Calibration method, device, equipment, first equipment and auxiliary calibration device

Abstract

The embodiment of the invention discloses a calibration method, device and equipment, first equipment and an auxiliary calibration device.The calibration equipment is in communication connection with the first equipment, first coordinates of multiple measurement points in a first coordinate system can be obtained from the first equipment through communication connection, and the measurement points are on second equipment; a second coordinate of each measurement point in a second coordinate system is acquired, and the second coordinate system is established based on the first device or the second device; determining a conversion relation between the first coordinate system and the second coordinate system according to the first coordinate and the second coordinate of the measurement point; a target program of the first device is calibrated based on the conversion relation, and the target program is used for conducting track planning on the first device. Therefore, the coordinate data of the measurement points required during calculation of the conversion relation do not need to be manually recorded and input, and the calibration equipment can automatically obtain the coordinates of the measurement points to calculate the conversion relation for calibration, so that the calibration efficiency is improved.

Description

Technical Field

[0001] The present application relates to the field of calibration technology, and in particular to a calibration method, device, equipment, a first device, and an auxiliary calibration device. Background Art

[0002] The advancement of science and technology has enabled more and more smart devices to participate in users' production and life, bringing convenience to users.

[0003] For example, some smart devices may be installed with a control program to plan the trajectory of the smart device and other information. In order to ensure the accuracy of the planning, it is generally necessary to calculate the transformation relationship between multiple coordinate systems associated with the smart device and calibrate the control program based on the transformation relationship. At present, the acquisition of this transformation relationship requires frequent manual participation, and there is a problem of low calibration efficiency. Summary of the invention

[0004] The embodiments of the present application provide a calibration method, an apparatus, a device, a first device, and an auxiliary calibration device, which can improve the calibration efficiency of a target program of the first device.

[0005] In order to achieve the above object, according to a first aspect of the present application, a calibration method is provided, the method is applied to a calibration device, the calibration device is communicatively connected with a first device, and the method includes:

[0006] Acquire, from the first device, first coordinates of a plurality of measurement points in a first coordinate system of the first device through a communication connection, the measurement points being on a second device;

[0007] Acquire a second coordinate of each measurement point in a second coordinate system, wherein the second coordinate system is established based on the first device or the second device;

[0008] Determine a conversion relationship between the first coordinate system and the second coordinate system according to the first coordinate and the second coordinate of the measuring point;

[0009] A target program of the first device is calibrated based on the conversion relationship, wherein the target program is used for trajectory planning of the first device.

[0010] According to a second aspect of the present application, a calibration method is provided. The method is applied to a first device, the first device is communicatively connected with a calibration device, and the method includes:

[0011] controlling the movement of the first device multiple times;

[0012] and after each movement, obtaining the coordinates of a target point of the first device in a first coordinate system of the first device, wherein the target point contacts a measuring point on the second device each time the movement occurs;

[0013] The coordinates of the target point are used as the first coordinates of the measuring point in the first coordinate system and are sent to the calibration device through a communication connection, so that the calibration device determines the conversion relationship between the first coordinate system and the second coordinate system based on the first coordinates of the measuring point and the second coordinates in the second coordinate system, and calibrates the target program of the first device based on the conversion relationship, wherein the target program is used for trajectory planning of the first device.

[0014] According to a third aspect of the present application, a calibration device is provided, which is applied to a calibration device, the calibration device is communicatively connected with a first device, and the calibration device includes:

[0015] A first communication unit, configured to obtain first coordinates of a plurality of measurement points in a first coordinate system of the first device from the first device through a communication connection between the calibration device and the first device, the measurement points being on a second device;

[0016] A first acquisition unit, used for acquiring a second coordinate of each measurement point in a second coordinate system, wherein the second coordinate system is established based on the first device or the second device;

[0017] A calculation unit, used for determining a conversion relationship between the first coordinate system and the second coordinate system according to the first coordinate and the second coordinate of the measuring point;

[0018] The first calibration unit is used to calibrate a target program of the first device based on the conversion relationship, wherein the target program is used to perform trajectory planning for the first device.

[0019] Optionally, a communication client is installed in the first device, and a communication server for establishing a communication connection with the communication client is installed in the calibration device;

[0020] The first communication unit is used to receive first coordinates of multiple measurement points in a first coordinate system of the first device sent by the communication client through the communication service end of the calibration device.

[0021] Optionally, the first acquisition unit is used to create a second coordinate system for the first device in the simulation environment through a calibration device; and acquire a second coordinate of the measuring point in the second coordinate system through the calibration device.

[0022] Optionally, a detection device is provided on the second device, the detection device creates a second coordinate system of the second device, and the first acquisition unit is used to acquire the second coordinate of each measurement point in the second coordinate system from the detection device through the calibration device.

[0023] Optionally, the detection device includes a probe, a first auxiliary calibration device having a first tip point is installed on the first device, the measuring point includes the probe, and the first coordinate and the second coordinate are obtained by contacting the probe with the first tip point or a device reference point on the first device.

[0024] Optionally, a first auxiliary calibration device having a first tip point is installed on the first device, and / or a second auxiliary calibration device is installed on the second device, the second auxiliary calibration device includes at least one calibration structure having a second tip point; the measurement point includes at least one of the second tip points;

[0025] The first coordinate and the second coordinate are obtained by contacting the first tip point or a device reference point on the first device with the second tip point.

[0026] Optionally, there are multiple calibration structures, and at least two calibration structures have different heights.

[0027] Optionally, the first auxiliary calibration device is installed on an operating end of a tool of the first equipment, and the operating end is used to operate an operating object of the tool.

[0028] Optionally, the transformation relationship includes a rotation matrix and a translation vector, and a calculation unit is used to

[0029] Calculate the first centroid coordinates of the measuring point in the first coordinate system according to the first coordinates;

[0030] Calculate the second centroid coordinates of the measuring point in the second coordinate system according to the second coordinates;

[0031] Determine a rotation matrix between the first coordinate system and the second coordinate system based on the first coordinate system and the second coordinate system;

[0032] A translation vector between the first coordinate system and the second coordinate system is determined based on the first centroid coordinates, the second centroid coordinates, and the rotation matrix.

[0033] Optionally, the number of measuring points is at least 4, and the device further comprises:

[0034] The filtering unit is used to respectively use each measuring point as a measuring point to be analyzed, determine a candidate transformation relationship between the first coordinate system and the second coordinate system based on the first coordinates and the second coordinates of other measuring points other than the measuring point to be analyzed; determine an error parameter of the measuring point to be analyzed based on the candidate transformation relationship; and delete the measuring points that meet the error condition from the measuring points based on the error parameters.

[0035] Optionally, a filtering unit is used to obtain, based on a conversion relationship and the first coordinate and / or second coordinate of the measurement point to be analyzed, the second predicted coordinate corresponding to the first coordinate, and / or the first predicted coordinate corresponding to the second coordinate; obtain multiple coordinate differences of the measurement point to be analyzed based on the first coordinate and the first predicted coordinate, and / or the second coordinate and the second predicted coordinate; and calculate the error parameters of the measurement point to be analyzed based on the coordinate differences.

[0036] Optionally, the error parameter includes at least one of a standard deviation and a range;

[0037] The filtering unit is used to delete the measurement points with the largest standard deviation or the largest range among the measurement points.

[0038] According to a fourth aspect of the present application, a calibration device is provided, which is applied to a first device, and the first device is communicatively connected with a calibration device, including:

[0039] A control unit, used for controlling the movement of the first device multiple times;

[0040] A second acquisition unit is used to acquire the coordinates of the target point of the first device in the first coordinate system of the first device after each movement, wherein the target point contacts the measuring point on the second device each time the movement occurs;

[0041] The second communication unit is used to send the coordinates of the target point as the first coordinates of the measuring point in the first coordinate system to the calibration device through a communication connection, so that the calibration device determines the conversion relationship between the first coordinate system and the second coordinate system based on the first coordinates of the measuring point and the second coordinates in the second coordinate system, and calibrates the target program of the first device based on the conversion relationship, wherein the target program is used for trajectory planning of the first device.

[0042] Optionally, the target point includes a device reference point of the first device and / or a first tip point of a first auxiliary calibration device mounted on the first device.

[0043] Optionally, a second auxiliary calibration device is provided on the second device, and the second auxiliary calibration device includes at least one calibration structure having a second tip point;

[0044] a control unit for repeatedly teaching the first device to move so as to control the target point to contact the second tip point;

[0045] The second acquisition unit is used to acquire the coordinates of the target point in the first coordinate system of the first device when the target point is in contact with the second tip point.

[0046] Optionally, the first auxiliary calibration device is installed on an operating end of a tool of the first equipment, and the operating end is used to operate an operating object of the tool.

[0047] According to a fifth aspect of the present application, a calibration device is provided, the calibration device comprising a memory and a processor; the memory stores a computer program, and the processor is used to run the computer program in the memory to execute the calibration method provided in the present application.

[0048] According to a sixth aspect of the present application, a first device is provided, the first device comprising a memory and a processor; the memory stores a computer program, and the processor is used to run the computer program in the memory to execute the calibration method provided in the present application.

[0049] According to a seventh aspect of the present application, there is provided an auxiliary calibration device, the device comprising: a first auxiliary calibration device and a second auxiliary calibration device, or the auxiliary calibration device comprises the second auxiliary calibration device;

[0050] The first auxiliary calibration device has a first tip point, and the first auxiliary calibration device is installed on the first device when in use;

[0051] The second auxiliary calibration device includes at least one calibration structure, each calibration structure has a second tip point, and the second auxiliary calibration device is installed on the second device when in use. The second tip point is used to provide a measurement point for the second device to contact with the target point of the first device, and the target point includes the first tip point or the device reference point of the first device.

[0052] Optionally, there are multiple calibration structures, and at least two calibration structures have different heights.

[0053] According to an eighth aspect of the present application, a computer-readable storage medium is provided, which stores a computer program, and the computer program is suitable for loading by a processor to execute the steps in any calibration method provided in the embodiments of the present application.

[0054] According to the ninth aspect of the present application, a computer program product is provided, which includes a computer program stored in a computer-readable storage medium; when a processor reads the computer program from the computer-readable storage medium, the processor executes the computer program to execute the steps in the calibration method provided in the embodiment of the present application.

[0055] In the application embodiment, the calibration device is connected to the first device in communication, and the first coordinates of multiple measurement points in the first coordinate system of the first device can be obtained from the first device through the communication connection, and the measurement points are on the second device; the second coordinates of each measurement point in the second coordinate system are obtained, wherein the second coordinate system is established based on the first device or the second device; the conversion relationship between the first coordinate system and the second coordinate system is determined according to the first coordinate and the second coordinate of the measurement point; the target program of the first device is calibrated based on the conversion relationship, wherein the target program is used for trajectory planning of the first device. Thus, through the communication connection between the calibration device and the first device, the measurement point coordinate data required for calculating the conversion relationship does not need to be manually recorded and manually input, and the calibration device can automatically obtain the measurement point coordinate data and calculate the conversion relationship for calibration, which reduces the manual operation required for calibration and is conducive to improving calibration efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0056] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For those skilled in the art, other drawings can be obtained based on these drawings without creative work.

[0057] Figure 1 It is a schematic diagram of an implementation scenario of a calibration method provided in an embodiment of the present application;

[0058] Figure 2 It is a flow chart of a calibration method provided in an embodiment of the present application;

[0059] Figure 3 is a schematic diagram of another implementation scenario of a calibration method provided in an embodiment of the present application;

[0060] Figure 4 It is a schematic diagram of another implementation scenario of the calibration method provided in an embodiment of the present application;

[0061] Figure 5 is a schematic diagram of the structure of a first auxiliary calibration device and a second auxiliary calibration device provided in an embodiment of the present application;

[0062] Figure 6 is a structural schematic diagram of another first auxiliary calibration device provided in an embodiment of the present application;

[0063] Figure 7 It is a structural schematic diagram of a first auxiliary calibration device installed on a welding robot provided in an embodiment of the present application;

[0064] Figure 8 is a flow chart of another calibration method provided in an embodiment of the present application;

[0065] Fig. 9 is a structural schematic diagram of a calibration device provided in an embodiment of the present application;

[0066] Fig.10 is a structural schematic diagram of a calibration device provided in an embodiment of the present application;

[0067] Fig.11 It is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0068] The technical solutions in the embodiments of the present application will be described clearly and completely below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present application.

[0069] In the description of this application, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more features. In the description of this application, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0070] The embodiments of the present application provide a calibration method, device, equipment, first device and auxiliary calibration device. The calibration device can be integrated in an electronic device, and the electronic device can be any terminal device that can implement the function of the calibration device.

[0071] The terminal device may include but is not limited to an intelligent robot, a mobile phone, and a computer, etc. There is no limitation on the structure, shape, function, and brand of the robot.

[0072] See also Figure 1 , taking a calibration device integrated in a calibration device as an example, Figure 1 A schematic diagram of an implementation scenario of the calibration method provided in an embodiment of the present application, wherein a calibration device is communicatively connected to a first device, and the calibration device can obtain, from the first device through the communication connection, first coordinates of multiple measurement points in a first coordinate system of the first device, and the measurement points are on a second device; obtain the second coordinates of each measurement point in the second coordinate system, wherein the second coordinate system is established based on the first device or the second device; determine a conversion relationship between the first coordinate system and the second coordinate system based on the first coordinate and second coordinates of the measurement points; and calibrate a target program of the first device based on the conversion relationship, wherein the target program is used to perform trajectory planning for the first device.

[0073] It should be noted that Figure 1 The implementation environment scenario diagram of the calibration method shown is only an example. The implementation environment scenario of the calibration method described in the embodiment of the present application is to more clearly illustrate the technical solution of the embodiment of the present application, and does not constitute a limitation on the technical solution provided by the embodiment of the present application. It is known to those skilled in the art that with the evolution of data processing and the emergence of new business scenarios, the technical solution provided by the present application is also applicable to similar technical problems.

[0074] The solutions provided by the embodiments of the present application are specifically described by the following embodiments. It should be noted that the description order of the following embodiments is not intended to limit the preferred order of the embodiments.

[0075] The present application provides an embodiment, which is described from the perspective of a calibration device, and the calibration device can be specifically integrated in a calibration device.

[0076] See also Figure 2 , Figure 2 is a flow chart of a calibration method provided in an embodiment of the present application. In this embodiment, the calibration device is in communication connection with the first device. The calibration method includes:

[0077] Step S101, obtaining first coordinates of a plurality of measurement points in a first coordinate system of the first device from a first device through a communication connection, the measurement points being on a second device.

[0078] In this application, the first device includes but is not limited to any intelligent device. Optionally, the first device includes a robot. The robot can be used in any scenario, for example, it can include industrial robots, household robots, medical robots, etc. There are no restrictions on the specific structure, appearance, function, and brand of the robot in this application. For example, the robot can be a six-axis articulated manipulator, which can be used for handling, welding, assembly, painting, etc. The robot can also be a humanoid or animal-shaped robot, etc. This example has no restrictions on this.

[0079] Optionally, the robot may include a robot body and a teaching pendant. Figure 3 , Figure 3 , an optional structure of the robot 31 is shown, including a robot body 3101 and a teach pendant 3102, wherein the teach pendant 3102 can be set in the robot control cabinet 32, and the end flange of the robot body 3101 is installed with an end effector 3103, i.e., a tool, for operating the robot's operating object, such as a workpiece. The robot 31 and the robot control cabinet 32 ​​constitute a robot system. Optionally, in one example, the teach pendant can be directly connected to the robot body instead of being set in the robot control cabinet. The robot body is connected to the robot control cabinet, and the robot control cabinet is used to process the working information of the robot body and control its movement; the robot control cabinet is connected to the teach pendant, and the teach pendant is used to operate the robot body to read and write data and run programs.

[0080] In this application, the robot body is used to accurately execute the position, posture and motion trajectory required by the robot control cabinet. The robot body can optionally be a six-axis articulated manipulator driven by a servo motor. Figure 3 The end effector on the robot has a TCP point 31031 (TOOL CENTER POINT).

[0081] The structure, shape, function, and usage scenario of the second device in this application are not limited. In an optional example, the second device may include a fixture, and the number of measurement points that the second device can provide is not limited, and there may be one or more, and even the position of the measurement point may be fixed on the second device or movable relative to the second device, and this example has no limitation on this.

[0082] Optionally, the calibration device may be a device independent of the first device and the second device, or the calibration device may be integrated into the first device or the second device, and this application has no limitation on this.

[0083] Optional, such as Figure 3 As shown, the second device may include a fixture 33 and its control device 34, and the calibration device of the present application may be the control device.

[0084] The applicant of the present application has developed a calibration system, which is installed in a calibration device. The calibration system can establish a communication connection with the device through any feasible communication protocol.

[0085] In one example, the first coordinate system may be a base coordinate system of the first device, such as Figure 3 The base coordinate system BASE of the robot.

[0086] In an optional embodiment, a communication client is installed in the first device, and a communication server for establishing a communication connection with the communication client is installed in the calibration device;

[0087] Optionally, the step of “obtaining, from the first device through the communication connection, first coordinates of the plurality of measurement points in the first coordinate system of the first device” may include:

[0088] The communication service end of the calibration device receives first coordinates of a plurality of measurement points in a first coordinate system of the first device sent by the communication client.

[0089] In one example, the present application provides a communication system including the above communication client and communication server, wherein the communication system uses any communication protocol, such as TCP / IP protocol, UDP protocol, etc. Optionally, the communication client may include a Socket client, and the communication server may include a Socket server.

[0090] In one example, robot simulation software is integrated into the Socket server for simulation.

[0091] Optionally, the Socket client and the Socket server interact with the robot system and the calibration system through data transmission, which can reduce human operations and improve the degree of automation.

[0092] The present application improves the automation efficiency of simulation calibration work by establishing a Socket client in the robot and a Socket server in the calibration system, and performing data processing and information interaction through TCP / IP of the Ethernet communication layer.

[0093] In the present application, although the measuring point is provided by the second device, when measuring the first coordinate and the second coordinate, a target point of the first device is generally controlled to contact the measuring point, and the coordinates of the target point in the first coordinate system of the first device are obtained as the first coordinates of the measuring point in the first coordinate system.

[0094] Optionally, the first device and / or the second device may be controlled to move so that a target point of the first device contacts the measurement point. The position of the target point on the first device is not limited, and may be a point on the device body or a point on a tool mounted on the device body. There is no limitation on this.

[0095] Step S103: obtaining a second coordinate of each measurement point in a second coordinate system, wherein the second coordinate system is established based on the first device or the second device.

[0096] Optionally, in this embodiment, the second coordinate system can be actively established with the first device, for example, based on a robot.

[0097] For example, obtaining the second coordinate of each measuring point in the second coordinate system may include: creating the second coordinate system of the first device in the simulation environment by using a calibration device; and obtaining the second coordinate of the measuring point in the second coordinate system by using the calibration device.

[0098] Optionally, a second coordinate system of the first device in the simulation environment has been established through simulation software integrated in the communication service end of the calibration device, and the second coordinates of the measuring point in the second coordinate system are acquired through the calibration device.

[0099] For example, the robot can obtain the robot parameters when collecting the first coordinate of each measurement point, such as the robot joint posture data, and pass both the robot parameters and the first coordinate of the measurement point to the communication server. The simulation software integrated in the communication server simulates the robot motion based on the robot parameters and other data to obtain the second coordinate of the robot's measurement point in the second coordinate system of the simulation environment.

[0100] In one example, a detection device is provided on the second device, the detection device creates a second coordinate system of the second device, and obtaining the second coordinate of each measurement point in the second coordinate system includes: obtaining the second coordinate of each measurement point in the second coordinate system from the detection device.

[0101] Optionally, in this example, the detection device has a coordinate detection function, and the type of the detection device is not limited. For example, the detection device may include a three-coordinate measuring instrument, for example, see Figure 4 A three-coordinate measuring instrument 3501 is arranged on the fixture 35. The detection device of the present application comprises a probe, and the probe of the detection device can be moved according to control. Optionally, a first auxiliary calibration device having a first tip point can be installed on the first device.

[0102] In one embodiment of the present application, a three-coordinate measuring instrument can be used to position the tooling fixture and determine the measurement reference position of the fixture, and then a fixture-body coordinate system is constructed in the three-coordinate measurement software. The fixture-body coordinate system is another optional example of the second coordinate system in the present application, wherein the number of reference positions is not limited and can be 4, 5, etc.

[0103] Optional, in Figure 4 In the system shown, the process of collecting the first coordinate and the second coordinate based on the three-coordinate measuring instrument may include: teaching the robot to move to appropriate points in space, which should be easily accessible to the three-coordinate measuring instrument. Recording the coordinate values ​​of the robot's target point in the robot's real base coordinate system BASE at each point as the coordinate values ​​of the measurement point.

[0104] Wherein, the target point includes but is not limited to the device reference point and the first tip point on the robot, such as the TCP point of the tool installed at the end of the robot. Of course, the reference point of the robot can also be other positions, such as the end point of the robot installation tool.

[0105] When the robot is at each point, the probe of the three-dimensional coordinate measuring instrument is operated to touch the center position of the robot tool, and the coordinate value of the probe in the fixture body coordinate system is recorded as the second coordinate of the measuring point in the second coordinate system. Therefore, in this example, the measuring point is the probe, and the first coordinate and the second coordinate are obtained by contacting the probe with the first tip point or the device reference point on the first device.

[0106] Thus, the coordinates of each measuring point in the first coordinate system and the second coordinate system are obtained.

[0107] Step S105: determining a conversion relationship between the first coordinate system and the second coordinate system according to the first coordinate and the second coordinate of the measuring point.

[0108] In the present application, the calibration system also includes calibration software. The calibration system can transmit the first coordinate and the second coordinate of the measuring point to the calibration software, and obtain the conversion relationship between the real robot base coordinate system and the simulated robot base coordinate system after calculation through the algorithm contained in the calibration software, that is, the conversion relationship between the first coordinate system and the second coordinate system, so as to calibrate the target program.

[0109] Optionally, in the present application, at least two algorithms may be integrated in the calibration software, for example, the calibration software includes a first algorithm and a second algorithm.

[0110] exist Figure 3 In the corresponding example, the first algorithm is selected to perform step S105 and step S107. Figure 4 In the corresponding example, the second algorithm is selected to perform step S105 and step S107.

[0111] Optionally, the transformation relationship includes a rotation matrix and a translation vector, and determining the transformation relationship between the first coordinate system and the second coordinate system according to the first coordinate and the second coordinate of the measurement point includes:

[0112] Calculate the first centroid coordinates of the measuring point in the first coordinate system according to the first coordinates;

[0113] Calculate the second centroid coordinates of the measuring point in the second coordinate system according to the second coordinates;

[0114] Determine a rotation matrix between the first coordinate system and the second coordinate system based on the first coordinate system and the second coordinate system;

[0115] A translation vector between the first coordinate system and the second coordinate system is determined based on the first centroid coordinates, the second centroid coordinates, and the rotation matrix.

[0116] Optionally, the first centroid coordinates can be obtained by averaging each coordinate value in the first coordinates of all the measurement points. Similarly, the second centroid coordinates can be obtained by averaging each coordinate value in the first coordinates of all the measurement points.

[0117] Optionally, the step of determining a rotation matrix between the first coordinate system and the second coordinate system based on the first coordinate system and the second coordinate system may include:

[0118] Calculate a covariance matrix based on the first coordinate and the second coordinate;

[0119] Decompose the covariance matrix to obtain the left singular matrix and the right singular matrix;

[0120] Based on the left singular matrix and the right singular matrix, a rotation matrix between the first coordinate system and the second coordinate system is obtained.

[0121] Optionally, the steps of calculating the covariance matrix may include:

[0122] Subtract the first centroid coordinate from the first coordinate of each measurement point to obtain a plurality of first target coordinates, and construct a first coordinate matrix based on the first target coordinates;

[0123] Subtract the second centroid coordinates from the second coordinates of each measurement point to obtain a plurality of second target coordinates, and construct a second coordinate matrix based on the second target coordinates;

[0124] Multiply the transpose of the second coordinate matrix by the first coordinate matrix to get the covariance matrix.

[0125] Optionally, determining the translation vector between the first coordinate system and the second coordinate system based on the first centroid coordinates, the second centroid coordinates, and the rotation matrix may include:

[0126] Calculate the product of the rotation matrix and the transposed vector of the second centroid coordinates;

[0127] Subtracting the product from the first centroid coordinates yields a translation vector between the first coordinate system and the second coordinate system.

[0128] Therefore, the calibration software can perform algorithmic operations by executing the calibration program. The algorithm centers the coordinate data of the measurement points in the simulated environment and the real environment, and then calculates its covariance matrix, performs singular value decomposition on the covariance matrix, and calculates the rotation matrix and translation vector from the decomposition results to obtain the rotation and translation change relationship between the coordinate systems.

[0129] The following describes the method for obtaining the rotation matrix and the translation vector of this embodiment in conjunction with specific examples.

[0130] The following is an example of the first coordinate system being the real base coordinate system of the robot and the second coordinate system being the simulation base coordinate system of the robot. It can be understood that when the second coordinate system is the fixture coordinate system, similar calculation steps are used to calculate the translation vector and rotation matrix. In a specific embodiment, the coordinate system in the simulation environment is expressed as [X1 Y1Z1 A1 B1 C1], and the coordinate system in the real environment is expressed as [X2 Y2 Z2 A2 B2 C2]. The conversion relationship between the coordinate systems is expressed as

[0131]

[0132] Where R is the rotation matrix, is the translation vector; the Euler angles A, B, and C are set to rotate around the Z, Y, and X axes, which can be expressed as

[0133] In order to obtain the rotation matrix and translation vector between the coordinate systems, the number of measurement points in this application can be at least three, and each measurement point has corresponding real coordinates and simulation coordinates. For any measurement point, its simulation coordinate is marked as [X A Y A Z A ], its actual coordinates are marked as [X B Y B Z B ].

[0134] In a specific embodiment, the algorithm requires at least three measurement points. Assume that the coordinates of the measurement point p1, the measurement point p2, and the measurement point p3 in the simulation environment (under the second coordinate system) are: [X A1 Y A1 Z A1 ]、[X A2 Y A2 Z A2 ]、[X A3 Y A3 Z A3 ]. In the real environment (under the first coordinate system), the measurement point q1 corresponding to P1, the measurement point q2 corresponding to P2, and the measurement point q3 corresponding to P3 have coordinates [X B1 Y B1 Z B1 ]、[X B2 Y B2 Z B2 ]、[X B3 Y B3 Z B3 ].

[0135] First, calculate the centroid of the measurement point in the two environments as follows:

[0136] Coordinates of the first centroid of the first coordinate system:

[0137] Coordinates of the second centroid of the second coordinate system:

[0138] Re-center the coordinates: subtract the centroid of the measurement points in the simulation environment and the real environment from their respective coordinates.

[0139] p i '=p i -centroid_source

[0140] q i '=q i -centroid_target

[0141] Construct two coordinate matrices:

[0142] The second coordinate matrix

[0143] The first coordinate matrix

[0144] Then calculate the covariance matrix

[0145] covariance_matrix = P' T Q'

[0146] Then perform singular value decomposition

[0147] covariance_matrix = USV T , where U is the left singular matrix and V is the right singular matrix.

[0148] Calculate the rotation matrix R and translation vector t

[0149] R=UV T , that is, multiply the left singular matrix by the transposed matrix of the right singular matrix to obtain the rotation matrix

[0150] t=centroid_target-R·centroid_source T

[0151] Thus, this embodiment solves and calculates the conversion relationship between the base coordinate system of the robot in the simulation environment and the real environment, and calibrates the target program of the robot according to the conversion relationship. Optionally, the target program can be used offline or online, which is not limited in this embodiment.

[0152] Step S107, calibrating the target program of the first device based on the conversion relationship, wherein the target program can be used to perform trajectory planning for the first device.

[0153] Optionally, the conversion relationship between the base coordinate system of the robot in the real environment and the fixture body coordinate system of the fixture can be called the workpiece coordinate system of the real environment. The target program can perform trajectory planning based on the workpiece coordinate system.

[0154] In one example, a calibration device calibrates a target program of a first device based on a conversion relationship, including but not limited to calibrating a simulation position of the first device based on the conversion relationship, sending the calibrated simulation position to a communication client of a robot through a communication server, and sending the calibrated simulation position to a target program through the communication client for use.

[0155] In another example, when the first device transmits the first coordinate to the second device, the information of the workpiece coordinate system of the real environment can also be transmitted to the second device, and the calibration device calibrates the target program of the first device based on the conversion relationship, including but not limited to the calibration device calibrating the workpiece coordinate system based on the conversion relationship obtained in step S106 to obtain a calibrated workpiece coordinate system, and then sending the calibrated workpiece coordinate system to the robot's communication client through the communication server, and sending the calibrated workpiece coordinate system to the robot's target program through the communication client for calibration use.

[0156] In one example, the number of measurement points is at least 4. Before performing step S105, the measurement points may be screened to remove abnormal measurement points to improve calibration accuracy.

[0157] Optionally, the number of the measuring points is at least 4, and before determining the conversion relationship between the first coordinate system and the second coordinate system according to the first coordinates and the second coordinates of the measuring points, the method further includes:

[0158] Taking each measurement point as a measurement point to be analyzed, and determining a candidate transformation relationship between the first coordinate system and the second coordinate system based on the first coordinates and the second coordinates of other measurement points other than the measurement point to be analyzed;

[0159] Based on the candidate transformation relationship, determining the error parameters of the measurement points to be analyzed;

[0160] Based on the error parameter, measurement points that meet the error condition are deleted from the measurement points.

[0161] The calculation scheme of the candidate conversion relationship is the same as that of the conversion relationship in step S105, which will not be described in detail here.

[0162] Optionally, the error parameter is used to indicate the data accuracy of the measurement point to be analyzed under the corresponding candidate transformation relationship.

[0163] If, after deleting the measuring points, the number of remaining measuring points is insufficient for performing the calculation in step S105, the measuring points may be re-determined, and the first coordinates and the second coordinates of the measuring points may be acquired.

[0164] Optionally, determining the error parameter of the measurement point to be analyzed based on the candidate conversion relationship may include:

[0165] Based on the candidate transformation relationship and the first coordinate and / or the second coordinate of the measurement point to be analyzed, obtain the second predicted coordinate corresponding to the first coordinate and / or the first predicted coordinate corresponding to the second coordinate;

[0166] Based on the first coordinate and the first predicted coordinate, and / or the second coordinate and the second predicted coordinate, a plurality of coordinate differences of the measurement point to be analyzed are obtained;

[0167] Based on the coordinate differences, the error parameters of the measurement points to be analyzed are calculated.

[0168] Among them, based on the candidate transformation relationship and the first coordinate of the measurement point to be analyzed, the second coordinate of the measurement point under the candidate transformation relationship can be predicted to obtain the second predicted coordinate. Similarly, based on the candidate transformation relationship and the second coordinate of the measurement point to be analyzed, the first coordinate of the measurement point under the candidate transformation relationship can be predicted to obtain the first predicted coordinate.

[0169] In the present application, only one of the first predicted coordinates or the second predicted coordinates may be calculated, or both predicted coordinates may be calculated to improve the accuracy of measuring point screening.

[0170] Optionally, the coordinate values ​​of the same coordinate axis in the first coordinate and the first predicted coordinate are subtracted to obtain three first coordinate difference values, ΔX1, ΔY1 and ΔZ1. Similarly, the coordinate values ​​of the same coordinate axis in the second coordinate and the second predicted coordinate are subtracted to obtain three second coordinate difference values, ΔX2, ΔY2 and ΔZ2. Optionally, the error parameter includes at least one of a standard deviation and a range;

[0171] In this example, the standard deviation and range of ΔX1, ΔY1, and ΔZ1, or the standard deviation and range of ΔX2, ΔY2, and ΔZ2, or the standard deviation and range of ΔX1, ΔY1, ΔZ1, ΔX2, ΔY2, and ΔZ2 can be calculated.

[0172] Optionally, satisfying the error condition in the present application includes: arranging the first N measurement points in descending order of standard deviation or range, where N is an integer greater than 0.

[0173] Optionally, deleting the measurement points that meet the error condition from among the measurement points based on the error parameter may include: deleting the measurement points with the largest standard deviation or the largest range from among the measurement points.

[0174] During the calibration process, the applicant found that currently, the tooling fixture is generally calibrated by selecting measurement points, and the tooling fixture is prone to excessive use, resulting in large errors in the measurement point data. Therefore, the present application proposes an auxiliary calibration device, which is beneficial to improving the detection accuracy of the measurement points.

[0175] Optionally, in this embodiment, a first auxiliary calibration device having a first tip point is installed on the first device, and / or a second auxiliary calibration device is installed on the second device, the second auxiliary calibration device includes at least one calibration structure having a second tip point; the measurement point includes at least one of the second tip points;

[0176] The first coordinate and the second coordinate are obtained by contacting the first tip point or a device reference point on the first device with the second tip point.

[0177] The first auxiliary calibration device and the second auxiliary calibration device can be installed on the first device and the second device in a detachable manner. If the accuracy of the auxiliary calibration device decreases, the measurement accuracy can be improved by replacing it with a new device.

[0178] Optionally, the device reference point of the present application includes but is not limited to the TCP point of the tool installed on the first device, for example, see Figure 3 As shown in 31031 on actuator 3103.

[0179] For an alternative example, see Figure 3 The first auxiliary calibration device 3104 can be installed on the tool of the first device, and the second auxiliary calibration device 3301 can be installed on the second device.

[0180] Optionally, in one example, only the second auxiliary calibration device may be installed on the second device, and the first auxiliary calibration device is not installed. The tool center point of the first device is used to select a measurement point from the second tip point on the second auxiliary calibration device.

[0181] Optional, in Figure 4 In the example shown, a second auxiliary calibration device may also be installed on the second device, and the measuring point may be selected by aligning the probe of the detection device and the target point of the first device with the second auxiliary calibration device separately or simultaneously.

[0182] See also Figure 3 In the embodiment of the present application, the first coordinate of the measuring point in the base coordinate system BASE of the robot can be obtained by teaching the first auxiliary calibration device 3104 installed on the end effector (i.e., tool) on the robot side to the measuring point of the second auxiliary calibration device 3301 on the fixture 33 side. In addition, the first coordinate of the measuring point in the base coordinate system BASE of the robot can be obtained by teaching the TCP point 31031 of the end effector on the robot side to the measuring point on the fixture 33 side.

[0183] The simulation coordinates of the measuring points in the robot base coordinate system BASE of the simulation environment are obtained through the robot simulation software on the calibration device 34. The actual coordinates and simulation coordinates corresponding to at least three measuring points are obtained, and the conversion relationship between the coordinate system composed of the three points in the actual and simulation environments is solved by the calibration system, and the workpiece coordinate system of the robot is calibrated based on the conversion relationship.

[0184] Optional, Figure 5 An optional structural schematic diagram of a first auxiliary calibration device and a second auxiliary calibration device is shown, wherein: Figure 5The left side is the structure of the first auxiliary calibration device 7, and the right side is the structure of the second auxiliary calibration device 1. The first and second auxiliary calibration devices may be provided with mounting structures to mount the devices on corresponding equipment, wherein the mounting structures include but are not limited to mounting holes.

[0185] The first auxiliary calibration device 7 may include a first base 6 and a first calibration structure 4 connected to the first base, wherein the first base 6 is used to fix the first auxiliary calibration device 7 on a tool or a device body of the first device.

[0186] Optionally, the first base 6 may be provided with a mounting hole 5, and fixed through the mounting hole, for example, a thread is provided in the mounting hole, and fixed with the threaded hole by a screw.

[0187] The second auxiliary calibration device 1 may include a second base 8 and a calibration structure 2 (referred to as a second calibration structure for distinction) connected to the second base 8 , wherein the second base 8 is used to fix the second auxiliary calibration device 1 on the second device.

[0188] Optionally, the second base 8 may be provided with a mounting hole 3, and the second auxiliary calibration device 1 may be fixed through the mounting hole. For example, a thread may be provided in the mounting hole, and the second auxiliary calibration device 1 may be fixed to the threaded hole through a screw.

[0189] Optionally, the first calibration structure and the second calibration structure may include a cylindrical structure with a tapered front end, the cylindrical shape includes but is not limited to a circular cylinder, a square cylinder, etc., and the end point of the cone is a tip point.

[0190] Optionally, the number of mounting holes on each auxiliary calibration device is not limited and can be set according to actual needs. For example, the auxiliary calibration device can include 2 mounting holes.

[0191] In an alternative example, see Figure 5 The first calibration structure 4 is a cylindrical pin with a conical front end, and the second calibration structure 2 is a cylindrical pin with a conical front end.

[0192] Optionally, there are multiple second calibration structures, and at least two second calibration structures have different heights.

[0193] In an optional example, the heights of the second calibration structures are different, thereby providing measurement points of various heights for selection and use.

[0194] It can be understood that when measuring the first coordinate, the measurement accuracy and data precision can be improved by the relative positioning of the conical tips on both sides, and the second tip point aligned with (or contacted by) the first tip point is the measurement point.

[0195] Optionally, in the present application, the measuring point can be a plurality of different second tip points. In one embodiment of the present application, after obtaining the first coordinate and the second coordinate of the measuring point each time, the detection device on the first device or the second device can be controlled to move and another second tip point can be selected as the measuring point. The diversity of the measuring points is conducive to improving the calibration accuracy of the present application.

[0196] In an optional example, the first auxiliary calibration device may be installed on an operating end of a tool of the first device, and the operating end is used to operate an operating object of the tool.

[0197] Thus, even if the operating end is worn during use, the first auxiliary calibration device can provide accurate measurement of the measuring point. Optionally, in this example, the first auxiliary calibration device includes a conical front end and a mounting hole, the size of which matches the size of the operating end of the tool of the first device. The mounting hole is used to fix the first auxiliary calibration device on the operating end of the tool of the first device.

[0198] For example, see Figure 6 , Figure 6 A schematic diagram of the structure of an optional first auxiliary calibration device at different viewing angles is shown. The first auxiliary calibration device 9 includes a conical tip and a mounting hole 10 .

[0199] In an optional example, the first auxiliary calibration device is further provided with a fastening hole (see Figure 6 11), the fastening hole is used to fix the first auxiliary calibration lock on the operating end of the tool.

[0200] Optionally, the robot of the present application may include a welding robot, see Figure 7 As shown, Figure 6 The first auxiliary calibration device 9 is fixed to the end of the robot welding gun electrode rod, that is, the welding gun electrode cap, through the mounting hole and is locked and fixed by the fastening hole 11. The measurement is performed by coinciding the tip point with the measuring point of the fixture, thereby avoiding the measurement error caused by the wear of the welding gun electrode cap and improving the calibration accuracy.

[0201] In the application embodiment, the calibration device establishes a communication connection with the first device through the communication service end and the communication client end, and the first coordinates of multiple measurement points in the first coordinate system of the first device can be obtained from the first device through the communication connection, and the measurement points are on the second device; the second coordinates of each measurement point in the second coordinate system are obtained, wherein the second coordinate system is established based on the first device or the second device; according to the first coordinates and the second coordinates of the measurement points, the conversion relationship between the first coordinate system and the second coordinate system is determined; based on the first coordinates and the second coordinates of the measurement points, the target program of the first device is calibrated based on the conversion relationship, wherein the target program is used to plan the trajectory of the first device. Thus, through the communication connection between the calibration device and the first device, the measurement point coordinate data required for calculating the conversion relationship does not need to be manually recorded and manually input, and the calibration device can automatically obtain the measurement point coordinate data and calculate the conversion relationship for calibration, which reduces the manual operation required for calibration and is conducive to improving calibration efficiency.

[0202] Furthermore, the auxiliary calibration device helps to improve the accuracy of measurement point coordinate detection and improve calibration accuracy.

[0203] The present application also provides an embodiment, which is described from the perspective of another calibration device, and the calibration device can be specifically integrated in the first device.

[0204] See also Figure 8 , Figure 8 : is a flow chart of a calibration method on the first device side provided in an embodiment of the present application. In this embodiment, the calibration device is in communication connection with the first device. The calibration method includes:

[0205] S801, controlling the first device to move multiple times;

[0206] There is no limitation on the method of controlling the movement of the first device. For example, if the first device is a robot, the movement of the robot body can be controlled by a teaching pendant.

[0207] S803, after each movement, obtaining the coordinates of the target point of the first device in the first coordinate system of the first device, wherein the target point contacts the measuring point on the second device each time the target point moves;

[0208] The target point may include a device reference point, such as a point on the device body of the first device, or a point on a tool installed on the first device, such as a TCP point, or an operation endpoint of a tool, etc.

[0209] Optionally, the target point may also include a first tip point of a first auxiliary calibration device on the first device.

[0210] That is, the target point includes a device reference point of the first device, and / or a first tip point of a first auxiliary calibration device mounted on the first device.

[0211] S805. The coordinates of the target point are used as the first coordinates of the measuring point in the first coordinate system, and are sent to the calibration device through a communication connection, so that the calibration device determines the conversion relationship between the first coordinate system and the second coordinate system based on the first coordinates of the measuring point and the second coordinates in the second coordinate system, and calibrates the target program of the first device based on the conversion relationship, wherein the target program is used to plan the trajectory of the first device.

[0212] Optionally, in the present application, a communication client, such as a socket client, may be created in the robot, and a communication server, such as a socket server, may be created in the calibration device, and the first coordinate may be sent to the socket server of the calibration device through the socket client.

[0213] Optionally, in one example, a second auxiliary calibration device is provided on the second device, and the second auxiliary calibration device includes at least one calibration structure having a second tip point; the step of "controlling the movement of the first device multiple times" may include: controlling the movement of the first device multiple times to control the target point to contact the second tip point. For example, the device body of the first device is taught to move multiple times by a teach pendant. Optionally, the movement includes but is not limited to controlling the movement of the tool.

[0214] Wherein, obtaining the coordinates of the target point of the first device in the first coordinate system of the first device may include: when the target point is in contact with the second tip point, obtaining the coordinates of the target point in the first coordinate system of the first device.

[0215] In an optional embodiment, the second device may include a detection device such as a three-coordinate measuring instrument to perform coordinate measurement of the measuring point.

[0216] In the example where a three-coordinate measuring instrument provides measuring points, the target points may include TCP points. The first coordinate of the TCP point may be detected after each control of the movement of the first device, without the need for the TCP point to contact the probe of the three-coordinate measuring instrument. However, before the three-coordinate measuring instrument measures the second coordinate through the probe, the first device remains stationary to ensure that the spatial position of the measuring point remains unchanged at the position of the TCP.

[0217] The following uses a robot as the first device as an example, combined with an example of a three-coordinate measuring instrument, to provide a simple example of how to perform calibration.

[0218] Step 1: Use a three-coordinate measuring instrument to locate the fixture and determine the measurement reference position of the fixture, and construct the fixture body coordinate system (i.e., the second coordinate system) in the three-coordinate measuring software based on the measurement reference position;

[0219] Step 2: Move the tool of the teaching robot to the appropriate point in space. At these points, the robot should be easily touched by the three-dimensional coordinate measuring instrument. Record the coordinate value of the tool center point in the robot base coordinate system BASE (i.e. the first coordinate system) at each point as the first coordinate of the measurement point;

[0220] Step 3: At each point, operate the three-dimensional coordinate measuring instrument probe to touch the center point of the robot tool, and record the coordinate value of the probe in the fixture body coordinate system as the second coordinate of the measuring point;

[0221] Step 4: Repeat steps 2 and 3 to obtain the coordinate data of the tool in various postures and positions of the robot. For each measuring point, the transformation relationship between the two coordinate systems is calculated based on the first coordinate and the second coordinate of other measuring points through a coordinate transformation algorithm to obtain the transformation relationship corresponding to the measuring point.

[0222] 5. Based on the transformation relationship corresponding to the measurement point, calculate the error parameters corresponding to the measurement point, and delete the measurement points that do not meet the requirements based on the error parameters. If the number of remaining measurement points is too small, repeat steps 2 and 3 to obtain the coordinates, and then execute step 4 to calculate the transformation relationship.

[0223] The specific calculation scheme of the error parameter is described in the above embodiment and will not be repeated here.

[0224] In order to better implement the calibration method provided in the embodiment of the present application, the embodiment of the present application also provides a method based on the above Figure 2 The meanings of the terms are the same as those in the above calibration method, and the specific implementation details can refer to the description in the method embodiment.

[0225] For example, Fig. 9 As shown, it is a schematic diagram of the structure of the calibration device provided in an embodiment of the present application. The calibration device is applied to the calibration device, and the calibration device is connected to the first device in communication. The calibration device may include a first communication unit 901, a first acquisition unit 902, a calculation unit 903, and a first calibration unit 904, as follows:

[0226] A first communication unit, configured to obtain first coordinates of a plurality of measurement points in a first coordinate system of the first device from the first device through a communication connection between the calibration device and the first device, the measurement points being on a second device;

[0227] A first acquisition unit, used for acquiring a second coordinate of each measurement point in a second coordinate system, wherein the second coordinate system is established based on the first device or the second device;

[0228] A calculation unit, used for determining a conversion relationship between the first coordinate system and the second coordinate system according to the first coordinate and the second coordinate of the measuring point;

[0229] The first calibration unit is used to calibrate a target program of the first device based on the conversion relationship, wherein the target program is used to perform trajectory planning for the first device.

[0230] Optionally, a communication client is installed in the first device, and a communication server for establishing a communication connection with the communication client is installed in the calibration device;

[0231] The first communication unit is used to receive first coordinates of multiple measurement points in a first coordinate system of the first device sent by the communication client through the communication service end of the calibration device.

[0232] Optionally, the first acquisition unit is used to create a second coordinate system for the first device in the simulation environment through a calibration device; and acquire a second coordinate of the measuring point in the second coordinate system through the calibration device.

[0233] Optionally, a detection device is provided on the second device, the detection device creates a second coordinate system of the second device, and the first acquisition unit is used to acquire the second coordinate of each measurement point in the second coordinate system from the detection device through the calibration device.

[0234] Optionally, the detection device includes a probe, a first auxiliary calibration device having a first tip point is installed on the first device, the measuring point includes the probe, and the first coordinate and the second coordinate are obtained by contacting the probe with the first tip point or a device reference point on the first device.

[0235] Optionally, a first auxiliary calibration device having a first tip point is installed on the first device, and / or a second auxiliary calibration device is installed on the second device, the second auxiliary calibration device includes at least one calibration structure having a second tip point; the measurement point includes at least one of the second tip points;

[0236] The first coordinate and the second coordinate are obtained by contacting the first tip point or a device reference point on the first device with the second tip point.

[0237] Optionally, there are multiple calibration structures, and at least two calibration structures have different heights.

[0238] Optionally, the first auxiliary calibration device is installed on an operating end of a tool of the first equipment, and the operating end is used to operate an operating object of the tool.

[0239] Optionally, the transformation relationship includes a rotation matrix and a translation vector, and a calculation unit is used to

[0240] Calculate the first centroid coordinates of the measuring point in the first coordinate system according to the first coordinates;

[0241] Calculate the second centroid coordinates of the measuring point in the second coordinate system according to the second coordinates;

[0242] Based on the first coordinate and the second coordinate, determining a rotation matrix between the first coordinate system and the second coordinate system;

[0243] A translation vector between the first coordinate system and the second coordinate system is determined based on the first centroid coordinates, the second centroid coordinates, and the rotation matrix.

[0244] Optionally, the number of measuring points is at least 4, and the device further comprises:

[0245] The filtering unit is used to respectively use each measuring point as a measuring point to be analyzed, determine a candidate transformation relationship between the first coordinate system and the second coordinate system based on the first coordinates and the second coordinates of other measuring points other than the measuring point to be analyzed; determine an error parameter of the measuring point to be analyzed based on the candidate transformation relationship; and delete the measuring points that meet the error condition from the measuring points based on the error parameters.

[0246] Optionally, a filtering unit is used to obtain, based on a conversion relationship and the first coordinate and / or second coordinate of the measurement point to be analyzed, the second predicted coordinate corresponding to the first coordinate, and / or the first predicted coordinate corresponding to the second coordinate; obtain multiple coordinate differences of the measurement point to be analyzed based on the first coordinate and the first predicted coordinate, and / or the second coordinate and the second predicted coordinate; and calculate the error parameters of the measurement point to be analyzed based on the coordinate differences.

[0247] Optionally, the error parameter includes at least one of a standard deviation and a range;

[0248] The filtering unit is used to delete the measurement points with the largest standard deviation or the largest range among the measurement points.

[0249] By adopting the calibration device of this embodiment, through the communication connection between the calibration device and the first device, the measurement point coordinate data required for calculating the conversion relationship does not need to be manually recorded and then manually input, and the calibration device can automatically obtain the measurement point coordinate data and calculate the conversion relationship for calibration, which reduces the manual operation required for calibration and is conducive to improving calibration efficiency.

[0250] In order to better implement the calibration method provided in the embodiment of the present application, the embodiment of the present application also provides a method based on the above Figure 8 The meanings of the terms are the same as those in the above calibration method, and the specific implementation details can refer to the description in the method embodiment.

[0251] For example, Fig.10 As shown, it is a schematic diagram of the structure of the calibration device provided in an embodiment of the present application. The calibration device is applied to a first device, and the first device is connected to the calibration device for communication. The calibration device may include a control unit 1001, a second acquisition unit 1002, and a second communication unit 1003, as follows:

[0252] A control unit, used for controlling the movement of the first device multiple times;

[0253] A second acquisition unit is used to acquire the coordinates of the target point of the first device in the first coordinate system of the first device after each movement, wherein the target point contacts the measuring point on the second device each time the movement occurs;

[0254] The second communication unit is used to send the coordinates of the target point as the first coordinates of the measuring point in the first coordinate system to the calibration device through a communication connection, so that the calibration device determines the conversion relationship between the first coordinate system and the second coordinate system based on the first coordinates of the measuring point and the second coordinates in the second coordinate system, and calibrates the target program of the first device based on the conversion relationship, wherein the target program is used for trajectory planning of the first device.

[0255] Optionally, the target point includes a device reference point of the first device and / or a first tip point of a first auxiliary calibration device mounted on the first device.

[0256] Optionally, a second auxiliary calibration device is provided on the second device, and the second auxiliary calibration device includes at least one calibration structure having a second tip point;

[0257] A control unit for repeatedly teaching the first device to move so as to control the target point to contact the second tip point multiple times;

[0258] The second acquisition unit is used to acquire the coordinates of the target point in the first coordinate system of the first device when the target point is in contact with the second tip point.

[0259] Optionally, the first auxiliary calibration device is installed on an operating end of a tool of the first equipment, and the operating end is used to operate an operating object of the tool.

[0260] By adopting the calibration device of this embodiment, through the communication connection between the first device and the calibration device, the measurement point coordinate data required for calculating the conversion relationship does not need to be manually recorded and then manually input, and the calibration device can automatically obtain the measurement point coordinate data and calculate the conversion relationship for calibration, which reduces the manual operations required for calibration and is conducive to improving calibration efficiency.

[0261] The present application also provides a calibration device, which includes a memory and a processor; the memory stores a computer program, and the processor is used to run the computer program in the memory to execute Figure 2 The calibration method in the embodiment shown.

[0262] The present application also provides a first device, the first device comprising a memory and a processor; the memory stores a computer program, and the processor is used to run the computer program in the memory to execute Figure 8 The calibration method in the embodiment shown.

[0263] For further information, see Figure 5 , the embodiment of the present application further provides an auxiliary calibration device, the device comprising: a first auxiliary calibration device 7 and a second auxiliary calibration device 1, or the auxiliary calibration device comprises the second auxiliary calibration device 1;

[0264] The first auxiliary calibration device has a first tip point, and the first auxiliary calibration device is installed on the first device when in use;

[0265] The second auxiliary calibration device includes at least one calibration structure, each calibration structure has a second tip point, and the second auxiliary calibration device is installed on the second device when in use. The second tip point is used to provide a measurement point for the second device to contact with the target point of the first device, and the target point includes the first tip point or the device reference point of the first device.

[0266] Optionally, there are multiple calibration structures, and at least two calibration structures have different heights.

[0267] Among them, the specific structures of the first auxiliary calibration device and the second auxiliary calibration device refer to the description in the aforementioned embodiment, and the scheme for the first device and the second device to use the auxiliary calibration device of this embodiment for calibration refer to the description of the aforementioned example, which will not be repeated here.

[0268] The auxiliary calibration device can improve the coordinate measurement accuracy of the measurement point on the second device, which is beneficial to improving the calibration accuracy of this embodiment.

[0269] Correspondingly, an embodiment of the present application also provides an electronic device, which may be a terminal device, such as a smart phone, a tablet computer, a laptop computer, a personal computer (PC), a personal digital assistant (PDA), etc. The calibration device in the present application may be the electronic device.

[0270] Combine the following Fig.11 The electronic device 1100 provided in the embodiment of the present application is described. The electronic device 1100 is only an example and should not bring any limitation to the functions and application scope of the embodiment of the present application.

[0271] See also Fig.11 As shown, the electronic device 1100 is in the form of a general computing device. The components of the electronic device 1100 may include, but are not limited to: at least one processor 1110, at least one memory 1120, a bus 1130 connecting different system components (including the processor 1110 and the memory 1120), and a display unit 1140.

[0272] The memory 1120 includes a random access memory (RAM) 1121, a cache memory 1122, a read-only memory (ROM) 1123, a program / utility 1124 having a set (at least one) of program modules 1125, etc. The memory 1120 stores program codes, which can be executed by the processor 1110, so that the processor 1110 executes the above-mentioned information processing method. The specific information processing method has been described in detail above, so it will not be repeated here.

[0273] The electronic device 1100 may further include: a power supply component configured to perform power management on the electronic device; a wired or wireless network interface, such as a network adapter 1160, configured to connect the electronic device to the network; and an input / output (I / O) interface 1150. The electronic device 1100 may be connected to an external device via an I / O interface or a socket mechanism, and the electronic device 1100 may operate based on an operating system stored in a memory, such as Android, iOS, Windows, Mac OS X, Unix, Linux, FreeBSD or the like.

[0274] In the above embodiments, the description of each embodiment has its own emphasis. For the parts not described in detail in a certain embodiment, please refer to the relevant description of other embodiments. It should be noted that the vehicle-mounted terminal provided in the embodiment of the present application belongs to the same concept as the calibration method in the above embodiment. The specific implementation process is detailed in the above method embodiment and will not be repeated here.

[0275] A person of ordinary skill in the art will appreciate that all or part of the steps in the various methods of the above embodiments may be completed by instructions, or by controlling related hardware through instructions. The instructions may be stored in a computer-readable storage medium and loaded and executed by a processor.

[0276] To this end, an embodiment of the present application provides a computer-readable storage medium, which includes a computer program. When the computer program is run on a calibration device, the computer program is used to enable the calibration device to perform any calibration method provided in the embodiment of the present application. For example, the computer program can perform the following steps of the calibration method:

[0277] Acquire first coordinates of a plurality of measurement points in a first coordinate system of the first device from the first device through a communication connection between the calibration device and the first device, and the measurement points are on a second device;

[0278] Acquire a second coordinate of each measurement point in a second coordinate system, wherein the second coordinate system is established based on the first device or the second device;

[0279] Determine a conversion relationship between the first coordinate system and the second coordinate system according to the first coordinate and the second coordinate of the measuring point;

[0280] A target program of the first device is calibrated based on the conversion relationship, wherein the target program is used for trajectory planning of the first device.

[0281] Alternatively, controlling the first device to move multiple times;

[0282] and after each movement, obtaining the coordinates of a target point of the first device in a first coordinate system of the first device, wherein the target point contacts a measuring point on the second device each time the movement occurs;

[0283] The coordinates of the target point are used as the first coordinates of the measuring point in the first coordinate system and are sent to the calibration device through a communication connection, so that the calibration device determines the conversion relationship between the first coordinate system and the second coordinate system based on the first coordinates of the measuring point and the second coordinates in the second coordinate system, and calibrates the target program of the first device based on the conversion relationship, wherein the target program is used for trajectory planning of the first device.

[0284] Furthermore, for the detailed steps of the above method steps, reference can be made to the description in the above embodiments, which will not be repeated here.

[0285] The specific implementation of the above operations can be found in the previous embodiments, which will not be described in detail here.

[0286] The computer-readable storage medium may include: a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, etc.

[0287] Since the computer program stored in the computer-readable storage medium can execute any calibration method provided in the embodiments of the present application, the beneficial effects that can be achieved by any calibration method provided in the embodiments of the present application can be achieved. Please refer to the previous embodiments for details and will not be repeated here.

[0288] According to one aspect of the present application, a computer program product is also provided, including a computer program, which is stored in a computer-readable storage medium; when a processor reads the computer program from the computer-readable storage medium, the processor executes the computer program to implement the methods provided in various optional implementations in the above embodiments.

[0289] In the above-mentioned calibration method, device, equipment, first device, auxiliary calibration device and computer program product embodiments, the description of each embodiment has its own emphasis. For parts not described in detail in a certain embodiment, reference can be made to the relevant description of other embodiments. Those skilled in the art can clearly understand that for the convenience and simplicity of description, the specific working process and beneficial effects of the calibration device, calibration equipment, first device and auxiliary calibration device and their corresponding units described above can refer to the description of the calibration method in the above embodiment, and will not be repeated here.

[0290] The above is a detailed introduction to a calibration method, device, equipment, first device, auxiliary calibration device, computer-readable storage medium and computer program product provided in the embodiments of the present application. Specific examples are used in this article to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the method of the present application and its core idea; at the same time, for technical personnel in this field, according to the ideas of the present application, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as a limitation on the present application.

Claims

1. A calibration method, characterized in that: Applied to a calibration device, the calibration device is communicatively connected to a first device, the method comprising: Acquire, from the first device, first coordinates of a plurality of measurement points in a first coordinate system of the first device through the communication connection, the measurement points being on a second device; Acquire a second coordinate of each of the measurement points in a second coordinate system, wherein the second coordinate system is established based on the first device or the second device; Determining a conversion relationship between the first coordinate system and the second coordinate system according to the first coordinate and the second coordinate of the measuring point; A target program of the first device is calibrated based on the conversion relationship, wherein the target program is used to perform trajectory planning for the first device.

2. The calibration method according to claim 1, characterized in that: A communication client is installed in the first device, and a communication server that establishes a communication connection with the communication client is installed in the calibration device; The acquiring, from the first device, first coordinates of a plurality of measurement points in a first coordinate system of the first device through the communication connection comprises: The first coordinates of the plurality of measurement points in the first coordinate system of the first device sent by the communication client are received through the communication service end of the calibration device.

3. The calibration method according to claim 1, characterized in that: The obtaining of the second coordinate of each of the measuring points in the second coordinate system comprises: Creating a second coordinate system of the first device in a simulation environment by using the calibration device; The second coordinates of the measuring point in the second coordinate system are acquired by the calibration device.

4. The calibration method according to claim 1, characterized in that: The second device is provided with a detection device, the detection device creates a second coordinate system of the second device, and the obtaining of the second coordinate of each of the measuring points in the second coordinate system includes: The second coordinates of each measuring point in the second coordinate system are acquired from the detection device.

5. The calibration method according to claim 4, characterized in that: The detection device includes a probe, a first auxiliary calibration device with a first tip point is installed on the first device, the measurement point includes the probe, the first coordinate and the second coordinate are obtained by contacting the probe with the first tip point or the device reference point on the first device.

6. The calibration method according to claim 1, characterized in that: A first auxiliary calibration device having a first tip point is mounted on the first device, and / or a second auxiliary calibration device is mounted on the second device, the second auxiliary calibration device comprising at least one calibration structure having a second tip point; the measurement point comprises at least one of the second tip points; The first coordinate and the second coordinate are obtained by bringing the first tip point or a device reference point on the first device into contact with the second tip point.

7. The calibration method according to claim 6, characterized in that: There are multiple calibration structures, and at least two of the calibration structures have different heights.

8. The calibration method according to claim 5 or 6, characterized in that: The first auxiliary calibration device is installed on an operating end of a tool of the first equipment, and the operating end is used to operate an operating object of the tool.

9. The calibration method according to any one of claims 1 to 7, characterized in that: The conversion relationship includes a rotation matrix and a translation vector, and determining the conversion relationship between the first coordinate system and the second coordinate system according to the first coordinate and the second coordinate of the measurement point includes: Calculating first centroid coordinates of the measurement point in the first coordinate system according to the first coordinates; Calculating the second centroid coordinates of the measuring point in the second coordinate system according to the second coordinates; Determine a rotation matrix between the first coordinate system and the second coordinate system based on the first coordinate system and the second coordinate system; A translation vector between the first coordinate system and the second coordinate system is determined based on the first centroid coordinates, the second centroid coordinates, and the rotation matrix.

10. The calibration method according to any one of claims 1 to 7, characterized in that: The number of the measuring points is at least 4, and before determining the conversion relationship between the first coordinate system and the second coordinate system according to the first coordinates and the second coordinates of the measuring points, the method further includes: Taking each measurement point as a measurement point to be analyzed, and determining a candidate transformation relationship between the first coordinate system and the second coordinate system based on the first coordinates and the second coordinates of other measurement points other than the measurement point to be analyzed; Based on the candidate transformation relationship, determining the error parameter of the measurement point to be analyzed; The measurement points that meet the error condition among the measurement points are deleted based on the error parameter.

11. The calibration method according to claim 10, characterized in that: The step of determining the error parameter of the measurement point to be analyzed based on the candidate conversion relationship includes: Based on the candidate transformation relationship and the first coordinate and / or the second coordinate of the measurement point to be analyzed, obtain the second predicted coordinate corresponding to the first coordinate and / or the first predicted coordinate corresponding to the second coordinate; Based on the first coordinates and the first predicted coordinates, and / or the second coordinates and the second predicted coordinates, obtaining a plurality of coordinate differences of the measurement point to be analyzed; Based on the coordinate difference, the error parameter of the measurement point to be analyzed is calculated.

12. The calibration method according to claim 11, characterized in that: The error parameter includes at least one of a standard deviation and a range; The deleting the measurement points that meet the error condition among the measurement points based on the error parameter includes: Delete the measurement point with the largest standard deviation or the largest range among the measurement points.

13. A calibration method, characterized in that: Applied to a first device, the first device being communicatively connected to a calibration device, the method comprising: controlling the first device to move multiple times; and after each movement, obtaining the coordinates of a target point of the first device in a first coordinate system of the first device, wherein the target point contacts a measuring point of the second device each time the target point moves; The coordinates of the target point are used as the first coordinates of the measuring point in the first coordinate system, and are sent to the calibration device through the communication connection, so that the calibration device determines the conversion relationship between the first coordinate system and the second coordinate system based on the first coordinates of the measuring point and the second coordinates in the second coordinate system, and calibrates the target program of the first device based on the conversion relationship, wherein the target program is used to plan the trajectory of the first device.

14. The calibration method according to claim 13, characterized in that: The target point comprises a device reference point of the first device and / or a first tip point of a first auxiliary calibration device mounted on the first device.

15. The calibration method according to claim 14, characterized in that: The second device is provided with a second auxiliary calibration device, the second auxiliary calibration device comprising at least one calibration structure having a second tip point; The controlling the first device to move multiple times includes: teaching the first device to move a plurality of times to control the target point to contact the second tip point; The acquiring the coordinates of the target point of the first device in the first coordinate system of the first device includes: In a case where the target point is in contact with the second tip point, the coordinates of the target point in the first coordinate system of the first device are acquired.

16. The calibration method according to claim 14, characterized in that: The first auxiliary calibration device is installed on an operating end of a tool of the first equipment, and the operating end is used to operate an operating object of the tool.

17. A calibration device, characterized in that: Applied to a calibration device, the calibration device being communicatively connected to a first device, comprising: a first communication unit, configured to obtain, from the first device through the communication connection, first coordinates of a plurality of measurement points in a first coordinate system of the first device, the measurement points being on a second device; A first acquisition unit, configured to acquire a second coordinate of each of the measurement points in a second coordinate system, wherein the second coordinate system is established based on the first device or the second device; a calculation unit, configured to determine a conversion relationship between the first coordinate system and the second coordinate system according to the first coordinate and the second coordinate of the measurement point; A first calibration unit is used to calibrate a target program of the first device based on the conversion relationship, wherein the target program is used to perform trajectory planning for the first device.

18. A calibration device, characterized in that: Applied to a first device, the first device is communicatively connected with a calibration device, comprising: A control unit, used for controlling the movement of the first device multiple times; A second acquisition unit, configured to acquire the coordinates of a target point of the first device in a first coordinate system of the first device after each movement, wherein the target point contacts a measuring point on the second device each time the target point moves; The second communication unit is used to send the coordinates of the target point as the first coordinates of the measuring point in the first coordinate system to the calibration device through the communication connection, so that the calibration device determines the conversion relationship between the first coordinate system and the second coordinate system based on the first coordinates of the measuring point and the second coordinates in the second coordinate system, and calibrates the target program of the first device based on the conversion relationship, wherein the target program is used to plan the trajectory of the first device.

19. A calibration device, characterized in that: The calibration device comprises a memory and a processor; the memory stores a computer program, and the processor is used to run the computer program in the memory to execute the calibration method according to any one of claims 1 to 12.

20. A first device, characterized in that: The first device includes a memory and a processor; the memory stores a computer program, and the processor is used to run the computer program in the memory to execute the calibration method according to any one of claims 13 to 16.

21. An auxiliary calibration device, characterized in that: The auxiliary calibration device comprises: a first auxiliary calibration device and a second auxiliary calibration device, or the auxiliary calibration device comprises the second auxiliary calibration device; The first auxiliary calibration device has a first tip point, and the first auxiliary calibration device is installed on the first device when in use; The second auxiliary calibration device includes at least one calibration structure, each calibration structure has a second tip point, and the second auxiliary calibration device is installed on a second device when in use. The second tip point is used to provide a measurement point for the second device to contact with a target point of the first device, and the target point includes the first tip point or the device reference point of the first device.

22. The auxiliary calibration device according to claim 21, characterized in that: There are multiple calibration structures, and at least two calibration structures have different heights.

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