordinate system of the calibration board, and control the servo adjustment unit to correct the light source according to the position deviation of the automatic guided vehicle in the coordinate system of the calibration board, so that the light source is aligned with the object to be detected at the target site.

[0018] Optionally, the servo adjustment unit includes a translational servo adjustment subunit and a rotational servo adjustment subunit;

[0019] The translational servo adjustment subunit is used to control the light source to move along a first direction, and the first direction is the same as the direction in which the automatic guided vehicle moves towards the target site;

[0020] The rotational servo adjustment subunit is used to control the light source to rotate around the center of the servo adjustment unit.

[0021] In a second aspect, the present invention provides a method for correcting the light source of a robot, based on the above robot, including:

[0022] Control the automated guided vehicle (AGV) to move towards the target station until it reaches near the target station, so that the vision imaging module can capture an image of the calibration board near the target station after the AGV arrives near the target station, and obtain the current image;

[0023] Compare the pose of the calibration board in the current image with its pose in the pre-stored standard calibration board image, and calculate the position deviation of the calibration board in the vehicle coordinate system; wherein, the standard calibration board image is the image of the calibration board at the target station captured by the vision imaging module when the AGV is located at the target station; the vehicle coordinate system is a coordinate system with the AGV as the reference;

[0024] Determine the position deviation of the AGV in the calibration board coordinate system according to the position deviation of the calibration board in the vehicle coordinate system; wherein, the calibration board coordinate system is a coordinate system with the calibration board as the reference;

[0025] Control the correction module to correct the light source according to the position deviation of the AGV in the calibration board coordinate system, so that the light source is aligned with the object to be detected at the target station.

[0026] Optionally, the robot further includes a robotic arm;

[0027] Before comparing the pose of the calibration board in the current image with its pose in the pre-stored standard calibration board image and calculating the position deviation of the calibration board in the vehicle coordinate system, it further includes:

[0028] According to the tool coordinate system of the robotic arm, control the vision imaging module to calculate the pose of the calibration board in the tool coordinate system based on the current image;

[0029] Calculate the pose of the calibration board in the current image according to the pose of the calibration board in the tool coordinate system.

[0030] Optionally, the robotic arm includes a base and an end effector. Comparing the pose of the calibration board in the current image with its pose in the pre-stored standard calibration board image and calculating the position deviation of the calibration board in the vehicle coordinate system includes:

[0031] Obtain the pose of the calibration board in the pre-stored standard calibration board image and the pose between the center of the base and the center of the AGV;

[0032] Calculate the position deviation of the calibration board in the vehicle coordinate system according to the pose of the calibration board in the pre-stored standard calibration board image, the pose between the center of the base and the center of the AGV, and the pose of the calibration board in the current image.

[0033] Optionally, the robotic arm includes a base and an end effector;

[0034] Determine the position deviation of the automatic guided vehicle (AGV) in the calibration plate coordinate system based on the position deviation of the calibration plate in the AGV coordinate system, including:

[0035] Obtain the pose between the base center and the AGV center;

[0036] Determine the position deviation of the AGV in the calibration plate coordinate system according to the position deviation of the calibration plate in the AGV coordinate system and the pose between the base center and the AGV center; wherein, the position deviation includes the first translation deviation and the rotation deviation.

[0037] Optionally, the control correction module corrects the light source according to the position deviation of the AGV in the calibration plate coordinate system so that the light source is aligned with the detected object at the target station, including:

[0038] Calculate the first translation deviation, rotation deviation of the light source in the calibration plate coordinate system, and the second translation deviation generated due to rotation according to the first translation deviation and the rotation deviation;

[0039] Control the correction module to correct the light source with the opposite of the first translation deviation, the opposite of the rotation deviation, and the opposite of the second translation deviation according to the first translation deviation, rotation deviation, and second translation deviation so that the light source is aligned with the detected object at the target station.

[0040] Optionally, the correction module includes a control unit and two servo adjustment units;

[0041] Calculate the first translation deviation, rotation deviation of the light source in the calibration plate coordinate system, and the second translation deviation generated due to rotation according to the first translation deviation and the rotation deviation, including:

[0042] Calculate the first translation deviation and rotation deviation of the light source in the calibration plate coordinate system according to the first translation deviation and the rotation deviation;

[0043] Obtain the relative position relationship between the center of the servo adjustment unit and the AGV center, calculate the distance between the center of the servo adjustment unit and the AGV center, and the first included angle between the center of the servo adjustment unit and the AGV center; wherein, the relative position relationship includes the first coordinate in the first direction and the second coordinate in the second direction of the center of the servo adjustment unit, the first direction and the second direction are perpendicular, and the first included angle is the included angle between the distance and the first direction;

[0044] Determine the second included angle between the center of the servo adjustment unit and the AGV center after the AGV reaches near the target station according to the first included angle and the rotation deviation;

[0045] Determine the third coordinate of the center of the servo adjustment unit in the first direction after the automatic guided vehicle reaches near the target station according to the second included angle and the distance;

[0046] Calculate the second translation deviation generated by rotation of the light source in the calibration plate coordinate system according to the third coordinate and the first coordinate.

[0047] The technical solution of the present invention controls the automatic guided vehicle to move towards the target station through the control module, so that the automatic guided vehicle reaches near the target station; after the automatic guided vehicle reaches near the target station, the vision photographing module will collect the image of the calibration plate near the target station, thereby obtaining the current image. After obtaining the current image of the calibration plate, the vision photographing module will calculate the pose of the calibration plate in the current image according to the current image of the calibration plate, and send the pose of the calibration plate in the current image to the control module. After receiving the pose of the calibration plate in the current image sent by the vision photographing module, the control module will compare the pose of the calibration plate in the current image with the pose of the calibration plate in the pre-stored standard calibration plate image, and calculate the position deviation of the calibration plate in the transport vehicle coordinate system; and determine the position deviation of the automatic guided vehicle in the calibration plate coordinate system according to the position deviation of the calibration plate in the transport vehicle coordinate system; after determining the position deviation of the automatic guided vehicle in the calibration plate coordinate system, the control module will send the calculated position deviation of the automatic guided vehicle in the calibration plate coordinate system to the calibration module. After receiving the position deviation of the automatic guided vehicle in the calibration plate coordinate system, the calibration module will correct the light source according to the position deviation of the automatic guided vehicle in the calibration plate coordinate system, so that the light source is aligned with the detected object at the target station. Through the above structure, accurate calibration of the robot light source is realized, the success rate of precise detection is improved, the applicable scenarios are relatively wide, it is easy to integrate, the volume is small and it is convenient to carry.

[0048] It should be understood that the content described in this part is not intended to identify the key or important features of the embodiments of the present invention, nor is it used to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. Description of the Drawings

[0049] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0050] Figure 1 It is a schematic structural diagram of a robot provided by an embodiment of the present invention;

[0051] Figure 2 Schematic diagram of the second robot provided by the embodiment of the present invention;

[0052] Figure 3 Schematic diagram of the third robot provided by the embodiment of the present invention;

[0053] Figure 4 Schematic diagram of the fourth robot provided by the embodiment of the present invention;

[0054] Figure 5 Flowchart of a light source calibration method for a robot provided by the embodiment of the present invention;

[0055] Figure 6 Flowchart of the light source calibration method for the second robot provided by the embodiment of the present invention;

[0056] Figure 7 Top view of the translational deviation generated when the robot provided by the embodiment of the present invention is at the target site and near the target site;

[0057] Figure 8 Top view of the rotational deviation generated when the robot provided by the embodiment of the present invention is at the target site and near the target site;

[0058] Figure 9 Schematic diagram for calculating the second translational deviation generated by the light source due to the rotation of the automatic guided vehicle provided by the embodiment of the present invention Detailed implementation manners

[0059] In order to enable those skilled in the art to better understand the solution of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0060] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and do not have to be used to describe a specific order or sequence. It should be understood that such data can be interchanged under appropriate circumstances so that the embodiments of the present invention described herein can be implemented in an order different from those illustrated or described herein.

[0061] In one embodiment, Figure 1 Schematic diagram of a robot provided by the embodiment of the present invention, Figure 2 Schematic diagram of the second robot provided by the embodiment of the present invention, as Figure 1 andFigure 2 As shown in the figure, the robot includes: an automated guided vehicle 1, a vision photographing module 2, a calibration module 3, a light source 4, and a control module 5; the vision photographing module 2 is disposed on the automated guided vehicle 1, and the light source 4 is assembled on the automated guided vehicle 1 through the calibration module 3; the control module 5 is electrically connected to the automated guided vehicle 1, the vision photographing module 2, and the calibration module 3 respectively; the control module 5 is configured to control the automated guided vehicle 1 to move towards a target station until it reaches near the target station; the vision photographing module 2 is configured to collect an image of a calibration board at a position near the target station after the automated guided vehicle 1 reaches near the target station, so as to obtain a current image; the control module 5 is further configured to compare the pose of the calibration board in the current image with the pose of the calibration board in a pre-stored standard calibration board image, and calculate to obtain the position deviation of the calibration board in the vehicle coordinate system; wherein, the standard calibration board image is an image of the calibration board at the target station collected by the vision photographing module 2 when the automated guided vehicle 1 is located at the target station; the vehicle coordinate system is a coordinate system with the automated guided vehicle 1 as a reference; the control module 5 is further configured to determine the position deviation of the automated guided vehicle 1 in the calibration board coordinate system according to the position deviation of the calibration board in the vehicle coordinate system; wherein, the calibration board coordinate system is a coordinate system with the calibration board as a reference; the calibration module 3 is configured to correct the light source 4 according to the position deviation of the automated guided vehicle 1 in the calibration board coordinate system, so that the light source 4 is aligned with the object to be detected at the target station.

[0062] Wherein, the automated guided vehicle 1 (Automated Guided Vehicl, AGV) refers to a transport vehicle equipped with an automatic guiding device such as electromagnetic or optical, capable of traveling along a specified guiding path, and having safety protection and various transfer functions. The vision photographing module 2 is configured to photograph the calibration board, so as to obtain image information of the calibration board; in addition, the vision photographing module 2 can also calculate according to the image information of the calibration board to determine the pose of the calibration board under the current image. The calibration module 3 may include a servo adjustment unit, configured to receive a signal instruction from the control module 5 and correct the light source 4 according to the signal instruction. The light source 4 can emit electromagnetic waves with a certain wavelength range; the number of the light sources 4 can be correspondingly set according to the number of actual objects to be detected. In this embodiment, the number of the light sources 4 can be set to 4, so that the light emitted by each light source 4 can accurately enter the center of the corresponding object to be detected. The control module 5, as the core control module of the present invention, can be used to control the calibration module 3 to correct the light source 4. In addition, in this embodiment, the object to be detected may include silk threads.

[0063] Specifically, when performing precise inspection by a robot, the automatic guided vehicle 1 needs to be moved to the target site so that when the automatic guided vehicle 1 is at the target site, the light source 4 can accurately irradiate the center of the object to be detected. In this embodiment, the automatic guided vehicle 1 is electrically connected to the control module 5. Therefore, the control module 5 can control the automatic guided vehicle 1 to move towards the target site. Since there is a positioning deviation when the automatic guided vehicle 1 is moving, the automatic guided vehicle 1 cannot accurately move to the target site and can only move near the target site, resulting in the light source 4 not being able to accurately irradiate the center of the object to be detected. To ensure that the light source 4 can be aligned with the center of the object to be detected to ensure accurate detection of the object to be detected subsequently, it is necessary to correct the light source 4. Specifically, after the control module 5 controls the automatic guided vehicle 1 to move near the target site, the vision photographing module 2 can collect the image of the calibration board when the automatic guided vehicle 1 is near the target site, thereby obtaining the current image. Among them, the calibration board is a marker for visual recognition, and the calibration board can be set at a position parallel to the moving direction of the automatic guided vehicle 1, and the calibration board is perpendicular to the object to be detected. At this time, the current image obtained by the vision photographing module 2 is the current image of the calibration board obtained after the automatic guided vehicle 1 has undergone translation or rotation during the movement. Therefore, this current image is usually not the standard calibration board image of the calibration board, but an image with a certain angular deviation or translation deviation from the standard calibration board image. Exemplarily, the standard calibration board image is a square, and at this time the current image may be a parallelogram. After the vision photographing module 2 obtains the current image of the calibration board, it can calculate the pose of the calibration board in the current image according to the current image of the calibration board. This pose can include position information and attitude information. After obtaining the pose of the calibration board in the current image, in combination with the pose of the calibration board in the pre-stored standard calibration board image, the control module 5 will compare the obtained pose of the calibration board in the current image with the pose of the calibration board in the pre-stored standard calibration board image, thereby calculating the position deviation of the calibration board in the transport vehicle coordinate system; among them, the transport vehicle coordinate system is a coordinate system with the automatic guided vehicle 1 as a reference, and the position deviation can include translation deviation and rotation deviation. After the control module 5 calculates the position deviation of the calibration board in the transport vehicle coordinate system, it can determine the position deviation of the automatic guided vehicle 1 in the calibration board coordinate system according to the position deviation of the calibration board in the transport vehicle coordinate system. This position deviation can also include translation deviation and rotation deviation.That is to say, first, taking the automated guided vehicle 1 as a reference, that is, in the coordinate system of the vehicle, the relative position of the automated guided vehicle 1 when it is at the target station and near the target station is set to be unchanged. There will be a certain positional deviation between the corresponding standard calibration plate image and the current image, so that the positional deviation of the calibration plate in the vehicle coordinate system can be calculated. In actual application, the calibration plate does not change. Instead, due to the positioning deviation during the movement of the automated guided vehicle 1, it cannot automatically move to the target station but can only automatically move near the target station, resulting in a certain positional deviation. Therefore, it is necessary to convert the vehicle coordinate system into the calibration plate coordinate system, that is, the positional deviation of the calibration plate in the vehicle coordinate system is converted into the positional deviation of the automated guided vehicle 1 in the calibration plate coordinate system, so as to determine the magnitude of the deviation generated during the automatic movement of the automated guided vehicle 1 under the control of the control module 4, and then the correction module 3 can be controlled to correct the light source 4. Specifically, after calculating the positional deviation of the automated guided vehicle 1 in the calibration plate coordinate system, the control module 5 will send this positional deviation to the correction module 3. After receiving the positional deviation of the automated guided vehicle 1 in the calibration plate coordinate system, the correction module 3 will correct the light source 4 according to the positional deviation of the automated guided vehicle 1 in the calibration plate coordinate system. The correction parameters can include translational deviation, rotational deviation, and translational deviation caused by rotation. By inputting the above deviation correction parameters into the correction module 3, the deviation correction parameters can be the opposite of the positional deviation, so that the correction module 3 can accurately correct the light source 4, and the corrected light source 4 can still be aligned with the center of the detected object at the target station. For example, if the control module 5 calculates that the translational deviation in the positional deviation of the automated guided vehicle 1 in the calibration plate coordinate system is 30 mm, then when the correction module 3 corrects the light source 4, the opposite of the translational deviation, that is, -30 mm, can be set in the correction module 3 as the translational deviation for correction, so as to ensure that the light source 4 can still be aligned with the center of the detected object at the target station when the position of the automated guided vehicle 1 changes.

[0064] In addition, the pose of the pre-stored calibration plate in the standard calibration plate image can be obtained by placing the automated guided vehicle 1 at the target station. Among them, the automated guided vehicle 1 can be set at the target station by manual movement. After moving the automated guided vehicle 1 to the target station, the vision photographing module 2 collects the standard calibration plate image of the calibration plate at the target station where the automated guided vehicle 1 is located, and based on the standard calibration plate image of the calibration plate, the pose of the calibration plate in the standard calibration plate image can be calculated and set as the pose of the pre-stored calibration plate in the standard calibration plate image. Without affecting the core inventive points of the present invention, no specific limitation is imposed on this.

[0065] In the technical solution of the embodiment of the present invention, the control module controls the automatic guided vehicle to move towards the target station, so that the automatic guided vehicle reaches near the target station; after the automatic guided vehicle reaches near the target station, the vision photographing module will collect the image of the calibration board near the target station to obtain the current image. After obtaining the current image of the calibration board, the vision photographing module will calculate the pose of the calibration board in the current image according to the current image of the calibration board, and send the pose of the calibration board in the current image to the control module. After receiving the pose of the calibration board in the current image sent by the vision photographing module, the control module will compare the pose of the calibration board in the current image with the pose of the calibration board in the pre-stored standard calibration board image, and calculate the position deviation of the calibration board in the transport vehicle coordinate system; and according to the position deviation of the calibration board in the transport vehicle coordinate system, determine the position deviation of the automatic guided vehicle in the calibration board coordinate system; after determining the position deviation of the automatic guided vehicle in the calibration board coordinate system, the control module will send the calculated position deviation of the automatic guided vehicle in the calibration board coordinate system to the calibration module, and the calibration module will correct the light source according to the received position deviation of the automatic guided vehicle in the calibration board coordinate system, so that the light source is aligned with the object to be detected at the target station. Through the above structure, accurate calibration of the robot light source is realized, the success rate of precise detection is improved, the applicable scenarios are wide, it is easy to integrate, the volume is small and it is convenient to carry.

[0066] Optionally, Figure 3 is a schematic structural diagram of the third robot provided by the embodiment of the present invention. Refer to Figure 3 As shown, the robot further includes: a robotic arm 6; the robotic arm 6 includes a base 61 and a tip 62. The base 61 is connected to the control module 5, and the tip 62 is fixedly connected to the vision photographing module 2.

[0067] Among them, the robotic arm 6 is a machine device that can simulate the movement of a human arm. It can include multiple joints and actuators, and can complete various complex industrial operations according to the instructions of the control module 5.

[0068] Specifically, the robotic arm 6 includes a base 61 and a tip 62. The base 61 is connected to the control module 5, and the tip 62 is fixedly connected to the vision photographing module 2. In this embodiment, when the vision photographing module 2 takes a picture of the calibration board, it is necessary to establish the relative relationship between the tip 62 and the vision photographing module 2, that is, perform hand-eye calibration between the tip 62 and the vision photographing module 2, so that when the control module 5 controls the movement of the robotic arm 6, it can always ensure that the vision photographing module 2 is perpendicular to the calibration board, so that the vision photographing module 2 can obtain an accurate current image, preventing the error of the pose of the calibration board calculated by the vision photographing module 2 in the current image, so that after the light source 4 is finally calibrated, the light emitted by the light source 4 cannot be aligned with the center of the object to be detected at the target station.

[0069] Optionally, Figure 4 which is a schematic structural diagram of the fourth robot provided by the embodiment of the present invention. Refer to Figure 4 as shown. The calibration module 3 includes a control unit 31 and two servo adjustment units 32. The control unit 31 is configured to receive the position deviation of the automatic guided vehicle 1 in the calibration plate coordinate system, and control the servo adjustment unit 32 to calibrate the light source 4 according to the position deviation of the automatic guided vehicle 1 in the calibration plate coordinate system, so that the light source 4 is aligned with the detected object at the target station.

[0070] Optionally, continue to refer to Figure 4 , the servo adjustment unit 32 includes a translational servo adjustment subunit 321 and a rotational servo adjustment subunit 322. The translational servo adjustment subunit 321 is configured to control the light source 4 to move along a first direction, and the first direction is the same as the direction in which the automatic guided vehicle 1 moves towards the target station. The rotational servo adjustment subunit 322 is configured to control the light source 4 to rotate around the center of the servo adjustment unit 32.

[0071] Among them, the control unit 31 is the controller in the calibration module 3, and is configured to receive the position deviation of the automatic guided vehicle 1 in the calibration plate coordinate system sent by the control module 5, and control the servo adjustment unit 32 according to the position deviation. Exemplarily, the control unit 31 may include a PLC controller. The servo adjustment unit 32 is connected to the light source 4. In this embodiment, two servo adjustment units 32 are provided to respectively adjust the positions of the corresponding light sources 4 according to the instructions of the control unit 31, so as to realize the calibration of the light source 4. The servo adjustment unit 32 may include a translational servo adjustment subunit 321 and a rotational servo adjustment subunit 322, wherein the translational servo adjustment subunit 321 is configured to control the light source 4 to move along the first direction, that is, the direction in which the automatic guided vehicle 1 moves towards the target station. The rotational servo adjustment subunit 322 is configured to control the light source 4 to rotate around the center of the servo adjustment unit 32.

[0072] Specifically, after the control module 5 sends the calculated position deviation of the automatic guided vehicle in the calibration board coordinate system to the calibration module 3, the control unit 31 in the calibration module 3 will receive the position deviation of the automatic guided vehicle 1 in the calibration board coordinate system. This position deviation includes translational deviation, rotational deviation, and translational deviation caused by rotation. The calibration module 3 controls the servo adjustment unit 32 according to the received position deviation of the automatic guided vehicle 1 in the calibration board coordinate system, so that the translational servo adjustment subunit 321 in the servo adjustment unit 32 can control the light source 4 to perform compensation and correction along the first direction according to the translational deviation in the position deviation of the automatic guided vehicle 1 in the calibration board coordinate system. In addition, it is also necessary to control the light source 4 to perform compensation and correction around the center of the servo adjustment unit 32 according to the rotational deviation in the position deviation of the automatic guided vehicle 1 in the calibration board coordinate system, and to perform compensation and correction on the translational deviation caused by the rotation of the automatic guided vehicle 1. After the correction is completed, it shows that when the light source 4 is offset during the movement of the automatic guided vehicle 1 towards the target site, the light emitted by the light source 4 can still be aligned with the center of the detected object at the target site, thus achieving accurate correction of the robot light source.

[0073] Based on the same inventive concept, an embodiment of the present invention provides a method for correcting the light source of a robot. Figure 5 As shown in the flowchart of a method for correcting the light source of a robot provided by an embodiment of the present invention, based on the above-mentioned robot, refer to Figure 5 shown, the light source correction method includes:

[0074] S110. Control the automatic guided vehicle to move towards the target site until it reaches near the target site, so that the vision photographing module can collect the image of the calibration board at the target site after the automatic guided vehicle reaches near the target site, and obtain the current image.

[0075] Specifically, when performing precise inspection using the robot, the automatic guided vehicle can be controlled to move towards the target site. Since there is a positioning deviation when the automatic guided vehicle is moving, the automatic guided vehicle cannot accurately move to the target site, but can only move near the target site, resulting in the light source not being able to accurately irradiate the center of the detected object, affecting the normal detection of the subsequent detected object. Therefore, it is necessary to correct the light source. In this embodiment, after controlling the automatic guided vehicle to move near the target site, the vision photographing module can collect the image of the calibration board when the automatic guided vehicle is near the target site, so as to obtain the current image.

[0076] S120. Compare the pose of the calibration board in the current image with the pose of the calibration board in the pre-stored standard calibration board image, and calculate the position deviation of the calibration board in the transport vehicle coordinate system.

[0077] Among them, the standard calibration board image is the image of the calibration board at the target site collected by the vision photographing module when the automatic guided vehicle is located at the target site; the vehicle coordinate system is a coordinate system with the automatic guided vehicle as the reference.

[0078] Specifically, after the vision photographing module obtains the current image of the calibration board, it can calculate the pose of the calibration board in the current image based on the current image of the calibration board, and combine the pose of the calibration board in the pre-stored standard calibration board image to compare the pose of the calibration board in the current image with the pose of the calibration board in the pre-stored standard calibration board image, then the position deviation of the calibration board in the vehicle coordinate system can be calculated, that is, with the automatic guided vehicle as the reference system, the position deviation of the calibration board in the current image and the standard calibration board image.

[0079] S130. Determine the position deviation of the automatic guided vehicle in the calibration board coordinate system according to the position deviation of the calibration board in the vehicle coordinate system.

[0080] Among them, the calibration board coordinate system is a coordinate system with the calibration board as the reference.

[0081] Specifically, after determining the position deviation of the calibration board in the vehicle coordinate system, according to the position deviation of the calibration board in the vehicle coordinate system and by converting the coordinate system, that is, converting the vehicle coordinate system to the calibration board coordinate system with the calibration board as the reference, the position deviation of the automatic guided vehicle when it is at the target site and near the target site can be calculated, that is, the position deviation of the automatic guided vehicle in the calibration board coordinate system, and this position deviation can include translational deviation and rotational deviation.

[0082] S140. Control the correction module to correct the light source according to the position deviation of the automatic guided vehicle in the calibration board coordinate system so that the light source is aligned with the object to be detected at the target site.

[0083] Specifically, after calculating the position deviation of the automatic guided vehicle in the calibration board coordinate system, the calculated position deviation of the automatic guided vehicle in the calibration board coordinate system can be sent to the correction module. The correction module will correct the light source according to the position deviation of the automatic guided vehicle in the calibration board coordinate system. The parameters for correcting the light source can include translational deviation, rotational deviation, and translational deviation caused by rotation. After inputting the above deviation correction parameters into the correction module, the correction module can perform compensation correction on the light source according to this correction parameter, so that the corrected light source can be aligned with the center of the object to be detected set at the target site.

[0084] In the technical solution of the embodiment of the present invention, the automatic guided vehicle is controlled to move towards the target station until it reaches near the target station, so that the vision photographing module collects an image of the calibration board at the target station after the automatic guided vehicle reaches near the target station, and obtains the current image; the pose of the calibration board in the current image is compared with the pose of the calibration board in the pre-stored standard calibration board image, and the position deviation of the calibration board in the vehicle coordinate system is calculated; according to the position deviation of the calibration board in the vehicle coordinate system, the position deviation of the automatic guided vehicle in the calibration board coordinate system is determined; the correction module is controlled to correct the light source according to the position deviation of the automatic guided vehicle in the calibration board coordinate system, so that the light source is aligned with the object to be detected at the target station. Through the above method, accurate correction of the robot light source is achieved, and the success rate of precision detection is improved.

[0085] In an alternative embodiment, Figure 6 is a flowchart of the second method for correcting the light source of the robot provided by the embodiment of the present invention. Figure 7 is a top view of the translation deviation generated when the robot provided by the embodiment of the present invention is at the target station and near the target station. Figure 8 is a top view of the rotation deviation generated when the robot provided by the embodiment of the present invention is at the target station and near the target station. Refer to Figures 6 to 8 As shown, the robot further includes a robotic arm, and the robotic arm includes a base and a end; the method for correcting the light source includes:

[0086] S210. Control the automatic guided vehicle to move towards the target station until it reaches near the target station, so that the vision photographing module collects an image of the calibration board near the target station after the automatic guided vehicle reaches near the target station, and obtains the current image.

[0087] S220. According to the tool coordinate system of the robotic arm, control the vision photographing module to calculate the pose of the calibration board in the tool coordinate system according to the current image.

[0088] Among them, the tool coordinate system is a coordinate system established by setting the tool center point of the robot as the zero point to determine the position and attitude of the tool. In this embodiment, the tool may include a vision photographing module. In addition, the tool coordinate system of the robotic arm may be a predefined tool coordinate system built in the robotic arm.

[0089] Specifically, in the tool coordinate system of the robotic arm, the vision photographing module is controlled to calculate the pose of the calibration board in the tool coordinate system according to the current image. This pose can be expressed as PoseMarkInTool1, and PoseMarkInTool1 can include vector parameters. Exemplarily, PoseMarkInTool1 can include (x, y, z, rx, ry, rz), where x, y, z are translation deviations in three mutually perpendicular directions, and rx, ry, rz are rotation deviations in three mutually perpendicular directions. Additionally, the method for calculating the pose PoseMarkInTool1 of the calibration board in the tool coordinate system can include, but is not limited to, using a pose formula for calculation.

[0090] S230. Calculate the pose of the calibration board in the current image according to the pose of the calibration board in the tool coordinate system.

[0091] Specifically, after determining the pose PoseMarkInTool1 of the calibration board in the tool coordinate system, according to the pose PoseMarkInTool1 of the calibration board in the tool coordinate system and in combination with the pose of the robotic arm at the photographing position. The pose of the robotic arm at the photographing position is the pose of the robotic arm when the vision photographing module obtains the current image of the calibration board. The pose of the robotic arm at the photographing position can be expressed as PoseCam. Similarly, the pose of the robotic arm at the photographing position PoseCam can also include six vector parameters in different directions. According to the pose PoseMarkInTool1 of the calibration board in the tool coordinate system and the pose of the robotic arm at the photographing position PoseCam, the pose PoseMarkInBase1 of the calibration board in the current image can thus be determined. In this embodiment, the pose PoseMarkInBase1 of the calibration board in the current image = PoseMarkInTool1 * PoseCam, and this pose PoseMarkInBase1 also includes six vector parameters in different directions.

[0092] S240. Obtain the pose of the calibration board in the pre-stored standard calibration board image, and the pose between the base center and the center of the automated guided vehicle.

[0093] Specifically, after calculating the pose of the calibration board in the current image, i.e., PoseMarkInBase1, obtain the pose of the calibration board in the pre-stored standard calibration board image, i.e., PoseMarkInBase2. Also, it is necessary to obtain the pose between the base center and the center of the automatic guided vehicle, which can be expressed as AGV_CENTER_P1. In this embodiment, obtaining the pose AGV_CENTER_P1 between the base center and the center of the automatic guided vehicle can be achieved by, but not limited to, using a 3D digital model to determine the relative distance between the base center and the center of the automatic guided vehicle, and based on this relative distance, taking the mechanical arm base coordinate system as the reference coordinate system, thereby determining the pose AGV_CENTER_P1 between the base center and the center of the automatic guided vehicle.

[0094] S250. Calculate and obtain the position deviation of the calibration board in the transport vehicle coordinate system based on the pose of the calibration board in the pre-stored standard calibration board image, the pose between the base center and the center of the automatic guided vehicle, and the pose of the calibration board in the current image.

[0095] Specifically, after calculating the pose of the calibration board in the pre-stored standard calibration board image, i.e., PoseMarkInBase2, the pose between the base center and the center of the automatic guided vehicle, i.e., AGV_CENTER_P1, and the pose of the calibration board in the current image, i.e., PoseMarkInBase1, according to PoseMarkInBase1, AGV_CENTER_P1, and PoseMarkInBase2, the position deviation of the calibration board in the transport vehicle coordinate system can be calculated, that is, the position deviation of the calibration board with the automatic guided vehicle as the reference system, and this position deviation can be expressed as AGV_CENTER_P2. In this embodiment, the position deviation AGV_CENTER_P2 of the calibration board in the transport vehicle coordinate system = PoseMarkInBase1 *

[0096] AGV_CENTER_P1 * PoseMarkInBase2.

[0097] S260. Determine the position deviation of the automatic guided vehicle in the calibration board coordinate system based on the position deviation of the calibration board in the transport vehicle coordinate system and the pose between the base center and the center of the automatic guided vehicle.

[0098] Among them, the position deviation includes the first translational deviation and the rotational deviation.

[0099] Reference Figure 7 and Figure 8, the yellow straight line represents the light rays emitted by the light source, the purple represents the light rays of the light source when the automatic guided vehicle is at the target station, the green circles represent two servo adjustment units, the blue coordinates represent the coordinates of the transport vehicle coordinate system, the red circle represents the base of the robotic arm, the center of the red circle represents the center of the base, the position difference of the light rays emitted by the light source before and after the rotation of the automatic guided vehicle is shown within the red square, and the red arrow represents the position change of the center of the servo adjustment unit before and after the rotation of the automatic guided vehicle. Specifically, after calculating the position deviation AGV_CENTER_P2 of the calibration board in the transport vehicle coordinate system, and combining the pose AGV_CENTER_P1 between the base center and the center of the automatic guided vehicle, the coordinate system is transformed, that is, the transport vehicle coordinate system is transformed into the calibration board coordinate system, and the position deviation of the automatic guided vehicle in the calibration board coordinate system can be determined, and this position deviation can be expressed as PoseTrsf. In this embodiment, the position deviation of the automatic guided vehicle in the calibration board coordinate system

[0100] PoseTrsf = AGV_CENTER_P2 -1 *AGV_CENTER_P1. In addition, this position deviation PoseTrsf also includes six vector parameters in different directions, and the light rays emitted by the light source can be extended along the Y direction. Therefore, in this embodiment, only the first translation deviation and the rotation deviation need to be obtained, where the first translation deviation is the translation deviation dx in the first direction X, and the rotation deviation is the rotation deviation drz in the Z direction.

[0101] S270. According to the first translation deviation and the rotation deviation, calculate the first translation deviation, the rotation deviation of the light source in the calibration board coordinate system, and the second translation deviation generated due to the rotation.

[0102] Specifically, continue to refer to Figure 7 and Figure 8 . After calculating the first translation deviation dx and the rotation deviation drz, according to the calculated first translation deviation dx and rotation deviation drz, the first translation deviation dx and rotation deviation drz generated by the light source in the calibration board coordinate system can be calculated. Since the light source is set in the robot and the relative position between the light source and the automatic guided vehicle remains unchanged, the first translation deviation dx and rotation deviation drz generated by the light source in the calibration board coordinate system are equal to the first translation deviation dx and rotation deviation drz generated when the automatic guided vehicle is at the automatic station and near the automatic station. However, when the automatic guided vehicle is at the automatic station and near the automatic station, there is also a second translation deviation generated by the rotation of the automatic guided vehicle for the light source. Therefore, the second translation deviation generated by the light source in the calibration board coordinate system due to the rotation can be calculated according to the rotation deviation.

[0103] S280. Control the calibration module to calibrate the light source with the negative values of the first translation deviation, the rotation deviation, and the second translation deviation, so that the light source is aligned with the object to be detected at the target station.

[0104] Specifically, after calculating the first translation deviation, the rotation deviation, and the second translation deviation of the light source, send the calculated first translation deviation, rotation deviation, and second translation deviation to the calibration module. After receiving the first translation deviation, rotation deviation, and second translation deviation, the calibration module calibrates the light source. In this embodiment, the calibration module can send the negative values of the first translation deviation, the rotation deviation, and the second translation deviation to the calibration module respectively. The calibration module can calibrate the light source according to the negative values of the first translation deviation, the rotation deviation, and the second translation deviation, so that the calibrated light source can be centered on the object to be detected at the target station.

[0105] In the technical solution of the embodiment of the present invention, control the automatic guided vehicle to move towards the target station until it reaches near the target station, so that the vision photographing module collects the image of the calibration board near the target station after the automatic guided vehicle reaches near the target station, and obtains the current image; according to the tool coordinate system of the robotic arm, control the vision photographing module to calculate the pose of the calibration board in the tool coordinate system according to the current image; calculate the pose of the calibration board in the current image according to the pose of the calibration board in the tool coordinate system; and obtain the pose of the calibration board in the pre-stored standard calibration board image, and the pose between the base center and the center of the automatic guided vehicle; calculate the position deviation of the calibration board in the transport vehicle coordinate system according to the pose of the calibration board in the pre-stored standard calibration board image, the pose between the base center and the center of the automatic guided vehicle, and the pose of the calibration board in the current image; determine the position deviation of the automatic guided vehicle in the calibration board coordinate system according to the position deviation of the calibration board in the transport vehicle coordinate system and the pose between the base center and the center of the automatic guided vehicle; calculate the first translation deviation, rotation deviation of the light source, and the second translation deviation caused by rotation according to the first translation deviation and rotation deviation; control the calibration module to calibrate the light source with the negative values of the first translation deviation, the rotation deviation, and the second translation deviation, so that the light source is aligned with the object to be detected at the target station. Through the above method, the position deviation between the automatic guided vehicle and the target station when the automatic guided vehicle is near the target station, and the position deviation of the light source caused by the deviation of the automatic guided vehicle can be accurately calculated, realizing the accurate calibration of the robot light source and improving the success rate of precise detection.

[0106] Optionally, Figure 9Schematic diagram for calculating the second translational deviation generated by the rotation of the light source due to the automatic guided vehicle provided by an embodiment of the present invention. Refer to Figure 9 As shown, the calibration module includes a control unit and two servo adjustment units. According to the first translational deviation and the rotational deviation, the first translational deviation, the rotational deviation, and the second translational deviation generated by the rotation in the calibration plate coordinate system of the light source are calculated, including: calculating the first translational deviation and the rotational deviation of the light source in the calibration plate coordinate system according to the first translational deviation and the rotational deviation; obtaining the relative position relationship between the center of the servo adjustment unit and the center of the automatic guided vehicle, calculating the distance between the center of the servo adjustment unit and the center of the automatic guided vehicle, and the first included angle between the center of the servo adjustment unit and the center of the automatic guided vehicle, wherein the relative position relationship includes the first coordinate in the first direction and the second coordinate in the second direction of the center of the servo adjustment unit, the first direction and the second direction are perpendicular, and the first included angle is the included angle between the distance and the first direction; determining the second included angle between the center of the servo adjustment unit and the center of the automatic guided vehicle after the automatic guided vehicle reaches near the target station according to the first included angle and the rotational deviation; determining the third coordinate of the center of the servo adjustment unit in the first direction after the automatic guided vehicle reaches near the target station according to the second included angle and the distance; calculating the second translational deviation generated by the rotation of the light source in the calibration plate coordinate system according to the third coordinate and the first coordinate.

[0107] Refer to Figure 9, where the arc represents the trajectory line when the center of the servo adjustment unit rotates, the solid blue line represents the automatic guided vehicle at the target station, that is, the distance and relative position relationship between the center of the servo adjustment unit and the automatic guided vehicle when there is no rotation, and the dashed blue line represents the automatic guided vehicle near the target station, that is, when rotation occurs, the distance and relative position relationship between the center of the servo adjustment unit and the automatic guided vehicle. Specifically, after calculating the position deviation of the automatic guided vehicle in the calibration plate coordinate system, the position deviation includes the first translation deviation and the rotation deviation. At this time, since the relative position between the light source and the automatic guided vehicle remains unchanged when the automatic guided vehicle moves near the target station and generates a position deviation, the first translation deviation and the rotation deviation of the automatic guided vehicle in the calibration plate coordinate system are equal to the first translation deviation and the rotation deviation of the light source in the calibration plate coordinate system. In addition, after calculating the first translation deviation and the rotation deviation of the light source in the calibration plate coordinate system, it is also necessary to calculate the second translation deviation generated by the rotation of the light source in the calibration plate coordinate system. When calculating the second translation deviation, it is necessary to obtain the relative position relationship between the center of the servo adjustment unit and the center of the automatic guided vehicle, which can be specifically obtained through a 3D model; the relative position relationship includes the first coordinate x1 in the first direction X and the second coordinate x2 in the second direction, and the first direction X is perpendicular to the second direction, and the second direction can be the Z direction. After obtaining the relative position relationship between the center of the servo adjustment unit and the center of the automatic guided vehicle, the distance d between the center of the servo adjustment unit and the center of the automatic guided vehicle, and the first included angle θ1 between the center of the servo adjustment unit and the center of the automatic guided vehicle can be calculated. The first included angle θ1 is the included angle between the distance between the center of the servo adjustment unit and the center of the automatic guided vehicle and the first direction X. For example, it can be based on The distance d and the first included angle θ1 are calculated based on θ1 = arctan(x2 / x1). After calculating the first included angle θ1, based on the first included angle θ1 and the rotational deviation drz of the automated guided vehicle, the second included angle θ2 between the center of the servo adjustment unit and the center of the automated guided vehicle after rotation, that is, when the automated guided vehicle reaches near the target station, can be calculated, i.e., the second included angle θ2 = θ1 - drz. After calculating the second included angle θ2, in combination with the distance d between the center of the servo adjustment unit and the center of the automated guided vehicle, the third coordinate x3 of the center of the servo adjustment unit in the first direction after the automated guided vehicle reaches near the target station can be calculated, i.e., x3 = d * sin(θ2). After calculating the third coordinate x3, by subtracting the first coordinate x1 from the third coordinate x3 in combination with the first coordinate x1, the second translational deviation drxz caused by rotation in the calibration plate coordinate system of the light source can be calculated, i.e., drxz = x3 - x1. In this way, the calculated first translational deviation, rotational deviation, and second translational deviation can be sent to the calibration module, so that the calibration module can achieve precise calibration of the robot light source based on the first translational deviation, rotational deviation, and second translational deviation.

[0108] It should be understood that the various forms of the processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in the present invention can be executed in parallel, sequentially, or in a different order, as long as the desired results of the technical solution of the present invention can be achieved, and no limitations are imposed herein.

[0109] The above specific embodiments do not constitute a limitation on the protection scope of the present 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 the present invention shall be included within the protection scope of the present invention.

Claims

1. A robot, characterized in that, It includes an automatic guided vehicle, a vision photographing module, a calibration module, a light source, and a control module; The vision photographing module is arranged on the automatic guided vehicle, and the light source is assembled on the automatic guided vehicle through the calibration module; The control module is electrically connected to the automatic guided vehicle, the vision photographing module, and the calibration module respectively; The control module is used to control the automatic guided vehicle to move towards the target site until it reaches near the target site; The vision photographing module is used to collect an image of the calibration board near the target site after the automatic guided vehicle reaches near the target site, and obtain a current image; The control module is further used to compare the pose of the calibration board in the current image with the pose of the calibration board in a pre-stored standard calibration board image, and calculate to obtain the position deviation of the calibration board in the vehicle coordinate system; wherein, the standard calibration board image is an image of the calibration board at the target site collected by the vision photographing module when the automatic guided vehicle is located at the target site; the vehicle coordinate system is a coordinate system with the automatic guided vehicle as a reference; The control module is further used to determine the position deviation of the automatic guided vehicle in the calibration board coordinate system according to the position deviation of the calibration board in the vehicle coordinate system; wherein, the calibration board coordinate system is a coordinate system with the calibration board as a reference; The calibration module is used to correct the light source according to the position deviation of the automatic guided vehicle in the calibration board coordinate system, so that the light source is aligned with the object to be detected at the target site.

2. The robot according to claim 1, wherein It further includes: A robotic arm; The robotic arm includes a base and a terminal. The base is connected to the control module, and the terminal is fixedly connected to the vision photographing module.

3. The robot according to claim 1, characterized in that The calibration module includes a control unit and two servo adjustment units; The control unit is used to receive the position deviation of the automatic guided vehicle in the calibration board coordinate system, and control the servo adjustment units to correct the light source according to the position deviation of the automatic guided vehicle in the calibration board coordinate system, so that the light source is aligned with the object to be detected at the target site.

4. The robot according to claim 3, characterized in that, The servo adjustment unit includes a translational servo adjustment sub-unit and a rotational servo adjustment sub-unit; The translational servo adjustment sub-unit is used to control the light source to move along a first direction, and the first direction is the same as the direction in which the automatic guided vehicle moves towards the target site; The rotational servo adjustment sub-unit is used to control the light source to rotate around the center of the servo adjustment unit.

5. A light source calibration method for a robot, characterized in that, Based on the robot according to any one of claims 1-4, it includes: Controlling the automatic guided vehicle to move towards the target site until it reaches near the target site, so that the vision photographing module collects an image of the calibration board near the target site after the automatic guided vehicle reaches near the target site, and obtains a current image; Compare the pose of the calibration board in the current image with its pose in a pre-stored standard calibration board image, and calculate the position deviation of the calibration board in the transport vehicle coordinate system; wherein, the standard calibration board image is an image of the calibration board at the target site collected by the vision photographing module when the automatic guided vehicle is at the target site; the transport vehicle coordinate system is a coordinate system with the automatic guided vehicle as a reference; Determine the position deviation of the automatic guided vehicle in the calibration board coordinate system according to the position deviation of the calibration board in the transport vehicle coordinate system; wherein, the calibration board coordinate system is a coordinate system with the calibration board as a reference; The control and correction module corrects the light source according to the position deviation of the automatic guided vehicle in the calibration board coordinate system, so that the light source is aligned with the object to be detected at the target site.

6. The light source correction method according to claim 5, wherein The robot further includes a robotic arm; Before comparing the pose of the calibration board in the current image with its pose in a pre-stored standard calibration board image and calculating the position deviation of the calibration board in the transport vehicle coordinate system, it further includes: According to the tool coordinate system of the robotic arm, control the vision photographing module to calculate the pose of the calibration board in the tool coordinate system according to the current image; Calculate the pose of the calibration board in the current image according to the pose of the calibration board in the tool coordinate system.

7. The light source correction method according to claim 5, characterized in that, The robot further includes a robotic arm, and the robotic arm includes a base and a end; Comparing the pose of the calibration board in the current image with its pose in a pre-stored standard calibration board image and calculating the position deviation of the calibration board in the transport vehicle coordinate system includes: Obtain the pose of the calibration board in the pre-stored standard calibration board image and the pose between the center of the base and the center of the automatic guided vehicle; Calculate the position deviation of the calibration board in the transport vehicle coordinate system according to the pose of the calibration board in the pre-stored standard calibration board image, the pose between the center of the base and the center of the automatic guided vehicle, and the pose of the calibration board in the current image.

8. The light source correction method according to claim 5, wherein The robot further includes a robotic arm, and the robotic arm includes a base and a end; Determining the position deviation of the automatic guided vehicle in the calibration board coordinate system according to the position deviation of the calibration board in the transport vehicle coordinate system includes: Obtain the pose between the center of the base and the center of the automatic guided vehicle; Determine the position deviation of the automatic guided vehicle in the calibration board coordinate system according to the position deviation of the calibration board in the transport vehicle coordinate system and the pose between the center of the base and the center of the automatic guided vehicle; wherein, the position deviation includes a first translation deviation and a rotation deviation.

9. The light source calibration method according to claim 8, characterized in that The control and correction module corrects the light source according to the position deviation of the automatic guided vehicle in the calibration board coordinate system, so that the light source is aligned with the object to be detected at the target site, including: Calculate the first translational deviation, the rotational deviation, and the second translational deviation caused by rotation of the light source in the calibration plate coordinate system according to the first translational deviation and the rotational deviation; Control the correction module to correct the light source with the opposite numbers of the first translational deviation, the rotational deviation, and the second translational deviation according to the first translational deviation, the rotational deviation, and the second translational deviation, so that the light source is aligned with the object to be detected at the target station.

10. The light source calibration method according to claim 9, wherein The correction module includes a control unit and two servo adjustment units; Calculating the first translational deviation, the rotational deviation, and the second translational deviation caused by rotation of the light source in the calibration plate coordinate system according to the first translational deviation and the rotational deviation includes: Calculate the first translational deviation and the rotational deviation of the light source in the calibration plate coordinate system according to the first translational deviation and the rotational deviation; Obtain the relative position relationship between the center of the servo adjustment unit and the center of the automated guided vehicle, calculate the distance between the center of the servo adjustment unit and the center of the automated guided vehicle, and the first angle between the center of the servo adjustment unit and the center of the automated guided vehicle; wherein, the relative position relationship includes the first coordinate in the first direction and the second coordinate in the second direction of the center of the servo adjustment unit, and the first direction is the same as the direction in which the automated guided vehicle moves towards the target station; the first direction and the second direction are perpendicular, and the first angle is the angle between the distance and the first direction; Determine the second angle between the center of the servo adjustment unit and the center of the automated guided vehicle after the automated guided vehicle arrives near the target station according to the first angle and the rotational deviation; Determine the third coordinate of the center of the servo adjustment unit in the first direction after the automated guided vehicle arrives near the target station according to the second angle and the distance; Calculate the second translational deviation caused by rotation of the light source in the calibration plate coordinate system according to the third coordinate and the first coordinate.

Images