A calibration method, device, equipment, medium and product for a split robot

Abstract

The present invention relates to the technical field of split robots, and discloses a calibration method, device, equipment, medium and product for split robots. The method comprises: obtaining a target reference yaw angle of a reference arm base in a split robot relative to the direction of the earth's magnetic field; obtaining a target yaw angle to be calibrated of a to-be-calibrated arm base in a split robot relative to the direction of the earth's magnetic field; determining a base relative yaw angle between the reference arm base and the to-be-calibrated arm base according to the target reference yaw angle and the target yaw angle to be calibrated; determining a calibration rotation matrix between a reference coordinate system where the reference arm base is located and a to-be-calibrated coordinate system where the to-be-calibrated arm base is located according to the base relative yaw angle. The embodiment of the present invention solves the problem that the traditional calibration method relies on manual operation, and improves the calibration efficiency of the split robot and the accuracy of the calibration result.

Description

Technical Field

[0001] The present invention relates to the technical field of split-type robots, and in particular to a calibration method, device, equipment, medium and product for a split-type robot. Background Art

[0002] A split robot is a surgical robot system composed of several independent robotic arms, each with an independent base. In recent years, split robots have gradually become another option besides integrated robots due to their flexible positioning and small space requirements.

[0003] Compared with integrated robots, split robots require additional rotation calibration processes between multiple robotic arms. The current mainstream calibration method relies on manual operation, such as laser line alignment, but manual operation will affect the accuracy of the calibration results, resulting in poor calibration results. Summary of the invention

[0004] The embodiments of the present invention provide a calibration method, device, equipment, medium and product for a split robot to solve the problem that the traditional calibration method relies on manual operation, and improve the calibration efficiency of the split robot and the accuracy of the calibration results.

[0005] According to one embodiment of the present invention, a calibration method for a split robot is provided, the method comprising:

[0006] Obtaining a target reference yaw angle of a reference arm base in the split robot relative to the direction of the earth's magnetic field;

[0007] Obtaining a target yaw angle to be calibrated of the arm base to be calibrated in the split robot relative to the direction of the earth's magnetic field;

[0008] Determining a base relative yaw angle between the base of the reference arm and the base of the arm to be calibrated according to the target reference yaw angle and the target yaw angle to be calibrated;

[0009] According to the relative yaw angle of the base, a calibration rotation matrix between a reference coordinate system where the reference arm base is located and a coordinate system to be calibrated where the arm base to be calibrated is located is determined.

[0010] According to another embodiment of the present invention, a calibration device for a split robot is provided, the device comprising:

[0011] A target reference yaw angle acquisition module is used to acquire a target reference yaw angle of a reference arm base in a split robot relative to the direction of the earth's magnetic field;

[0012] A target yaw angle acquisition module to be calibrated is used to acquire a target yaw angle to be calibrated of a base of an arm to be calibrated in a split robot relative to the direction of the earth's magnetic field;

[0013] A base relative yaw angle determination module is used to determine the base relative yaw angle between the reference arm base and the arm base to be calibrated according to the target reference yaw angle and the target yaw angle to be calibrated;

[0014] The calibration rotation matrix determination module is used to determine the calibration rotation matrix between the reference coordinate system where the reference arm base is located and the coordinate system to be calibrated where the arm base to be calibrated is located according to the relative yaw angle of the base.

[0015] According to another embodiment of the present invention, a split robot is provided, the split robot comprising a reference arm trolley, an arm trolley to be calibrated and a terminal device, the reference arm trolley comprising a reference arm base, the arm trolley to be calibrated comprising an arm base to be calibrated;

[0016] The terminal device includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the calibration method of the split robot described in any embodiment of the present invention.

[0017] According to another embodiment of the present invention, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the calibration method of a split robot described in any embodiment of the present invention when executed.

[0018] According to another embodiment of the present invention, a computer program product is provided, including a computer program, and when the computer program is executed by a processor, the calibration method of the split-type robot described in any embodiment of the present invention is implemented.

[0019] The technical solution of the embodiment of the present invention takes the direction of the earth's magnetic field in the world coordinate system where the split robot is located as the unified calibration direction of the reference arm base and the base to be calibrated, determines the base relative yaw angle between the reference arm base and the arm base to be calibrated according to the target reference yaw angle of the reference arm base relative to the earth's magnetic field direction and the target yaw angle of the base to be calibrated relative to the earth's magnetic field direction, and determines the calibration rotation matrix between the reference coordinate system where the reference arm base is located and the coordinate system to be calibrated where the arm base to be calibrated is located according to the base relative yaw angle, thereby simplifying the calibration process of the split robot and solving the problem that the traditional calibration method relies on manual operation, thereby improving the calibration efficiency of the split robot and the accuracy of the calibration results.

[0020] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0022] Figure 1 A schematic diagram of the structure of a split-type robot provided by one embodiment of the present invention;

[0023] Figure 2 A schematic diagram of the structure of a split robot based on EtherCAT bus connection provided by one embodiment of the present invention;

[0024] Figure 3 A schematic diagram of the structure of a terminal device provided by an embodiment of the present invention;

[0025] Figure 4 A flow chart of a calibration method for a split robot provided by one embodiment of the present invention;

[0026] Figure 5 A schematic diagram of a target reference yaw angle and a target yaw angle to be calibrated provided by an embodiment of the present invention;

[0027] Figure 6 A flowchart of another calibration method for a split robot provided by an embodiment of the present invention;

[0028] Figure 7 A schematic diagram of a magnetic field credibility model provided by an embodiment of the present invention;

[0029] Figure 8 A schematic diagram of a current intensity distance and a standard intensity distance provided by an embodiment of the present invention;

[0030] Fig. 9 A flowchart of another calibration method for a split robot provided by an embodiment of the present invention;

[0031] Fig.10 A schematic structural diagram of a calibration device for a split-type robot provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0032] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0033] It should be noted that the terms "first", "second", "benchmark", "target", "to be calibrated", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0034] Figure 1 This is a schematic diagram of the structure of a split robot provided by an embodiment of the present invention. The split machine 100 in this embodiment provides services for the calibration method of the split robot in the following embodiments.

[0035] See also Figure 1 The split robot 100 includes a reference arm trolley 110, a to-be-calibrated arm trolley 120, and a terminal device ( Figure 1 (not shown in the figure), the reference arm trolley 110 includes a reference arm base 111, and the arm trolley 120 to be calibrated includes an arm base 121 to be calibrated.

[0036] Understandably, Figure 1 An example is given for illustrative description in which a split robot 100 includes a reference arm trolley 110 and an arm trolley to be calibrated 120. In other embodiments, the split robot 100 may include three or more robotic arm trolleys, which is not limited in comparison to the present embodiment.

[0037] The reference arm base 111 represents the mechanical arm base selected as the reference application during the calibration process of the split robot 100, and the reference coordinate system represents the coordinate system where the reference arm base 111 is located. Correspondingly, the arm base 121 to be calibrated represents the mechanical arm base selected as the application to be calibrated during the calibration process of the split robot 100, and the coordinate system to be calibrated represents the coordinate system where the arm base 121 to be calibrated is located.

[0038] Specifically, any mechanical arm trolley in the split robot 100 can be defined as the reference arm trolley 110, and correspondingly, the mechanical arm base on the reference arm trolley 110 is defined as the reference arm base 111, and the mechanical arm trolleys other than the reference arm trolley 110 in the split robot 100 are defined as the arm trolley to be calibrated 120, and correspondingly, the mechanical arm base on each arm trolley 120 to be calibrated is defined as the arm base to be calibrated 121. Among them, the number of the reference arm base 111 is one, and the number of the arm base 121 to be calibrated can be one or more.

[0039] This embodiment does not limit the application selection of the reference arm base 111 and the arm base to be calibrated 121. For example, customized settings can be made with reference to characteristic conditions such as the function or spatial positioning position of the robotic arm trolley.

[0040] like Figure 1 As shown, the green surface in the reference arm base 111 represents the base plane selected as the angle reference surface in the reference arm base 111, and the green surface in the arm base 121 to be calibrated represents the base plane selected as the angle reference surface in the arm base 121 to be calibrated. The "yaw angle" mentioned in the following embodiments may represent the reference yaw angle of the angle reference surface in the reference arm base 111 relative to the direction of the earth's magnetic field, or the yaw angle to be calibrated of the angle reference surface in the arm base 121 to be calibrated relative to the direction of the earth's magnetic field.

[0041] Exemplarily, the reference arm trolley 110 and the arm trolley 120 to be calibrated also include a robotic arm system, a chassis system, a power system, a circuit system, etc. The specific hardware structure of the reference arm trolley 110 and the arm trolley 120 to be calibrated is not limited here. The specific hardware structure of the reference arm trolley 110 and the arm trolley 120 to be calibrated may be the same or different.

[0042] In an optional embodiment, the split robot 100 further includes a first angle sensor 130 , which is respectively disposed on the reference arm base 111 and the arm base to be calibrated 121 , and is used to collect a yaw angle relative to the direction of the earth's magnetic field.

[0043] Exemplarily, based on different acquisition principles, the first angle sensor 130 includes but is not limited to a resistance sensor, an encoder, a potentiometer, a photoelectric sensor, a gyroscope or a magnetometer, etc. The first angle sensor 130 used is not limited here, and can be customized according to actual needs.

[0044] In one specific embodiment, the first angle sensor 130 is a magnetometer.

[0045] If the first angle sensor 130 adopts the non-magnetic field principle, it is also necessary to calibrate the first angle sensor 130 before use, so that the angle information collected by the first angle sensor 130 can characterize the yaw angle between the reference arm base 111 and the arm base 121 to be calibrated and the direction of the earth's magnetic field. In this embodiment, the first angle sensor 130 is set to be a magnetometer. Since the collection principle of the magnetometer is the magnetic field principle, the collected magnetic field strength information directly characterizes the yaw angle between the reference arm base 111 and the arm base 121 to be calibrated and the direction of the earth's magnetic field, thereby omitting the calibration step of the first angle sensor 130 based on the non-magnetic field principle, and further improving the calibration efficiency of the split robot and the accuracy of the calibration results.

[0046] On the basis of the above embodiment, optionally, a second angle sensor 140 is further provided on the reference arm base 111 and the arm base 121 to be calibrated, respectively, for collecting a relative yaw angle, wherein the relative yaw angle characterizes the deflection amount of the yaw angle of the reference arm base 111 or the arm base 121 to be calibrated at the current collection moment relative to the yaw angle at the previous collection moment.

[0047] Specifically, the relative yaw angle is used to obtain the yaw angle for subsequent application by summing the yaw angle at the last acquisition time with the yaw angle at the last acquisition time when the yaw angle collected by the first angle sensor 130 at the current acquisition time does not meet the allowable error condition. The yaw angle at the last acquisition time represents the yaw angle that meets the credibility check. Specifically, the yaw angle at the last acquisition time may be the yaw angle collected by the first angle sensor 130 at the last acquisition time that meets the allowable error condition, or may be the sum of the relative yaw angle collected by the second angle sensor 140 at the last acquisition time and the yaw angle at the last acquisition time.

[0048] The advantage of setting up a second angle sensor is that it solves the problem that a single angle sensor is easily affected by environmental interference or equipment performance, resulting in poor accuracy of the yaw angle used in the process of constructing the calibration rotation matrix, thereby further ensuring the accuracy of the calibration results of the split robot.

[0049] In a specific embodiment, the second angle sensor 140 is a gyroscope.

[0050] In an optional embodiment, the first angle sensor 130 and the second angle sensor 140 are respectively connected to the terminal device by wireless communication. Exemplary wireless communication connection methods include but are not limited to 3G / 4G connection, WiFi connection, Bluetooth connection, WiMAX connection, Zigbee connection, UWB (ultrawideband) connection, and other wireless connection methods currently known or to be developed in the future.

[0051] In another optional embodiment, the reference arm trolley 110 and the arm trolley 120 to be calibrated are respectively connected to the terminal device via bus communication; the reference arm trolley 110 and the arm trolley 120 to be calibrated are respectively provided with a control board stack, and the control board stack is respectively connected to the first angle sensor 130 and the second angle sensor 140, and the control board stack is used to send the yaw angle and the relative yaw angle to the terminal device via the bus.

[0052] Exemplarily, the bus includes but is not limited to EtherCAT (Control Automation Technology), a fieldbus based on the Ethernet Powerlink protocol, and a fieldbus based on the Hostlink protocol, etc. The bus used is not limited here, and the specific settings can be customized according to actual needs.

[0053] Exemplarily, the communication connection between the control board stack and the first angle sensor 130 and the second angle sensor 140 can be a wired connection or a wireless connection, which is not limited in this embodiment.

[0054] In a specific embodiment, the bus is an EtherCAT bus, and the terminal device serves as an EtherCAT master station. Figure 2 The following is a schematic diagram of a split robot connected based on an EtherCAT bus according to an embodiment of the present invention. Figure 2 The EtherCAT master station represents the terminal device, and the control board slave stack set in the robotic arm trolley is connected to the EtherCAT master station through the EtherCAT bus. Each control board slave stack is connected to the magnetometer and the gyroscope respectively.

[0055] The benefit of setting up a bus communication connection is that the accuracy of the calibration results of the split-type robot can be further improved.

[0056] Figure 3 A schematic diagram of the structure of a terminal device provided by one embodiment of the present invention. The terminal device 150 is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, servers, blade servers, mainframe computers, and other suitable computers. The terminal device can also represent various forms of mobile devices, such as personal digital assistants, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or required herein.

[0057] like Figure 3As shown, the terminal device 150 includes at least one processor 11, and a memory connected to the at least one processor 11, such as a read-only memory 12, a random access memory 13, etc., wherein the memory stores a computer program that can be executed by the at least one processor 11, and the processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory 12 or the computer program loaded from the storage unit 18 to the random access memory 13. Various programs and data required for the operation of the terminal device 150 can also be stored in the random access memory 13. The processor 11, the read-only memory 12, and the random access memory 13 are connected to each other via a bus 14. The input / output interface 15 is also connected to the bus 14.

[0058] A number of components in the terminal device 150 are connected to the input / output interface 15, including: an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a disk, an optical disk, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the terminal device 150 to exchange information or data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0059] The processor 11 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 11 executes the various methods and processes described above, such as the calibration method of the split robot provided in the following embodiments.

[0060] In some embodiments, the calibration method of the split robot provided in the following embodiments may be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as a storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or installed on the terminal device 150 via the read-only memory 12 and / or the communication unit 19. When the computer program is loaded into the random access memory 13 and executed by the processor 11, one or more steps in the calibration method of the split robot described above may be executed. Alternatively, in other embodiments, the processor 11 may be configured to execute the calibration method of the split robot in any other appropriate manner (e.g., by means of firmware).

[0061] Figure 4 A flow chart of a calibration method for a split robot provided in one embodiment of the present invention. This embodiment is applicable to the situation of performing rotational calibration on at least two robotic arm trolleys in a split robot. The method can be executed by a calibration device of the split robot. The calibration device of the split robot can be implemented in the form of hardware and / or software. The calibration device of the split robot can be configured in a terminal device in the split robot.

[0062] like Figure 4 As shown, the method includes:

[0063] S210, obtaining a target reference yaw angle of a reference arm base in the split robot relative to the direction of the earth's magnetic field.

[0064] Specifically, the direction of the earth's magnetic field indicates a direction related to the magnetic field specified in the world coordinate system where the split robot is located. In an optional embodiment, the direction of the earth's magnetic field is the earth's magnetic north direction or the earth's magnetic south direction. The earth's magnetic north direction indicates the direction pointed by a compass when it is stationary.

[0065] Specifically, the target reference yaw angle may represent the yaw angle of the angle reference plane in the reference arm base relative to the direction of the earth's magnetic field, wherein the angle reference plane is a plane parallel to the Z axis in the world coordinate system.

[0066] In an optional embodiment, a first angle sensor is provided on the base of the reference arm for collecting a target reference yaw angle of the base of the reference arm relative to the direction of the earth's magnetic field. Specifically, the angle reference plane may be a mounting plane of the first angle sensor on the base of the reference arm.

[0067] Exemplarily, the triggering timing of the calibration process of the split robot includes but is not limited to detecting that the split robot is powered on, detecting that the reference arm trolley is powered on, detecting that the arm trolley to be calibrated is powered on, and receiving a calibration trigger operation, etc. Among them, the calibration trigger operation can be implemented by the user through the calibration trigger function provided by the terminal device. Exemplarily, the calibration trigger function can be implemented through hardware components or software controls. The triggering timing of the calibration process of the split robot is not limited here, and can be customized according to actual needs.

[0068] S220, obtaining a target yaw angle to be calibrated of the arm base to be calibrated in the split robot relative to the direction of the earth's magnetic field.

[0069] Specifically, the direction of the earth's magnetic field indicates a direction related to the magnetic field specified in the world coordinate system where the split robot is located. In an optional embodiment, the direction of the earth's magnetic field is the earth's magnetic north direction or the earth's magnetic south direction. The earth's magnetic north direction indicates the direction pointed by a compass when it is stationary.

[0070] Specifically, the target yaw angle to be calibrated can represent the yaw angle of the angle reference plane in the arm base to be calibrated relative to the direction of the earth's magnetic field. The angle reference plane is a plane parallel to the Z axis in the world coordinate system.

[0071] In an optional embodiment, a first angle sensor is provided on the arm base to be calibrated, for collecting the target yaw angle of the arm base to be calibrated relative to the direction of the earth's magnetic field. Specifically, the angle reference plane can be the installation plane of the first angle sensor on the arm base to be calibrated.

[0072] S230: Determine a base relative yaw angle between a base of a reference arm and a base of an arm to be calibrated according to a target reference yaw angle and a target yaw angle to be calibrated.

[0073] Figure 5 A schematic diagram of a target reference yaw angle and a target yaw angle to be calibrated provided by an embodiment of the present invention. Specifically, Figure 5 The planes indicated by the green boxes in the base of the middle reference arm and the base of the arm to be calibrated are the angle reference planes, and the downward arrow indicates the direction of the earth's magnetic field. Figure 5 In the example, the target reference yaw angle is Indicates that the target yaw angle to be calibrated is express.

[0074] Specifically, the base relative yaw angle represents the deflection angle of the base of the arm to be calibrated relative to the base of the reference arm. The base relative deflection angle is the difference between the target yaw angle to be calibrated and the target reference yaw angle. Figure 5 For example, the relative yaw angle of the base .

[0075] S240. Determine, according to the relative yaw angle of the base, a calibration rotation matrix between a reference coordinate system where the reference arm base is located and a coordinate system to be calibrated where the arm base to be calibrated is located.

[0076] Specifically, the calibration rotation matrix conforms to the z-axis rotation of the right-handed Cartesian coordinate system. Exemplarily, the calibration rotation matrix satisfies the following formula:

[0077] ;

[0078] For example, assuming that the offset distance of the arm to be calibrated in the arm trolley to be calibrated in the coordinate system to be calibrated is expressed as:

[0079] ;

[0080] Then the offset vector of the arm to be calibrated in the reference coordinate system can be obtained by the following formula:

[0081] ;

[0082] The technical solution of this embodiment, by taking the direction of the earth's magnetic field in the world coordinate system where the split robot is located as the unified calibration direction of the reference arm base and the base to be calibrated, determines the base relative yaw angle between the reference arm base and the arm base to be calibrated according to the target reference yaw angle of the reference arm base relative to the earth's magnetic field direction and the target yaw angle of the base to be calibrated relative to the earth's magnetic field direction, and determines the calibration rotation matrix between the reference coordinate system where the reference arm base is located and the coordinate system to be calibrated where the arm base to be calibrated is located according to the base relative yaw angle, thereby simplifying the calibration process of the split robot and solving the problem that the traditional calibration method relies on manual operation, thereby improving the calibration efficiency of the split robot and the accuracy of the calibration results.

[0083] Figure 6 This is a flow chart of another calibration method for a split robot provided by an embodiment of the present invention. This embodiment further refines the "obtaining a target reference yaw angle of a reference arm base in a split robot relative to the direction of the earth's magnetic field" in the above embodiment. In this embodiment, the first angle sensors respectively arranged on the reference arm base and the arm base to be calibrated are magnetometers.

[0084] like Figure 6 As shown, the method includes:

[0085] S310. Obtain, by means of a magnetometer, a current reference yaw angle of a reference arm base in the split robot relative to the direction of the earth's magnetic field.

[0086] Specifically, the magnetometer uses anisotropic magnetoresistance or Hall effect to detect the magnetic induction intensity in space. In the horizontal state, the magnetometer can calculate the yaw angle by detecting the change of the magnetic field in the horizontal direction, that is, the angle between the reference direction of the reference arm base and the direction of the earth's magnetic field (such as the earth's magnetic north direction). When the compass rotates horizontally, the yaw angle changes between 0° and 360°, which reflects the change of the reference direction of the reference arm base relative to the direction of the earth's magnetic field.

[0087] S320: When the current reference yaw angle satisfies the allowable error condition, the current reference yaw angle is used as the target reference yaw angle of the reference arm base relative to the direction of the earth's magnetic field.

[0088] In this embodiment, the error condition is allowed to characterize the magnetic field credibility model constructed based on the magnetometer calibration model. Specifically, the error value of the magnetic field strength is added to the circumferential range of the magnetometer calibration model to obtain the magnetic field credibility model, which characterizes an annular area range based on the magnetic field strength.

[0089] Specifically, if the current reference yaw angle meets the magnetic field credibility model, it means that the current reference yaw angle meets the allowable error condition. If the current reference yaw angle does not meet the magnetic field credibility model, it means that the current reference yaw angle does not meet the allowable error condition.

[0090] In this embodiment, the magnetometer calibration model represents a geometric fitting model corresponding to the magnetic field strength data collected by the magnetometer rotating around the Z axis in the world coordinate system. Specifically, before executing S310, the method further includes: in response to detecting the power-on operation of the split robot, performing a magnetic field calibration process on the magnetometer; after the magnetic field calibration process is completed, obtaining the magnetic field strength data collected by the magnetometer rotating around the Z axis in the world coordinate system, and performing an ellipsoid fitting process on the magnetic field strength data to obtain the magnetometer calibration model.

[0091] Specifically, the magnetic field strength data includes magnetic field strengths corresponding to multiple yaw angles, and the multiple yaw angles are in the range of 0° to 360°.

[0092] Exemplarily, the number of rotations may be one or more, and the fitting algorithm of the ellipsoid fitting process includes but is not limited to the least squares method, the Gauss-Newton iteration method or the Levenberg-Marquardt algorithm, etc., which is not limited in this embodiment.

[0093] When the measurement environment is stable, the magnetic field strength collected by the magnetometer in each posture is the same. The x-axis, y-axis and z-axis inside the magnetometer are perpendicular to each other and the collected magnetic field strength is the same, forming a spherical surface in three-dimensional space. However, the magnetometer is easily interfered by the hard iron effect and the soft iron effect, which makes the measurement results of the x-axis, y-axis and z-axis different, and the axes are not absolutely perpendicular to each other. Therefore, the magnetic field strength data is calibrated through ellipsoid fitting processing, so that the axes are perpendicular to each other to obtain the magnetometer calibration model.

[0094] Figure 7 A schematic diagram of a magnetic field credibility model provided by an embodiment of the present invention. Specifically, Figure 7 The circular model in the figure represents the magnetic field credibility model. The black circle and the blue circle represent sampling point A and sampling point B, respectively. Since sampling point A does not fall into the magnetic field credibility model, the yaw angle corresponding to sampling point A does not meet the allowable error condition. Since sampling point B falls into the magnetic field credibility model, the yaw angle corresponding to sampling point B meets the allowable error condition.

[0095] In an optional embodiment, the method also includes: obtaining a magnetometer calibration model corresponding to the magnetometer; obtaining the center magnetic field strength coordinates corresponding to the calibration center of the magnetometer calibration model; obtaining the maximum X-axis magnetic field strength and the maximum Y-axis magnetic field strength of the magnetometer calibration model; and determining whether the current reference yaw angle meets the allowable error condition based on the center magnetic field strength coordinates, the maximum X-axis magnetic field strength and the maximum Y-axis magnetic field strength.

[0096] In this embodiment, the central magnetic field intensity coordinates represent the offset magnetic field intensity of the calibration center relative to the zero point of the earth's magnetic field along the X-axis and the Y-axis.

[0097] For example, the center magnetic field intensity coordinates are taken as Indicates that the maximum magnetic field strength on the X axis is Indicates that the maximum magnetic field strength on the Y axis is express.

[0098] In an optional embodiment, determining whether the current reference yaw angle meets the allowable error condition is performed based on the central magnetic field intensity coordinates, the maximum magnetic field intensity of the X-axis, and the maximum magnetic field intensity of the Y-axis, including: obtaining the current magnetic field intensity coordinates corresponding to the current reference yaw angle; determining the current intensity distance between the current magnetic field intensity coordinates and the calibration center based on the central magnetic field intensity coordinates and the current magnetic field intensity coordinates; determining the standard intensity distance of the current reference yaw angle relative to the calibration center based on the current reference yaw angle, the maximum magnetic field intensity of the X-axis, and the maximum magnetic field intensity of the Y-axis; when the difference between the current intensity distance and the standard intensity distance is less than the error distance, setting the current reference yaw angle to meet the allowable error condition.

[0099] In this embodiment, the direction of the X-axis in the coordinate system of the magnetometer represents the orientation of the angle reference plane in the reference arm base, and accordingly, the current reference yaw angle represents the yaw angle of the X-axis in the coordinate system of the magnetometer relative to the direction of the earth's magnetic field.

[0100] For example, the current reference yaw angle With the current magnetic field strength coordinates The mathematical relationship between them can be expressed as:

[0101] ;

[0102] Specifically, the current intensity distance represents the actual intensity distance of the current magnetic field intensity coordinate relative to the calibration center. Satisfies the following formula:

[0103] ;

[0104] Specifically, the standard intensity distance represents the farthest intensity distance of the sampling point of the current reference yaw angle in the magnetometer calibration model relative to the calibration center. Satisfies the following formula:

[0105] ;

[0106] Figure 8 A schematic diagram of a current intensity distance and a standard intensity distance provided by an embodiment of the present invention. Specifically, Figure 8 Point O in the figure represents the calibration center, which is related to the yaw angle The corresponding standard intensity distance is the distance between point O and point C, and the current intensity distance is the distance between point O and point A. If sampling point A is between point O and point B, it means that the difference between the current intensity distance and the standard intensity distance is less than the error distance. If sampling point A is located on the extension line between point O and point B, it means that the difference between the current intensity distance and the standard intensity distance is greater than the error distance.

[0107] Based on the above embodiment, optionally, obtaining the target reference yaw angle of the reference arm base in the split robot relative to the direction of the earth's magnetic field also includes: when the current reference yaw angle does not meet the allowable error condition, calibrating the magnetometer and returning to execute S310.

[0108] S330, obtaining a target yaw angle to be calibrated of the arm base to be calibrated in the split robot relative to the direction of the earth's magnetic field.

[0109] In an optional embodiment, a first angle sensor is provided on the base of the arm to be calibrated, and the first angle sensor is a magnetometer. Accordingly, a target yaw angle to be calibrated of the base of the arm to be calibrated in the split robot relative to the direction of the earth's magnetic field is obtained, including: obtaining the current yaw angle to be calibrated of the base of the arm to be calibrated in the split robot relative to the direction of the earth's magnetic field through the magnetometer; when the current yaw angle to be calibrated meets the allowable error condition, using the current yaw angle to be calibrated as the target yaw angle to be calibrated of the base of the arm to be calibrated relative to the direction of the earth's magnetic field.

[0110] In an optional embodiment, the method also includes: obtaining a magnetometer calibration model corresponding to the magnetometer; wherein the magnetometer calibration model represents a geometric fitting model corresponding to the magnetic field strength data collected by the magnetometer rotating around the Z axis in the world coordinate system; obtaining the central magnetic field strength coordinates corresponding to the calibration center of the magnetometer calibration model; wherein the central magnetic field strength coordinates represent the offset magnetic field strength of the calibration center along the X-axis and the Y-axis relative to the zero point of the earth's magnetic field; obtaining the maximum magnetic field strength of the X-axis and the maximum magnetic field strength of the Y-axis of the magnetometer calibration model; and determining whether the current yaw angle to be calibrated meets the allowable error condition based on the central magnetic field strength coordinates, the maximum magnetic field strength of the X-axis and the maximum magnetic field strength of the Y-axis.

[0111] In an optional embodiment, determining whether the current yaw angle to be calibrated meets the allowable error condition is determined based on the central magnetic field intensity coordinates, the maximum magnetic field intensity of the X-axis, and the maximum magnetic field intensity of the Y-axis, including: obtaining the current magnetic field intensity coordinates corresponding to the current yaw angle to be calibrated; determining the current intensity distance between the current magnetic field intensity coordinates and the calibration center based on the central magnetic field intensity coordinates and the current magnetic field intensity coordinates; determining the standard intensity distance of the current yaw angle to be calibrated relative to the calibration center based on the current yaw angle to be calibrated, the maximum magnetic field intensity of the X-axis, and the maximum magnetic field intensity of the Y-axis; when the difference between the current intensity distance and the standard intensity distance is less than the error distance, setting the current yaw angle to be calibrated to meet the allowable error condition.

[0112] The specific implementation method of S330 in this embodiment is similar to that of S310-S320 in this embodiment, and will not be repeated in this embodiment.

[0113] S340: Determine a base relative yaw angle between a base of a reference arm and a base of an arm to be calibrated according to a target reference yaw angle and a target yaw angle to be calibrated.

[0114] S350. Determine, according to the relative yaw angle of the base, a calibration rotation matrix between a reference coordinate system where the reference arm base is located and a coordinate system to be calibrated where the arm base to be calibrated is located.

[0115] S340-S350 in this embodiment are similar to those in the above embodiment. Figure 4The S230 - S240 shown correspond to the same or similar ones, and are not described in detail in this embodiment.

[0116] The technical solution of this embodiment, by setting the first angle sensor to be a magnetometer, and when the current reference yaw angle collected by the magnetometer meets the allowable error condition, the current reference yaw angle is used as the target reference yaw angle of the reference arm base relative to the direction of the earth's magnetic field, thereby realizing the screening and proofreading of the collected data of the magnetometer, reducing the negative impact of the magnetic field interference in the calibration environment on the measurement results, thereby further improving the accuracy of the calibration results of the split robot.

[0117] Fig. 9 This is a flow chart of another calibration method for a split robot provided by an embodiment of the present invention. This embodiment further refines the "obtaining a target reference yaw angle of a reference arm base in a split robot relative to the direction of the earth's magnetic field" in the above embodiment. In this embodiment, a second angle sensor is also provided on the reference arm base and the arm base to be calibrated.

[0118] like Fig. 9 As shown, the method includes:

[0119] S410. Obtain, by means of a magnetometer, a current reference yaw angle of a reference arm base in the split robot relative to a direction of the earth's magnetic field.

[0120] S420: Determine whether the current reference yaw angle satisfies the allowable error condition. If yes, execute S430; if no, execute S440.

[0121] S430, using the current reference yaw angle as the target reference yaw angle of the reference arm base relative to the direction of the earth's magnetic field, and executing S470.

[0122] S410-S430 in this embodiment are similar to those in the above embodiment. Figure 6 The S310 - S320 shown correspond to the same or similar ones, and are not described in detail in this embodiment.

[0123] S440. Collect a reference relative yaw angle of the reference arm base through a second angle sensor.

[0124] Specifically, the second angle sensor represents an angle sensor based on a non-magnetic field principle. Exemplarily, the second angle sensor includes, but is not limited to, a resistance sensor, an encoder, a potentiometer, a photoelectric sensor, or a gyroscope, etc. The second angle sensor used is not limited here, and any angle sensor that does not use a magnetic field principle is applicable to this embodiment.

[0125] In this embodiment, the reference relative yaw angle represents the deflection of the reference yaw angle of the reference arm base at the current acquisition time relative to the target reference yaw angle at the previous acquisition time. The target reference yaw angle at the previous acquisition time represents the reference yaw angle that satisfies the credibility check. Specifically, the target reference yaw angle at the previous acquisition time may be the reference yaw angle that satisfies the allowable error condition and is acquired by the magnetometer at the previous acquisition time, or may be the sum of the reference relative yaw angle acquired by the second angle sensor at the previous acquisition time and the target reference yaw angle at the previous acquisition time.

[0126] On the basis of the above embodiment, specifically, after collecting the reference relative yaw angle of the reference arm base through the second angle sensor, the method further includes: performing a zero calibration process on the second angle sensor.

[0127] S450, determining a summed reference yaw angle corresponding to a reference relative yaw angle and a target reference yaw angle of the reference arm base at the last acquisition moment.

[0128] For example, the reference yaw angle is summed ,in, Indicates the current collection time. represents the reference relative yaw angle, Indicates the target reference yaw angle at the last acquisition moment.

[0129] S460: Use the summed reference yaw angle as the target reference yaw angle of the reference arm base relative to the direction of the earth's magnetic field.

[0130] S470, obtaining a target yaw angle to be calibrated of the arm base to be calibrated in the split robot relative to the direction of the earth's magnetic field.

[0131] On the basis of the above embodiment, optionally, obtaining the target yaw angle of the arm base to be calibrated in the split robot relative to the direction of the earth's magnetic field also includes: when the current yaw angle to be calibrated does not meet the allowable error condition, collecting the relative yaw angle of the arm base to be calibrated through a second angle sensor; wherein the relative yaw angle to be calibrated represents the deflection of the yaw angle of the arm base to be calibrated at the current collection moment relative to the target yaw angle to be calibrated at the previous collection moment; determining the summed yaw angle to be calibrated corresponding to the relative yaw angle to be calibrated and the target yaw angle to be calibrated at the previous collection moment of the arm base to be calibrated; and using the summed yaw angle to be calibrated as the target yaw angle of the arm base to be calibrated relative to the direction of the earth's magnetic field.

[0132] In an optional embodiment, after collecting the relative yaw angle to be calibrated of the arm base to be calibrated by the second angle sensor, the method further includes: performing a zero calibration process on the second angle sensor.

[0133] The specific implementation method of S460 in this embodiment is similar to that of S410 to S450 in this embodiment, and will not be repeated in this embodiment.

[0134] S480: Determine a base relative yaw angle between a base of a reference arm and a base of an arm to be calibrated according to a target base yaw angle and a target yaw angle to be calibrated.

[0135] S490. Determine, according to the relative yaw angle of the base, a calibration rotation matrix between a reference coordinate system where the reference arm base is located and a coordinate system to be calibrated where the arm base to be calibrated is located.

[0136] S480-S490 in this embodiment are similar to those in the above embodiment. Figure 4 The S230 - S240 shown correspond to the same or similar ones, and are not described in detail in this embodiment.

[0137] The technical solution of this embodiment solves the problem that a single angle sensor is easily affected by environmental interference or equipment performance, resulting in poor accuracy of the yaw angle used in the process of constructing the calibration rotation matrix, by respectively arranging a second angle sensor on the base of the reference arm and the base of the arm to be calibrated. Conversely, when the second angle sensor is a gyroscope, the presence of the magnetometer can also avoid the situation where the gyroscope is stationary for too long and generates additional integral errors. Arranging two angle sensors can further improve the accuracy of the calibration results of the split robot.

[0138] The following is an embodiment of a calibration device for a split robot provided in an embodiment of the present invention. The device and the calibration method for a split robot in the above-mentioned embodiment belong to the same inventive concept. For details not fully described in the embodiment of the calibration device for a split robot, reference can be made to the contents of the calibration method for a split robot in the above-mentioned embodiment.

[0139] Fig.10 The following is a schematic diagram of a calibration device for a split robot provided by an embodiment of the present invention. Fig.10 As shown, the device includes: a target reference yaw angle acquisition module 510, a target yaw angle to be calibrated acquisition module 520, a base relative yaw angle determination module 530 and a calibration rotation matrix determination module 540.

[0140] The target reference yaw angle acquisition module 510 is used to acquire the target reference yaw angle of the reference arm base in the split robot relative to the direction of the earth's magnetic field;

[0141] The target yaw angle acquisition module 520 is used to acquire the target yaw angle of the arm base to be calibrated in the split robot relative to the direction of the earth's magnetic field;

[0142] The base relative yaw angle determination module 530 is used to determine the base relative yaw angle between the base of the reference arm and the base of the arm to be calibrated according to the target reference yaw angle and the target yaw angle to be calibrated;

[0143] The calibration rotation matrix determination module 540 is used to determine the calibration rotation matrix between the reference coordinate system where the reference arm base is located and the coordinate system to be calibrated where the arm base to be calibrated is located according to the relative yaw angle of the base.

[0144] The technical solution of this embodiment, by taking the direction of the earth's magnetic field in the world coordinate system where the split robot is located as the unified calibration direction of the reference arm base and the base to be calibrated, determines the base relative yaw angle between the reference arm base and the arm base to be calibrated according to the target reference yaw angle of the reference arm base relative to the earth's magnetic field direction and the target yaw angle of the base to be calibrated relative to the earth's magnetic field direction, and determines the calibration rotation matrix between the reference coordinate system where the reference arm base is located and the coordinate system to be calibrated where the arm base to be calibrated is located according to the base relative yaw angle, thereby simplifying the calibration process of the split robot and solving the problem that the traditional calibration method relies on manual operation, thereby improving the calibration efficiency of the split robot and the accuracy of the calibration results.

[0145] In an optional embodiment, a first angle sensor is provided on the base of the reference arm, and the first angle sensor is a magnetometer. Accordingly, the target reference yaw angle acquisition module 510 includes:

[0146] The current reference yaw angle acquisition unit acquires the current reference yaw angle of the reference arm base in the split robot relative to the direction of the earth's magnetic field through a magnetometer;

[0147] The first target reference yaw angle determination unit is used to use the current reference yaw angle as the target reference yaw angle of the reference arm base relative to the earth's magnetic field direction when the current reference yaw angle meets the allowable error condition.

[0148] In an optional embodiment, the device further comprises:

[0149] The current reference yaw angle judgment unit is used to obtain a magnetometer calibration model corresponding to the magnetometer; wherein the magnetometer calibration model represents a geometric fitting model corresponding to magnetic field intensity data collected by the magnetometer rotating around the Z axis in the world coordinate system;

[0150] Obtain the central magnetic field strength coordinates corresponding to the calibration center of the magnetometer calibration model; wherein the central magnetic field strength coordinates represent the offset magnetic field strength of the calibration center relative to the zero point of the earth's magnetic field along the X-axis and the Y-axis;

[0151] Get the maximum magnetic field strength of the X-axis and the maximum magnetic field strength of the Y-axis of the magnetometer calibration model;

[0152] According to the central magnetic field intensity coordinate, the maximum magnetic field intensity of the X axis and the maximum magnetic field intensity of the Y axis, it is determined whether the current reference yaw angle meets the allowable error condition.

[0153] In an optional embodiment, the current reference yaw angle determination unit is specifically configured to:

[0154] Get the current magnetic field strength coordinates corresponding to the current reference yaw angle;

[0155] Determine the current intensity distance between the current magnetic field intensity coordinate and the calibration center according to the central magnetic field intensity coordinate and the current magnetic field intensity coordinate;

[0156] Determine the standard intensity distance of the current reference yaw angle relative to the calibration center according to the current reference yaw angle, the maximum magnetic field intensity of the X axis, and the maximum magnetic field intensity of the Y axis;

[0157] When the difference distance between the current intensity distance and the standard intensity distance is less than the error distance, the current reference yaw angle is set to meet the allowable error condition.

[0158] In an optional embodiment, a second angle sensor is further provided on the base of the reference arm. Accordingly, the target reference yaw angle acquisition module 510 further includes:

[0159] A second target reference yaw angle determination unit is used to collect a reference relative yaw angle of the reference arm base through a second angle sensor when the current reference yaw angle does not meet the allowable error condition; wherein the reference relative yaw angle represents the deflection amount of the reference yaw angle of the reference arm base at the current collection time relative to the target reference yaw angle at the previous collection time;

[0160] Determine a summed reference yaw angle corresponding to a reference relative yaw angle and a target reference yaw angle of a reference arm base at a previous acquisition moment;

[0161] The summed reference yaw angle is used as the target reference yaw angle of the reference arm base relative to the direction of the earth's magnetic field.

[0162] In an optional embodiment, the device further comprises:

[0163] The zeroing calibration module is used to perform zeroing calibration processing on the second angle sensor after collecting the reference relative yaw angle of the reference arm base through the second angle sensor.

[0164] The calibration device for a split robot provided in an embodiment of the present invention can execute the calibration method for a split robot provided in any embodiment of the present invention, and has functional modules and beneficial effects corresponding to the execution method.

[0165] Various embodiments of the systems and techniques described above herein may be implemented in the following systems or combinations thereof: digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard parts (ASSPs), systems on chips (SOCs), complex programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include: being implemented 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 programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0166] The computer program for implementing the calibration method of the split robot of the present invention can be written in any combination of one or more programming languages. These computer programs can be provided to a processor of a general-purpose computer, a special-purpose computer or other programmable data processing device, so that when the computer program is executed by the processor, the functions / operations specified in the flow chart and / or block diagram are implemented. The computer program can be executed entirely on the machine, partially on the machine, partially on the machine as an independent software package and partially on a remote machine, or completely on a remote machine or server.

[0167] In the context of the present application, a computer-readable storage medium may be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, device, or equipment. A computer-readable storage medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or equipment, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium may be a machine-readable storage medium. Examples of machine-readable storage media may include electrical connections based on at least one line, portable computer disks, hard disks, random access memories (RAM), read-only memories (ROM), erasable programmable read-only memories (EPROM), flash memories, optical fibers, portable compact disc read-only memories (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0168] To provide interaction with a user, the systems and techniques described herein may be implemented on a terminal device having: a display device (e.g., a cathode ray tube (CRT) or a liquid crystal display (LCD) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or a trackball), through which the user can provide input to the terminal device. Other types of devices may also provide interaction with the user; for example, the feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form (including acoustic input, voice input, or tactile input).

[0169] The systems and techniques described herein may be implemented in a computing system that includes a backend component (e.g., as a data server), or a computing system that includes a middleware component (e.g., an application server), or a computing system that includes a frontend component (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a Local Area Network (LAN), a Wide Area Network (WAN), a blockchain network, and the Internet.

[0170] A computing system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The client and server relationship is generated by computer programs running on the corresponding computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system to solve the defects of difficult management and weak business scalability in traditional physical hosts and virtual private servers (VPS) services.

[0171] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and this document does not limit this.

[0172] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A calibration method for a split robot, characterized in that: include: Obtaining a target reference yaw angle of a reference arm base in the split robot relative to the direction of the earth's magnetic field; Obtaining a target yaw angle to be calibrated of the arm base to be calibrated in the split robot relative to the direction of the earth's magnetic field; Determining a base relative yaw angle between the base of the reference arm and the base of the arm to be calibrated according to the target reference yaw angle and the target yaw angle to be calibrated; Determine, according to the relative yaw angle of the base, a calibration rotation matrix between a reference coordinate system where the reference arm base is located and a coordinate system to be calibrated where the arm base to be calibrated is located; Wherein, the reference arm base and the arm base to be calibrated are respectively provided with a first angle sensor, the first angle sensor provided on the reference arm base is used to collect the target reference yaw angle, and the first angle sensor provided on the arm base to be calibrated is used to collect the target yaw angle to be calibrated; The calibration rotation matrix satisfies the formula: ； in, represents the target reference yaw angle, represents the yaw angle of the target to be calibrated, Represents the relative yaw angle of the base.

2. The calibration method of a split robot according to claim 1, characterized in that: The first angle sensor disposed on the reference arm base is a magnetometer. Accordingly, the step of obtaining a target reference yaw angle of the reference arm base in the split robot relative to the direction of the earth's magnetic field includes: Obtaining the current reference yaw angle of the reference arm base in the split robot relative to the direction of the earth's magnetic field through the magnetometer; In a case where the current reference yaw angle satisfies an allowable error condition, the current reference yaw angle is used as a target reference yaw angle of the reference arm base relative to the direction of the earth's magnetic field.

3. The calibration method of the split robot according to claim 2, characterized in that: The method further comprises: Obtaining a magnetometer calibration model corresponding to the magnetometer; wherein the magnetometer calibration model represents a geometric fitting model corresponding to magnetic field intensity data collected by the magnetometer rotating around a Z axis in a world coordinate system; Obtaining the central magnetic field intensity coordinates corresponding to the calibration center of the magnetometer calibration model; wherein the central magnetic field intensity coordinates represent the offset magnetic field intensity of the calibration center along the X-axis and the Y-axis relative to the zero point of the earth's magnetic field; Obtaining the maximum magnetic field intensity of the X-axis and the maximum magnetic field intensity of the Y-axis of the magnetometer calibration model; It is determined whether the current reference yaw angle satisfies an allowable error condition according to the central magnetic field intensity coordinate, the X-axis maximum magnetic field intensity, and the Y-axis maximum magnetic field intensity.

4. The calibration method of the split robot according to claim 3, characterized in that: The determining, according to the central magnetic field intensity coordinate, the X-axis maximum magnetic field intensity, and the Y-axis maximum magnetic field intensity, whether the current reference yaw angle satisfies an allowable error condition includes: Obtaining the current magnetic field intensity coordinates corresponding to the current reference yaw angle; Determining a current intensity distance between the current magnetic field intensity coordinate and the calibration center according to the central magnetic field intensity coordinate and the current magnetic field intensity coordinate; Determining a standard intensity distance of the current reference yaw angle relative to the calibration center according to the current reference yaw angle, the maximum magnetic field intensity of the X-axis, and the maximum magnetic field intensity of the Y-axis; In a case where the difference distance between the current intensity distance and the standard intensity distance is less than the error distance, the current reference yaw angle is set to satisfy an allowable error condition.

5. The calibration method of a split robot according to claim 2, characterized in that: The reference arm base is also provided with a second angle sensor. Accordingly, the method of obtaining a target reference yaw angle of the reference arm base in the split robot relative to the direction of the earth's magnetic field also includes: In the case where the current reference yaw angle does not meet the allowable error condition, the reference relative yaw angle of the reference arm base is collected by the second angle sensor; wherein the reference relative yaw angle represents the deflection amount of the reference yaw angle of the reference arm base at the current collection time relative to the target reference yaw angle at the previous collection time; Determine a summed reference yaw angle corresponding to the reference relative yaw angle and the target reference yaw angle of the reference arm base at the last acquisition moment; The summed reference yaw angle is used as a target reference yaw angle of the reference arm base relative to the direction of the earth's magnetic field.

6. The calibration method of a split robot according to claim 5, characterized in that: After collecting the reference relative yaw angle of the reference arm base by the second angle sensor, the method further includes: The second angle sensor is subjected to a zeroing calibration process.

7. The calibration method of a split robot according to claim 1, characterized in that: The first angle sensor disposed on the arm base to be calibrated is a magnetometer. Accordingly, the step of obtaining a target yaw angle of the arm base to be calibrated in the split robot relative to the direction of the earth's magnetic field includes: By means of the magnetometer, the current yaw angle to be calibrated of the arm base to be calibrated in the split robot relative to the direction of the earth's magnetic field is obtained; In the case where the current yaw angle to be calibrated meets the allowable error condition, the current yaw angle to be calibrated is used as the target yaw angle to be calibrated of the arm base to be calibrated relative to the direction of the earth's magnetic field.

8. The calibration method of a split robot according to claim 7, characterized in that: The method further comprises: Obtaining a magnetometer calibration model corresponding to the magnetometer; wherein the magnetometer calibration model represents a geometric fitting model corresponding to magnetic field intensity data collected by the magnetometer rotating around a Z axis in a world coordinate system; Obtaining the central magnetic field intensity coordinates corresponding to the calibration center of the magnetometer calibration model; wherein the central magnetic field intensity coordinates represent the offset magnetic field intensity of the calibration center along the X-axis and the Y-axis relative to the zero point of the earth's magnetic field; Obtaining the maximum magnetic field intensity of the X-axis and the maximum magnetic field intensity of the Y-axis of the magnetometer calibration model; According to the central magnetic field intensity coordinate, the X-axis maximum magnetic field intensity and the Y-axis maximum magnetic field intensity, it is determined whether the current yaw angle to be calibrated meets the allowable error condition.

9. The calibration method of a split robot according to claim 8, characterized in that: The determining, according to the central magnetic field intensity coordinate, the X-axis maximum magnetic field intensity, and the Y-axis maximum magnetic field intensity, whether the current yaw angle to be calibrated satisfies an allowable error condition includes: Obtaining the current magnetic field intensity coordinates corresponding to the current yaw angle to be calibrated; Determining a current intensity distance between the current magnetic field intensity coordinate and the calibration center according to the central magnetic field intensity coordinate and the current magnetic field intensity coordinate; Determine a standard intensity distance of the current yaw angle to be calibrated relative to the calibration center according to the current yaw angle to be calibrated, the maximum magnetic field intensity of the X-axis, and the maximum magnetic field intensity of the Y-axis; When the difference distance between the current intensity distance and the standard intensity distance is less than the error distance, the current yaw angle to be calibrated is set to meet the allowable error condition.

10. The calibration method of a split robot according to claim 7, characterized in that: The arm base to be calibrated is also provided with a second angle sensor. Accordingly, the method of obtaining the target yaw angle to be calibrated of the arm base to be calibrated in the split robot relative to the direction of the earth's magnetic field also includes: When the current yaw angle to be calibrated does not meet the allowable error condition, the relative yaw angle to be calibrated of the arm base to be calibrated is collected by the second angle sensor; wherein the relative yaw angle to be calibrated represents the deflection amount of the yaw angle to be calibrated of the arm base to be calibrated at the current collection time relative to the target yaw angle to be calibrated at the previous collection time; Determine the sum of the relative yaw angle to be calibrated and the target yaw angle to be calibrated at the last acquisition moment of the arm base to be calibrated to obtain the yaw angle to be calibrated; The summed yaw angle to be calibrated is used as the target yaw angle to be calibrated of the arm base to be calibrated relative to the direction of the earth's magnetic field.

11. The calibration method of a split robot according to claim 10, characterized in that: After collecting the relative yaw angle to be calibrated of the arm base to be calibrated by the second angle sensor, the method further includes: The second angle sensor is subjected to a zeroing calibration process.

12. A calibration device for a split robot, characterized in that: include: A target reference yaw angle acquisition module is used to acquire a target reference yaw angle of a reference arm base in a split robot relative to the direction of the earth's magnetic field; A target yaw angle acquisition module to be calibrated is used to acquire a target yaw angle to be calibrated of a base of an arm to be calibrated in a split robot relative to the direction of the earth's magnetic field; A base relative yaw angle determination module is used to determine the base relative yaw angle between the reference arm base and the arm base to be calibrated according to the target reference yaw angle and the target yaw angle to be calibrated; A calibration rotation matrix determination module, used to determine the calibration rotation matrix between the reference coordinate system where the reference arm base is located and the coordinate system to be calibrated where the arm base to be calibrated is located according to the relative yaw angle of the base; Wherein, the reference arm base and the arm base to be calibrated are respectively provided with a first angle sensor, the first angle sensor provided on the reference arm base is used to collect the target reference yaw angle, and the first angle sensor provided on the arm base to be calibrated is used to collect the target yaw angle to be calibrated; The calibration rotation matrix satisfies the formula: ； in, represents the target reference yaw angle, represents the yaw angle of the target to be calibrated, Represents the relative yaw angle of the base.

13. A split robot, characterized in that: The split robot comprises a reference arm trolley, an arm trolley to be calibrated and a terminal device, wherein the reference arm trolley comprises a reference arm base, and the arm trolley to be calibrated comprises an arm base to be calibrated; wherein the reference arm base and the arm base to be calibrated are respectively provided with a first angle sensor for collecting a yaw angle relative to the direction of the earth's magnetic field; The terminal device comprises: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the calibration method of the split robot described in any one of claims 1-11.

14. The split-type robot according to claim 13, characterized in that: The reference arm base and the arm base to be calibrated are also respectively provided with a second angle sensor for collecting a relative yaw angle, wherein the relative yaw angle represents the deflection amount of the yaw angle of the reference arm base or the arm base to be calibrated at the current collection moment relative to the yaw angle at the previous collection moment.

15. The split-type robot according to claim 14, characterized in that: The first angle sensor is a magnetometer, and the second angle sensor is a gyroscope.

16. The split-type robot according to claim 14, characterized in that: The reference arm trolley and the arm trolley to be calibrated are respectively connected to the terminal device through bus communication; The reference arm trolley and the arm trolley to be calibrated are respectively provided with a control board stack, and the control board stack is communicatively connected with the first angle sensor and the second angle sensor respectively. The control board stack is used to send the yaw angle and the relative yaw angle to the terminal device through the bus.

17. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the calibration method of the split robot according to any one of claims 1 to 11 when executed.

18. A computer program product, comprising a computer program, wherein when the computer program is executed by a processor, the computer program implements the calibration method of the split-type robot according to any one of claims 1 to 11.

Images