Robot calibration method and device based on multiple dimensions and storage medium

Abstract

The invention discloses a multi-dimension-based robot calibration method and device and a storage medium, and the method comprises the steps: obtaining an expected pose corresponding to a target point location in response to an instruction, received by a target robot, for going to the target point location; predicting a target pose of the target robot at the target point location according to the expected pose, laser data obtained by scanning the point location identifier of the target point location by the target robot and a current pose of the target robot; obtaining deviation information between the target robot and a point location identifier of the target point location in response to the fact that the current pose of the target robot is the target pose; and performing offset compensation processing on the current positioning parameter of the target robot according to the deviation information to obtain a calibration parameter of the target robot. According to the scheme, the calibration effect of the robot can be optimized.

Description

Technical Field

[0001] The present application relates to the field of robotics technology, and in particular to a multi-dimensional robot calibration method, device, and storage medium. Background Art

[0002] With the continuous development of robot technology, mobile robots are often used to perform tasks in various production scenarios. For example, when a mobile robot performs a cargo handling task, it needs to dock with the machine where the cargo is placed in the cargo warehouse and identify the location of the target cargo so that it can accurately perform the handling task.

[0003] Therefore, in the process of robot performing tasks, the positioning method adopted by the robot is particularly important. At present, the common positioning method is usually based on the matching of the laser radar data collected by the robot and the prior map to achieve the positioning effect.

[0004] However, in frequently changing application scenarios, the prior map may not be able to accurately reflect the current environment information. In addition, if there are errors in the sensor parameters of the mobile robot, it will also greatly affect the robot's positioning accuracy. Summary of the invention

[0005] The present application at least provides a multi-dimensional robot calibration method, apparatus, device, and computer-readable storage medium.

[0006] The first aspect of the present application provides a robot calibration method based on multiple dimensions, including: in response to a target robot receiving an instruction to go to a target point, obtaining an expected posture corresponding to the target point; predicting the target posture of the target robot at the target point based on the expected posture, laser data obtained by the target robot scanning the point identification of the target point, and the current posture of the target robot; in response to the current posture of the target robot being the target posture, obtaining deviation information between the target robot and the point identification of the target point; performing offset compensation processing on the current positioning parameters of the target robot according to the deviation information to obtain calibration parameters of the target robot.

[0007] In one embodiment, the deviation information includes a deviation angle, the point marker includes a first point marker and a second point marker respectively set on both sides of the target point, the target robot includes a first sensor and a second sensor, the first sensor is used to obtain the first point marker, and the second sensor is used to obtain the second point marker, and the step of obtaining the deviation information between the target robot and the point marker of the target point includes: obtaining first deviation information between the first sensor of the target robot and the first point marker, and second deviation information between the second sensor of the target robot and the second point marker; determining the deviation angle of the target robot at the target point according to the first deviation information, the second deviation information and the sensor distance between the first sensor and the second sensor.

[0008] In one embodiment, the deviation information also includes a first deviation distance of the target robot relative to the target point in a first direction, the first direction being the direction of travel of the target robot to dock with the target point, the calibration parameters including a calibration angle and a first calibration distance in the travel direction, and the step of performing offset compensation processing on the current positioning parameters of the target robot according to the deviation information to obtain the calibration parameters of the target robot includes: performing compensation processing on the current positioning parameters of the target robot according to the deviation angle to obtain the calibration angle; adjusting the current operating angle of the target robot according to the deviation angle to obtain the adjusted operating angle; obtaining the first deviation information between the first sensor and the first point mark and / or the second deviation information between the second sensor and the second point mark when the target robot is at the adjusted operating angle; controlling the target robot to move in the travel direction according to the first deviation information and / or the second deviation information to obtain the first calibration distance of the target robot in the travel direction.

[0009] In one embodiment, the deviation information also includes a second deviation distance of the target robot relative to the target point in a second direction, the second direction is perpendicular to the first direction, the calibration parameters include a second calibration distance between the target robot and the target point in the second direction, and the step of performing offset compensation processing on the current positioning parameters of the target robot according to the deviation information to obtain the calibration parameters of the target robot includes: controlling the target robot to move in the second direction according to the second deviation distance to obtain the moving distance of the target robot in the second direction; in response to the moving distance matching the second deviation distance, determining the second calibration distance based on the moving distance.

[0010] In one embodiment, the step of predicting the target posture of the target robot at the target point based on the expected posture, the laser data obtained by the target robot scanning the point marker of the target point, and the current posture of the target robot includes: determining the identification posture of the point marker based on the laser data obtained by the target robot scanning the point marker of the target point; performing matrix operation processing on the expected posture, the identification posture, the laser external parameters of the target robot, and the current posture of the target robot to obtain the target posture.

[0011] In one embodiment, the point marker includes three preset reflective markers, namely a first reflective marker, a second reflective marker and a third reverse marker. The first reflective marker and the second reflective marker are symmetrically arranged on both sides of the third reflective marker, and the spacing between the first reflective marker and the third reflective marker and the spacing between the second reflective marker and the third reflective marker are fixed values. The marker size of the third reflective marker is smaller than the first reflective marker and the second reflective marker.

[0012] In one embodiment, after the step of performing offset compensation processing on the current positioning parameters of the target robot according to the deviation information to obtain the calibration parameters of the target robot, the method further includes: acquiring initial coordinate information of the point marker; in response to the target robot detecting the existence of other robots heading for the target point, acquiring current coordinate information of the point marker identified by the other robots; and sending the relative deviation between the initial coordinate information and the current coordinate information to the other robots, so that the other robots perform offset compensation processing on the positioning parameters based on the received relative deviation.

[0013] In one embodiment, after the step of performing offset compensation processing on the current positioning parameters of the target robot according to the deviation information to obtain the calibration parameters of the target robot, the method further includes: in response to the target robot receiving an instruction to go to other points, obtaining the target posture of the target robot at the other points; controlling the target robot to travel to the other points with the calibration parameters; in response to the current posture of the target robot being the target posture of the other points, obtaining the current deviation information between the point identification of the target robot and the other points; performing offset compensation processing on the expected posture of the other points according to the current deviation information to obtain the calibration parameters of the other points.

[0014] The second aspect of the present application provides a robot calibration device based on multiple dimensions, including: an acquisition module, used to obtain the expected posture corresponding to the target point in response to the target robot receiving an instruction to go to the target point; a posture determination module, used to predict the target posture of the target robot at the target point according to the expected posture, the laser data obtained by the target robot scanning the point mark of the target point, and the current posture of the target robot; a deviation acquisition module, used to obtain the deviation information between the target robot and the point mark of the target point in response to the current posture of the target robot being the target posture; a calibration module, used to perform offset compensation processing on the current positioning parameters of the target robot according to the deviation information to obtain the calibration parameters of the target robot.

[0015] A third aspect of the present application provides an electronic device, including a memory and a processor, wherein the processor is used to execute program instructions stored in the memory to implement the above-mentioned multi-dimensional-based robot calibration method.

[0016] A fourth aspect of the present application provides a computer-readable storage medium having program instructions stored thereon, which implement the above-mentioned multi-dimensional-based robot calibration method when the program instructions are executed by a processor.

[0017] The above scheme, in response to the target robot receiving an instruction to go to the target point, obtains the expected posture corresponding to the target point. In the process of the target robot accurately reaching the target point, the laser data can be obtained by scanning the point mark of the target point, and according to the expected posture, laser data and the current posture of the target robot, it can be predicted that the target robot should be in the target posture of the target point under ideal conditions. In response to the current posture of the target robot being the target posture, the deviation information between the target robot and the point mark of the target point is obtained. The current positioning parameters of the target robot are offset compensated by the obtained deviation information to obtain the calibration parameters of the target robot. In this way, the posture of the target robot can be determined by the point mark, the odometer error of the robot can be eliminated, and it does not rely on the laser navigation environment map, thereby eliminating the docking fluctuation caused by map changes and optimizing the calibration effect of the robot.

[0018] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The drawings herein are incorporated into the specification and constitute a part of the specification. These drawings illustrate embodiments consistent with the present application and are used together with the specification to illustrate the technical solution of the present application.

[0020] Figure 1is a flowchart of an exemplary embodiment of a multi-dimensional robot calibration method of the present application;

[0021] Figure 2 It is a simple schematic diagram of one of the applicable scenarios in the multi-dimensional robot calibration method of the present application;

[0022] Figure 3 It is a schematic diagram of a scenario for determining a deviation angle in a multi-dimensional robot calibration method of the present application;

[0023] Figure 4 It is a schematic diagram of the reflective mark setting method in the multi-dimensional robot calibration method of the present application;

[0024] Figure 5 is a block diagram of a robot calibration device based on multiple dimensions shown in an exemplary embodiment of the present application;

[0025] Figure 6 It is a structural schematic diagram of an embodiment of the electronic device of the present application;

[0026] Figure 7 It is a structural diagram of an embodiment of a computer-readable storage medium of the present application. DETAILED DESCRIPTION

[0027] The scheme of the embodiment of the present application is described in detail below in conjunction with the drawings of the specification.

[0028] In the following description, for the purpose of explanation rather than limitation, specific details such as specific system structures, interfaces, and technologies are provided to facilitate a thorough understanding of the present application.

[0029] The term "and / or" in this article is only a description of the association relationship of associated objects, indicating that there may be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this article generally indicates that the objects associated before and after are in an "or" relationship. In addition, "many" in this article means two or more than two. In addition, the term "at least one" in this article means any combination of at least two of any one or more of a plurality of, for example, including at least one of A, B, and C, can mean including any one or more elements selected from the set consisting of A, B, and C.

[0030] For ease of understanding, the specific scenarios in which the calibration method of the present application can be applied are now exemplified. The robot of the present application refers to a movable robot or a movable device, and the robot will perform corresponding tasks based on the different instructions received. Taking the common robot operation scenario as an example, after receiving the instruction to go to the target point, the robot will move to the target point. In the prior art, the robot usually matches the laser data obtained in real time by the lidar with the prior map to determine the real-time position and posture of the robot; further, there are sensors such as the robot's odometer, ranging photoelectric equipment, etc. to assist in positioning.

[0031] However, when the working environment changes frequently, such as when objects are frequently added or removed from the working environment, or when there are moving objects in the environment, the current environmental information and the prior map will change significantly. If the current laser data is not processed and directly matched with the prior map, it is very likely to cause a large matching error, resulting in low robot positioning accuracy, and poor docking between the robot and the target point.

[0032] Taking the warehouse operation environment as an example, when the mobile robot performs related tasks, it needs to dock with the machine at the target point in the warehouse, so it needs to accurately identify the position of the machine so that it can accurately perform the task. It should be noted that the robot calibration method of the present application is not limited to use in warehouse operation environments (such as handling robots), but can also be applied to other environments involving mobile robots (such as sweeping robots, flying robots, etc.), which will not be elaborated here. It should also be noted that the robot calibration method of the present application can be applied to robots, and can also be applied to servers or terminal devices that have a communication connection with the robot. The specific implementation process can be adjusted accordingly according to actual needs, and this application does not limit it.

[0033] See also Figure 1 , Figure 1 This is a flowchart of an exemplary embodiment of the multi-dimensional robot calibration method of the present application. Specifically, it may include the following steps:

[0034] Step S110, in response to the target robot receiving an instruction to go to a target point, obtaining an expected posture corresponding to the target point.

[0035] It should be noted that the method of this application is mainly described by taking the warehouse operation environment as an example, and in the warehouse environment, the robot usually needs to dock with the machine for storing goods at the target point. Among them, the target point can be a preset coordinate point or a preset area, which is not limited in this application. Figure 2 As shown, Figure 2This is a simple schematic diagram of one of the applicable scenarios in the multi-dimensional robot calibration method of the present application. Therefore, in order to improve the positioning accuracy and calibration accuracy of the robot, a point mark can be set at least at the target point. The point mark set at the target point in the present application can be set on the machine and / or other positions of the target point. If the method of the present application is applied to other environments without a machine, the point mark can be adaptively adjusted and set at a suitable position of the target point, which will not be elaborated here.

[0036] The instruction received by the target robot to go to the target point may be included in the task to be executed sent to the target robot (for example, the target robot needs to go to the target point to perform the task based on the received task to be executed), or it may be directly issued (for example, the target robot goes to the target point based on the received movement instruction), which is not limited here.

[0037] Among them, the application scenario of this application may include one or more points, which are not limited here. In this embodiment, the point to which the target robot needs to go is called the target point. Among each point, at least the target point needs to be set with a point identifier, and the other points may or may not be set with a point identifier, which is not limited in this application. It should be noted that each point has its corresponding expected posture (refers to the expected position of the target robot relative to the point marker when the target robot and the point machine are precisely docked), which is equivalent to each point having its corresponding docking parameters for precise docking with the target robot. The expected position and posture can be preset and sent to the target robot by the server (which may include active sending by the server and / or passive sending by the server in response to the request of the target robot). Specifically, the expected position and posture corresponding to the target point can be obtained when the target robot receives an instruction to go to the target point; or the server may send the expected position and posture of one or more points to the target robot in advance, and when the target robot receives the instruction to go to the target point, it obtains the expected position and posture corresponding to the target point from its own storage, which is not limited here.

[0038] Step S120, predicting the target posture of the target robot at the target point according to the expected posture, the laser data obtained by the target robot scanning the point identification of the target point, and the current posture of the target robot.

[0039] In combination with the above steps, after the target robot receives the instruction to go to the target point, the expected posture corresponding to the target point can be obtained. The expected posture is the posture of the target robot relative to the point mark. Therefore, it is also necessary to determine the posture of the target robot in the ideal state after reaching the target point, that is, the target posture.

[0040] When the target robot is docking with the target point machine, the laser data obtained by scanning the point mark of the target point can be used to determine the position of the point mark. The current position of the target robot is

[0041] Specifically, let the target point be A. When the target robot is docking with the platform at the target point, its corresponding expected position is The position identification pose of the identified target point is The current position of the target robot is Combined with the target robot's laser external reference By performing matrix operations, the target position of the target robot can be predicted

[0042] For example, the mathematical expression of the target pose can be:

[0043]

[0044] Step S130, in response to the current posture of the target robot being the target posture, obtaining deviation information between the point identifier of the target robot and the target point.

[0045] Combined with the above steps, the current posture of the target robot is the target posture When the target robot reaches the target position Then, it is necessary to obtain the deviation information between the target robot and the point mark of the target point to determine whether there is a deviation during the docking process between the target robot and the target point machine, and whether the target robot needs to be calibrated.

[0046] For ease of explanation, the target point identifier may be referred to as the target point identifier in the following text. The deviation information may include but is not limited to the angle deviation and distance deviation between the target robot and the target point identifier.

[0047] Exemplarily, the method for obtaining deviation information in the present application can be implemented by at least one sensor provided on the target robot, and the sensor may specifically include but is not limited to a laser radar, an image sensor, a photoelectric sensor, etc. By identifying the deviation information between the point identification of the target robot and the target point through the sensor on the target robot, it can be determined whether there is a deviation in the docking process between the target robot and the target point machine. In addition to the above-mentioned sensors, the target robot of the present application may also include an odometer for preliminarily estimating the change in the robot's angle and distance. A common type of encoder is a wheel encoder, so that the robot's posture at the current moment can be estimated based on the change in posture at the previous and next moments and the posture at the previous moment. It may also include more sensor settings, and specific reference may be made to the existing robot settings, which will not be elaborated here.

[0048] Step S140, performing offset compensation processing on the current positioning parameters of the target robot according to the deviation information to obtain calibration parameters of the target robot.

[0049] In combination with the above steps, if the deviation information obtained indicates that there is a deviation between the point identification of the target robot and the target point, it is necessary to perform offset compensation processing on the current positioning parameters of the target robot to obtain the compensated (calibrated) positioning parameters, that is, the calibration parameters of the target robot. If the deviation information obtained indicates that there is no deviation between the point identification of the target robot and the target point, there is no need to perform offset compensation processing, and the calibration parameters are directly obtained.

[0050] The current positioning parameters may include but are not limited to the current position and posture of the target robot, laser external parameters, etc. After the current positioning parameters are offset compensated, calibration parameters can be obtained. The calibration parameters may include but are not limited to the adjusted position and posture of the target robot, the adjusted laser external parameters, the offset adjustment amount, etc.

[0051] Exemplarily, the deviation information may include an angle deviation and / or a distance deviation. Therefore, according to the deviation information, the target robot may be adjusted in direction based on the angle deviation and / or adjusted in displacement based on the distance deviation, so that the target robot after the offset adjustment is accurately docked with the target point machine.

[0052] It can be seen that the present application obtains the desired posture corresponding to the target point in response to the target robot receiving an instruction to go to the target point. In the process of the target robot accurately reaching the target point, the laser data can be obtained by scanning the point mark of the target point, and according to the desired posture, laser data and the current posture of the target robot, the target posture of the target robot should be in the target point under ideal conditions can be predicted. In response to the current posture of the target robot being the target posture, the deviation information between the target robot and the point mark of the target point is obtained. The current positioning parameters of the target robot are offset compensated by the obtained deviation information to obtain the calibration parameters of the target robot. In this way, the posture of the target robot can be determined by the point mark, the odometer error of the robot can be eliminated, and the laser navigation environment map is not relied on, thereby eliminating the docking fluctuations caused by map changes and optimizing the calibration effect of the robot.

[0053] On the basis of the above-mentioned embodiments, the embodiment of the present application describes the steps of obtaining the deviation information between the target robot and the point mark of the target point. The deviation information includes the deviation angle, the point mark includes a first point mark and a second point mark respectively set on both sides of the target point, and the target robot includes a first sensor and a second sensor, the first sensor is used to obtain the first point mark, and the second sensor is used to obtain the second point mark. Specifically, the method of this embodiment includes the following steps:

[0054] Obtain first deviation information between a first sensor of the target robot and a first point marker, and second deviation information between a second sensor of the target robot and a second point marker; determine a deviation angle of the target robot at a target point according to the first deviation information, the second deviation information, and a sensor distance between the first sensor and the second sensor.

[0055] For example, reference may be made to Figure 3 As shown, Figure 3 It is a schematic diagram of a scene for determining the deviation angle in the multi-dimensional robot calibration method of the present application. Relative to the docking direction between the target robot and the target point machine, a first point mark and a second point mark can be set on the left and right sides of the target point, respectively. Among them, a first sensor and a second sensor are provided on the target robot, the first sensor is used to obtain the first point mark, and the second sensor is used to obtain the second point mark.

[0056] It should be noted that the point identification of the present application may include but is not limited to reflective identification and image identification (such as QR code identification, bar code identification, etc.). The reflective identification is mainly used to reflect the laser point cloud data emitted by the robot's laser radar, and the robot performs positioning and calibration through the acquired laser data; the image identification is mainly used for the robot to perform image recognition through visual technology to achieve positioning and calibration. The specific setting method of the point identification needs to be adaptively implemented in combination with the specific application scenario, and is not limited here. For example, in the target point of the present application, only the reflective identification can be set, or only the image identification can be set, or both the reflective identification and the image identification can be set.

[0057] Exemplarily, in the process of the target robot determining the target posture based on the point mark, a reflective mark may be set, and the posture of the reflective mark may be determined by the laser point cloud data reflected by the reflective mark. In the process of the target robot determining the deviation angle based on the point mark, a two-dimensional code mark may be set, and the deviation angle may be determined by the recognition effect of the two-dimensional code mark. In the process of the target robot determining the deviation distance based on the point mark, the deviation distance may still be determined by the recognition effect of the two-dimensional code mark and / or the deviation distance may be determined by the photoelectric ranging technology of the photoelectric sensor, which is not limited here. The above is only one of the possible implementation methods of the present application, which can be flexibly adjusted and arranged and combined according to the application scenario, and will not be elaborated here.

[0058] Specifically, combined Figure 3 For illustration, the first point mark and the second point mark in this embodiment may be two-dimensional code marks. When the first deviation information d1 between the first sensor and the first point mark in the docking direction is obtained through the existing recognition method, which is equivalent to the left deviation information, and the second deviation information d2 between the second sensor and the second point mark in the docking direction is obtained, which is equivalent to the right deviation information.

[0059] Further, the sensor distance L between the first sensor and the second sensor is obtained. b (which may be preset or acquired in real time, which is not limited here), according to the first deviation information d1, the second deviation information d2 and the sensor distance L b Calculate the deviation angle α of the target robot at the target point 1 , please refer to the principle of trigonometric function for details, and its mathematical expression can be:

[0060] α 1 =(d1-d2) / L b

[0061] It should be noted that the calculation process of (d1-d2) in this application is because for the data recognized by the sensor, due to the recognition direction, one of the data in d1 or d2 is negative. However, the essence of its calculation process is to calculate the sum of the distance d1 and the distance d2 and the ratio with the sensor distance to obtain the deviation angle. After that, the deviation angle α can be 1 Compensation to the laser external parameters of the target robot The calibration parameters of the target robot are obtained from the yaw angle.

[0062] On the basis of the above-mentioned embodiments, the embodiment of the present application describes the steps of performing offset compensation processing on the current positioning parameters of the target robot according to the deviation information to obtain the calibration parameters of the target robot. The deviation information also includes a first deviation distance of the target robot relative to the target point in a first direction, the first direction being the direction of the target robot to dock with the target point, and the calibration parameters include a calibration angle and a first calibration distance in the direction of travel. Specifically, the method of this embodiment includes the following steps:

[0063] The current positioning parameters of the target robot are compensated according to the deviation angle to obtain a calibration angle; the current operating angle of the target robot is adjusted according to the deviation angle to obtain an adjusted operating angle; the first deviation information between the first sensor and the first point mark and / or the second deviation information between the second sensor and the second point mark when the target robot is at the adjusted operating angle is obtained; the target robot is controlled to move in the travel direction according to the first deviation information and / or the second deviation information to obtain a first calibrated distance of the target robot in the travel direction.

[0064] With reference to the foregoing embodiment, after compensating the angle of the laser external parameter of the target robot, the compensated angle (i.e., the calibration angle) is obtained, and the current operating angle of the target robot is adjusted according to the deviation angle, so that the angle of the target robot is aligned with the angle of the machine to be docked at the target point, which is equivalent to the docking surface of the target robot being parallel to the docking surface of the machine to be docked at the target point.

[0065] After the angle is aligned, there may still be a displacement deviation between the target robot and the target point machine. Figure 3, the displacement deviation between the target robot and the target point machine may include but is not limited to the front-to-back displacement deviation and the left-to-right displacement deviation. The front-to-back displacement deviation refers to the first deviation distance of the target robot relative to the target point in the first direction. The first direction is the direction of travel (docking direction) of the target robot to dock with the target point. The calibration parameters include the calibration angle and the first calibration distance in the travel direction. For the front-to-back displacement deviation, the identification method for determining the deviation angle in the aforementioned embodiment can still be used. After adjusting the running angle of the target robot, the front-to-back displacement deviation identified by it is obtained (specifically, it can be determined by the first deviation information between the first sensor and the first point mark and / or the second deviation information between the second sensor and the second point mark). For example, the first deviation information is used as the front-to-back displacement deviation, or the second deviation information is used as the front-to-back displacement deviation, or the average of the first deviation information and the second deviation information is used as the front-to-back displacement deviation, etc., which is not limited here.

[0066] Then, the target robot is controlled to move in the travel direction (docking direction) according to the front-rear deviation distance, so that the target robot recognizes that the front-rear deviation distance is zero or less than or equal to a preset offset distance threshold, and obtains the first calibration distance of the target robot in the travel direction.

[0067] On the basis of the above-mentioned embodiments, the embodiment of the present application describes the steps of performing offset compensation processing on the current positioning parameters of the target robot according to the deviation information to obtain the calibration parameters of the target robot. The deviation information also includes a second deviation distance of the target robot relative to the target point in a second direction, the second direction is perpendicular to the first direction, and the calibration parameters include a second calibration distance between the target robot and the target point in the second direction. Specifically, the method of this embodiment includes the following steps:

[0068] The target robot is controlled to move in the second direction according to the second deviation distance to obtain the moving distance of the target robot in the second direction; in response to the moving distance matching the second deviation distance, a second calibration distance is determined based on the moving distance.

[0069] In conjunction with the above embodiment, the above embodiment compensates for the offset angle and the first deviation distance (front-rear deviation distance), but in fact, there may be a displacement offset between the target robot and the target point machine in the second direction. The second direction is perpendicular to the first direction, which is equivalent to the deviation distance in the second direction being the left-right deviation distance.

[0070] Exemplarily, the target robot may obtain the second deviation distance by adopting the same scheme as in the aforementioned embodiment by identifying the first point marker and the second point marker to determine the distance in the second direction between the first sensor and the first point marker and / or the distance in the second direction between the second sensor and the second point marker, and then determine the second deviation distance (left-right deviation distance) based on the distance in the second direction between the first sensor and the first point marker and / or the distance in the second direction between the second sensor and the second point marker.

[0071] Similarly, referring to the aforementioned embodiment, the target robot is controlled to move in the second direction according to the second deviation distance to obtain the moving distance until the moving distance matches the second deviation distance, and the second calibration distance can be determined based on the moving distance.

[0072] For example, if you want to ensure that the target robot is docked in a centered position relative to the target point machine, you need to adjust the left and right movement of the target robot so that the distance between the first sensor of the target robot and the first point marker in the second direction and the distance between the second sensor and the second point marker in the second direction are the same, that is, the distances between the sensors on both sides of the target robot and the corresponding point markers on both sides are the same, so that the target robot maintains a centered position relative to the target point machine.

[0073] Furthermore, for example, the distance between the first sensor and the first point marker in the second direction is 20 cm, and the distance between the second sensor and the second point marker in the second direction is 30 cm; if the target robot is to be determined to be in a centered position relative to the target point machine, the distance between the first sensor and the first point marker of the target robot in the second direction and the distance between the second sensor and the second point marker in the second direction should be the average of the two distances (20+30) / 2=25 cm, so the second deviation distance is ±5 cm, that is, it is necessary to control the target robot to move in the second direction in a direction with a larger distance until the moving distance is equal to the second deviation distance.

[0074] It should also be noted that the method for determining the second deviation distance (left-right offset distance) in this embodiment may include, but is not limited to, respectively identifying the distance between the left-right two-dimensional code logos by the left-right image sensors provided on the robot to obtain the c1 distance and the c2 distance. Among them, for the handling robot, lifting arms are usually provided on both sides thereof, so the image sensors can be respectively provided on the lifting arms on both sides, which is not limited here. It is also possible to respectively measure the distance between the left-right sides of the target robot and the machine by the left-right photoelectric sensors provided on the robot to obtain the c1 distance and the c2 distance. It is also possible to calculate the mean of the left-right distance measured by the image sensor and the left-right distance measured by the photoelectric sensor to obtain the c1 distance and the c2 distance, which is not limited here.

[0075] Based on the above embodiments, the embodiment of the present application describes the steps of predicting the target posture of the target robot at the target point according to the desired posture, the laser data obtained by the target robot scanning the point mark of the target point, and the current posture of the target robot. Specifically, the method of this embodiment includes the following steps:

[0076] According to the laser data obtained by the target robot scanning the point mark of the target point, the identification posture of the point mark is determined; the expected posture, the identification posture, the laser external parameters of the target robot and the current posture of the target robot are processed by matrix operation to obtain the target posture.

[0077] In combination with the foregoing embodiments, the method for determining the target posture provided in this embodiment has been described in the foregoing embodiments, specifically, by performing matrix operations on the expected posture of the target point acquired by the target robot, the laser data of the point mark obtained by scanning the point mark of the target point (point mark posture), the current posture of the target robot and the laser external parameters of the target robot, the target posture that the target robot should reach under ideal conditions can be obtained, which will not be elaborated here.

[0078] On the basis of the above embodiments, the embodiments of the present application need to explain that, in the point mark setting method of the present application, the point mark can include a reflective mark and an image mark. Figure 4 As shown, Figure 4This is a schematic diagram of the reflective marker setting method in the multi-dimensional robot calibration method of the present application, which is mainly shown from the perspective of the robot's laser radar. The reflective markers of the present application can be set to an odd number (at least one, preferably multiple). Take the point marker as an example to illustrate that three preset reflective markers are included, which are the first reflective marker, the second reflective marker and the third reverse marker. The first reflective marker is set and the second reflective marker is symmetrically set on both sides of the third reflective marker. The spacing between the first reflective marker and the third reflective marker and the spacing between the second reflective marker and the third reflective marker are fixed values. The marker size of the third reflective marker is smaller than the first reflective marker and the second reflective marker (for example Figure 4 In the embodiment, the third reflective mark is thinner than the first reflective mark and the second reflective mark).

[0079] It should be noted that, through the above reflective mark setting method, the reflective marks on both sides are arranged symmetrically with respect to the middle reflective mark, and the spacing between two adjacent reflective marks is a fixed value, so that the interference reflective point cloud in the environment can be eliminated according to the preset point cloud distance during the docking process of the target robot and the machine. In addition, since the reflective mark set in the middle is smaller in size, it can avoid too many laser point clouds on the reflective mark in the middle position, thereby avoiding a large center deviation calculated by the target robot.

[0080] Based on the above embodiment, the embodiment of the present application describes the steps after performing offset compensation processing on the current positioning parameters of the target robot according to the deviation information to obtain the calibration parameters of the target robot. Specifically, the method of this embodiment includes the following steps:

[0081] Acquire the initial coordinate information of the point marker; in response to the target robot detecting the existence of other robots heading for the target point, acquire the current coordinate information of the point marker identified by the other robots; send the relative deviation between the initial coordinate information and the current coordinate information to the other robots, so that the other robots perform offset compensation processing of the positioning parameters based on the received relative deviation.

[0082] Combined with the above-mentioned embodiments, the specific application scenarios of this application usually include multiple robots and multiple points. Different robots may have different laser external parameters, which require different calibrations. For machines at different points, due to installation deviations between machines and installation deviations of point markers, the same robot may have docking deviations between different machines. However, if each robot and each machine is calibrated separately, it is quite time-consuming and labor-intensive.

[0083] Therefore, the present application also proposes a robot calibration method, which can extend the calibration parameters of the target robot to other robots in the current scene by calibrating the target robot, so as to improve the calibration efficiency of other robots. This is equivalent to calibrating other robots with the calibrated target robot as a benchmark.

[0084] The initial coordinate information of the point mark refers to the initial coordinate information of the point mark recognized by the calibrated target robot at the target point.

[0085] For example, the target robot is denoted as B1, and its position after offset adjustment is denoted as Z. Figure 4 In the example, there are three reflective marks at the target point. The coordinates of the three reflective marks recorded by B1 at Z are (First point mark), (Second point marker) and (Third point mark) The coordinates of the geometric center of the reflective mark may be used as the reflective mark coordinates, or other coordinate data corresponding to the reflective mark may be used as the reflective mark coordinates, which is not limited in this application.

[0086] After B1 leaves the target point, B1 can report the various data obtained in the above embodiments to the server and / or other robots, which is not limited here. For example, in response to the target robot detecting the existence of other robots B2 heading to the target point, the initial coordinate information of the reflective mark can be sent to the corresponding other robots B2. When the other robot B2 arrives at Z, it will obtain the current coordinate information based on the recognition result of the reflective mark. and Other robots can match the initial coordinate information and the current coordinate information based on ICP (Iterative Closest Point) matching technology to obtain the actual relative position deviation of the two robots B1 and B2. and is the displacement deviation between the two robot laser external parameters, where Indicates the x and y values ​​of the robot's position in its body coordinate system. That is, taking the B1 robot as the reference robot, you can use To adjust the displacement deviation of the laser external parameters of other robots. As for the angle deviation, the angle deviation compensation method of the target robot in the above embodiment can be referred to in the same way. Other robots can also compensate the laser external parameter angle in this way, which will not be described in detail here.

[0087] In addition, in addition to the target robot sending the initial coordinate information to other robots, which then perform the above processing, other robots can also send current coordinate information to the target robot, which then performs the above processing and then sends the displacement deviation that needs to be compensated to other robots to adjust other robots. The target robot can also send the initial coordinate information to the server, which then actively sends the initial coordinate information to other robots, or sends the initial coordinate information to other robots upon receiving a request from other robots, which then perform the above processing. Alternatively, the target robot can send the initial coordinate information to the server, and other robots can send current coordinate information to the server, which then performs the above processing and then sends the displacement deviation that needs to be compensated to other robots to adjust other robots.

[0088] Based on the above embodiment, the embodiment of the present application describes the steps after performing offset compensation processing on the current positioning parameters of the target robot according to the deviation information to obtain the calibration parameters of the target robot. Specifically, the method of this embodiment includes the following steps:

[0089] In response to the target robot receiving an instruction to go to other points, the target posture of the target robot at other points is obtained; the target robot is controlled to travel to other points with calibration parameters; in response to the current posture of the target robot being the target posture of other points, current deviation information between the point identifiers of the target robot and other points is obtained; offset compensation processing is performed on the expected posture of other points according to the current deviation information to obtain calibration parameters of other points.

[0090] Other points refer to points other than the target point in the running scene of the target robot.

[0091] In conjunction with the above-mentioned embodiments, the present application can calibrate other robots through the target robot, and can also calibrate other points through the target robot, which mainly refers to the calibration of docking parameters (such as expected posture) of other points.

[0092] Exemplarily, after the target robot has completed the calibration of the target point, if the target robot receives an instruction to go to other points, it will refer to the aforementioned embodiment to obtain the target posture of the target robot at other points (specifically including the expected posture of other points, the point identification posture of other points recognized by the robot, the current posture of the robot and the laser external parameters of the robot. The laser external parameters of the robot have been calibrated successfully and will not be elaborated here).

[0093] Control the target robot to travel to other points with calibration parameters (calibrated laser external parameters). When the target robot reaches the target posture of other points (that is, the current posture of the target robot is the target posture of other points), refer to the above embodiment to obtain the current deviation information between the point identification of the target robot and other points. Then, according to the current deviation information, the docking parameters (expected posture) of other points are offset compensated, instead of calibrating the target robot to obtain the calibration parameters of other points. In this way, the docking differences of machines at different points can be eliminated, and the calibration consistency between machines at different points can be ensured, so that different robots can obtain consistent docking positions at different points.

[0094] Specifically, the target robot may perform offset compensation processing on the docking parameters (expected posture) of other points within itself, and then upload the calibration parameters of other points to the server. When other robots subsequently go to the other points, they can obtain the calibrated docking parameters of the other points from the server, so that the other robots can reach the same posture as the target robot. Alternatively, the target robot may send the current deviation information to the server, and the server may calculate the calibration parameters of other points; or the target robot may send the current deviation information to the server, and when other robots go to the other points, they may obtain the current deviation information from the server and then calculate to obtain the calibration parameters of their points.

[0095] For example, due to the construction errors between different point machines, the same robot may have deviations in docking position on different machines. In this case, the docking parameters (expected posture) associated with each point can be directly used. To correct, this parameter is associated with the point attributes of each machine. The corresponding parameters of different machines may be different. The calculation method of this parameter can be as follows:

[0096] First, after the robot Bi has been calibrated and compensated for the angle deviation and displacement deviation of the laser external parameter at the target point in the aforementioned embodiment, the robot Bi also reaches the target position corresponding to the machine Aj at the target point through the identified position. At this time, the deviation angle β is calculated by referring to the method of the above embodiment. j , and β j Docking parameters added to this point The robot is then allowed to leave (exit) the platform at that point and use the new docking parameters. Reach the target position of the point again At this time, the displacement deviation compensation calibration method provided in the above embodiment can be used to complete the displacement deviation compensation and obtain the calibration parameters after the offset compensation of the point. After the docking parameters of each point machine are adjusted through the above steps, the consistency of the robot docking on different machines can be obtained.

[0097] Of course, this solution is not limited to using reflective strips to calculate the docking position, or using reflective strip matching to eliminate displacement deviations between different lasers; it is also applicable to using reflective columns or good feature contours to achieve the same purpose, but a different calculation method is used to calculate the docking position.

[0098] In summary, the multi-dimensional robot calibration method of the present application can not only complete the calibration of a single robot, but also extend to the calibration of other robots and other points based on the calibrated robot, thereby ensuring the consistency of a single robot or multiple robots reaching the target point.

[0099] Based on the above embodiments, this embodiment describes an application scenario in which the robot's sensors include at least a lidar sensor, an image sensor, and a photoelectric sensor as an example.

[0100] The robot of the present application can identify the reflective mark by laser radar to preliminarily confirm the position (target position). Then, after the robot reaches the target position, it can be judged by the odometer, and the image sensor on the lifting arm on both sides can be used to identify the QR code mark to confirm the angle deviation, and the angle compensation of the laser angle external parameter is performed. Then, the robot is moved to the center position of the machine using the left and right distance between the robot and the machine fed back by the photoelectric sensor and / or the image sensor to complete the distance compensation. For the compensation calibration between different robots, different robots can be allowed to reach the same position of the center position of the machine (i.e., the center of the docking machine), and the position of the identified reflective mark is used to match the point cloud, thereby compensating the displacement deviation of the laser external parameter between different robots. For different machines, due to the installation deviation between the machines and the installation deviation of the point mark, the same robot still has deviation in positioning between different machines. At this time, the deviation value is recorded by the feedback of the image sensor and the photoelectric sensor, and the deviation value is recorded on the docking parameter of the corresponding machine. When docking, the corresponding docking parameter is compensated for the deviation value, thereby ensuring the consistency of the same or different robots when docking on different machines.

[0101] It should be further explained that the execution subject of the robot calibration method based on multi-dimensionality can be a robot calibration device based on multi-dimensionality. For example, the robot calibration method based on multi-dimensionality can be executed by a terminal device or a server or other processing device, wherein the terminal device can be a user equipment (UE), a computer, a mobile device, a user terminal, a terminal, a cellular phone, a cordless phone, a personal digital assistant (PDA), a handheld device, a computing device, a vehicle-mounted device, a wearable device, etc. In some possible implementations, the robot calibration method based on multi-dimensionality can be implemented by a processor calling a computer-readable instruction stored in a memory.

[0102] Figure 5 FIG. 1 is a block diagram of a robot calibration device based on multiple dimensions, shown as an exemplary embodiment of the present application. Figure 5 As shown, the exemplary multi-dimensional robot calibration device 500 includes: an acquisition module 510, a posture determination module 520, a deviation acquisition module 530 and a calibration module 540. Specifically:

[0103] The acquisition module 510 is used to obtain the expected posture corresponding to the target point in response to the target robot receiving the instruction to go to the target point.

[0104] The posture determination module 520 is used to predict the target posture of the target robot at the target point according to the expected posture, the laser data obtained by the target robot scanning the point identification of the target point, and the current posture of the target robot.

[0105] The deviation acquisition module 530 is used to acquire deviation information between the target robot and the point identifier of the target point in response to the current position of the target robot being the target position.

[0106] The calibration module 540 is used to perform offset compensation processing on the current positioning parameters of the target robot according to the deviation information to obtain calibration parameters of the target robot.

[0107] In this exemplary multi-dimensional robot calibration device, in response to the target robot receiving an instruction to go to a target point, the desired posture corresponding to the target point is obtained. In the process of the target robot accurately reaching the target point, the laser data can be obtained by scanning the point mark of the target point, and according to the desired posture, laser data and the current posture of the target robot, the target posture of the target robot at the target point in an ideal state can be predicted. In response to the current posture of the target robot being the target posture, the deviation information between the target robot and the point mark of the target point is obtained. The current positioning parameters of the target robot are offset compensated by the obtained deviation information to obtain the calibration parameters of the target robot. In this way, the posture of the target robot can be determined by the point mark, the odometer error of the robot can be eliminated, and the laser navigation environment map is not relied on, thereby eliminating the docking fluctuation caused by map changes and optimizing the calibration effect of the robot.

[0108] It should be noted that the device provided in the above embodiment and the method provided in the above embodiment belong to the same concept, wherein the specific manner in which each module and unit performs the operation has been described in detail in the method embodiment, and will not be repeated here. In practical applications, the device provided in the above embodiment can distribute the above functions to different functional modules as needed, that is, divide the internal structure of the device into different functional modules to complete all or part of the functions described above, and this is not limited here.

[0109] Among them, the functions of each module can be found in the embodiment of the robot calibration method based on multiple dimensions, and will not be repeated here.

[0110] See also Figure 6 , Figure 6 1 is a schematic diagram of the structure of an embodiment of an electronic device of the present application. The electronic device 100 includes a memory 101 and a processor 102, and the processor 102 is used to execute program instructions stored in the memory 101 to implement the steps in any of the above-mentioned multi-dimensional robot calibration method embodiments. In a specific implementation scenario, the electronic device 100 may include but is not limited to: a microcomputer, a server, and in addition, the electronic device 100 may also include a mobile device such as a laptop computer and a tablet computer, which is not limited here.

[0111] Specifically, the processor 102 is used to control itself and the memory 101 to implement the steps in any of the above-mentioned robot calibration method embodiments based on multi-dimensionality. The processor 102 can also be referred to as a CPU (Central Processing Unit). The processor 102 may be an integrated circuit chip having signal processing capabilities. The processor 102 may also be a general-purpose processor, a digital signal processor (Digital Signal Processor, DSP), an application-specific integrated circuit (Application Specific Integrated Circuit, ASIC), a field-programmable gate array (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components. The general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc. In addition, the processor 102 may be implemented by an integrated circuit chip.

[0112] In this exemplary electronic device, in response to the target robot receiving an instruction to go to a target point, the desired posture corresponding to the target point is obtained. In the process of the target robot accurately reaching the target point, the laser data can be obtained by scanning the point mark of the target point, and according to the desired posture, the laser data and the current posture of the target robot, the target posture of the target robot should be in the target point under an ideal state. In response to the current posture of the target robot being the target posture, the deviation information between the target robot and the point mark of the target point is obtained. The current positioning parameters of the target robot are offset compensated by the obtained deviation information to obtain the calibration parameters of the target robot. In this way, the posture of the target robot can be determined by the point mark, the odometer error of the robot can be eliminated, and the laser navigation environment map is not relied on, thereby eliminating the docking fluctuation caused by map changes and optimizing the calibration effect of the robot.

[0113] See also Figure 7 , Figure 7 The computer-readable storage medium 110 stores program instructions 111 that can be executed by a processor, and the program instructions 111 are used to implement the steps in any of the above-mentioned multi-dimensional robot calibration method embodiments.

[0114] In this exemplary storage medium, the target robot receives an instruction to go to the target point by running the program instructions in the storage medium, and obtains the desired posture corresponding to the target point. In the process of the target robot accurately reaching the target point, the laser data can be obtained by scanning the point mark of the target point, and according to the desired posture, laser data and the current posture of the target robot, the target posture of the target robot should be in the target point under ideal conditions can be predicted. In response to the current posture of the target robot being the target posture, the deviation information between the target robot and the point mark of the target point is obtained. The current positioning parameters of the target robot are offset compensated by the obtained deviation information to obtain the calibration parameters of the target robot. In this way, the posture of the target robot can be determined by the point mark, the odometer error of the robot is eliminated, and the laser navigation environment map is not relied on, thereby eliminating the docking fluctuation caused by the map change and optimizing the calibration effect of the robot.

[0115] In some embodiments, the functions or modules included in the device provided by the embodiments of the present disclosure can be used to execute the method described in the above method embodiments. The specific implementation can refer to the description of the above method embodiments, and for the sake of brevity, it will not be repeated here.

[0116] The above description of various embodiments tends to emphasize the differences between the various embodiments. The same or similar aspects can be referenced to each other, and for the sake of brevity, they will not be repeated herein.

[0117] In the several embodiments provided in the present application, it should be understood that the disclosed methods and devices can be implemented in other ways. For example, the device implementation described above is only schematic. For example, the division of modules or units is only a logical function division. There may be other division methods in actual implementation, such as units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, and the indirect coupling or communication connection of devices or units can be electrical, mechanical or other forms.

[0118] In addition, each functional unit in each embodiment of the present application can be integrated into a processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of a software functional unit. If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including several instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) or a processor (processor) to perform all or part of the steps of each implementation method of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk and other media that can store program code.

Claims

1. A robot calibration method based on multi-dimensionality, characterized in that: The method comprises: In response to the target robot receiving an instruction to go to a target point, obtaining a desired posture corresponding to the target point; Predicting a target posture of the target robot at the target point according to the desired posture, laser data obtained by the target robot scanning the point mark of the target point, and the current posture of the target robot; In response to the current posture of the target robot being the target posture, obtaining deviation information between the point identifier of the target robot and the target point; An offset compensation process is performed on the current positioning parameters of the target robot according to the deviation information to obtain calibration parameters of the target robot.

2. The method according to claim 1, characterized in that: The deviation information includes a deviation angle, the point mark includes a first point mark and a second point mark respectively arranged on both sides of the target point, the target robot includes a first sensor and a second sensor, the first sensor is used to obtain the first point mark, and the second sensor is used to obtain the second point mark, and the step of obtaining the deviation information between the point mark of the target robot and the target point includes: Acquire first deviation information between a first sensor of the target robot and the first point mark, and second deviation information between a second sensor of the target robot and the second point mark; The deviation angle of the target robot at the target point is determined according to the first deviation information, the second deviation information, and a sensor distance between the first sensor and the second sensor.

3. The method according to claim 2, characterized in that The deviation information also includes a first deviation distance of the target robot relative to the target point in a first direction, the first direction being a travel direction of the target robot to dock with the target point, the calibration parameters including a calibration angle and a first calibration distance in the travel direction, and the step of performing offset compensation processing on the current positioning parameters of the target robot according to the deviation information to obtain the calibration parameters of the target robot includes: Compensating the current positioning parameters of the target robot according to the deviation angle to obtain the calibration angle; Adjusting the current operating angle of the target robot according to the deviation angle to obtain an adjusted operating angle; Acquire first deviation information between the first sensor and the first point mark and / or second deviation information between the second sensor and the second point mark when the target robot is at the adjusted operating angle; The target robot is controlled to move in the travel direction according to the first deviation information and / or the second deviation information to obtain a first calibrated distance of the target robot in the travel direction.

4. The method according to claim 2, characterized in that: The deviation information also includes a second deviation distance of the target robot relative to the target point in a second direction, the second direction is perpendicular to the first direction, the calibration parameters include a second calibration distance between the target robot and the target point in the second direction, and the step of performing offset compensation processing on the current positioning parameters of the target robot according to the deviation information to obtain the calibration parameters of the target robot includes: controlling the target robot to move in the second direction according to the second deviation distance to obtain a moving distance of the target robot in the second direction; In response to the movement distance and the second deviation distance matching, the second calibration distance is determined based on the movement distance.

5. The method according to claim 1, characterized in that: The step of predicting the target posture of the target robot at the target point according to the expected posture, the laser data obtained by the target robot scanning the point mark of the target point, and the current posture of the target robot comprises: Determine the marking position and posture of the point mark according to the laser data obtained by scanning the point mark of the target point by the target robot; Matrix operation processing is performed on the expected posture, the identified posture, the laser external parameters of the target robot, and the current posture of the target robot to obtain the target posture.

6. The method according to claim 5, characterized in that The point marker includes three preset reflective markers, namely a first reflective marker, a second reflective marker and a third reverse marker. The first reflective marker and the second reflective marker are symmetrically arranged on both sides of the third reflective marker, respectively. The spacing between the first reflective marker and the third reflective marker and the spacing between the second reflective marker and the third reflective marker are fixed values. The marker size of the third reflective marker is smaller than the first reflective marker and the second reflective marker.

7. The method according to claim 1, characterized in that After the step of performing offset compensation processing on the current positioning parameters of the target robot according to the deviation information to obtain calibration parameters of the target robot, the method further includes: Obtaining initial coordinate information of the point marker; In response to the target robot detecting the presence of other robots heading to the target point, obtaining current coordinate information of the point identifier identified by the other robots; The relative deviation between the initial coordinate information and the current coordinate information is sent to the other robot, so that the other robot performs offset compensation processing of the positioning parameter based on the received relative deviation.

8. The method according to claim 1, characterized in that: After the step of performing offset compensation processing on the current positioning parameters of the target robot according to the deviation information to obtain calibration parameters of the target robot, the method further includes: In response to the target robot receiving an instruction to go to another point, acquiring a target position of the target robot at the other point; Controlling the target robot to travel to the other points according to the calibration parameters; In response to the current posture of the target robot being the target posture of the other point, obtaining current deviation information between the point identifiers of the target robot and the other point; Perform offset compensation processing on the expected positions of the other points according to the current deviation information to obtain calibration parameters of the other points.

9. An electronic device, characterized in that: The method comprises a memory and a processor, wherein the processor is used to execute program instructions stored in the memory to implement the method according to any one of claims 1 to 8.

10. A computer-readable storage medium having program instructions stored thereon, characterized in that: When the program instructions are executed by a processor, the method according to any one of claims 1 to 8 is implemented.

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