Method and system for calibrating a robot based on optical motion capture, storage medium

Abstract

This invention provides a method, system, and storage medium for calibrating a robot based on optical motion capture. The method includes the following steps: setting optical capture markers at workstation docking point A and robot docking point B respectively; controlling the robot to perform calibration movements; acquiring the historical optical capture position of docking point B based on the optical capture system to calculate the robot's optical capture orientation; determining the installation position of docking point B in the robot coordinate system based on the projection geometry and vector angles during the calibration movements; obtaining the robot's complete optical capture pose by combining and based on the determined position of the robot in the optical capture coordinate system; and determining the coordinate transformation from optical capture to map by combining the robot's map pose and the complete optical capture pose. This improves the robot calibration accuracy.

Description

Technical Field

[0001] This invention relates to mobile robot calibration technology, and more particularly to a method, system, and storage medium for calibrating robots based on optical motion capture. Background Technology

[0002] With the advancement of Industry 4.0 and smart manufacturing, mobile robots are increasingly widely used in production lines, warehousing, and logistics, and multi-vehicle collaboration has become key to improving efficiency. In precision manufacturing and assembly, the positioning accuracy of docking mechanisms directly affects product quality, making high-precision calibration technology particularly important. Multi-vehicle systems require precise coordination and positioning to ensure successful task completion, and the calibration of docking mechanisms is fundamental to achieving this goal.

[0003] The existing patent [1] proposes a calibration method and implementation method to ensure that when multiple vehicles use the same map, the docking mechanism of different vehicles reaches the same pose after navigation. In the process of calibrating the coordinate transformation matrix in the patent [1], the robot needs to generate a "calibration station" by using the vehicle body laser to identify "external reflective column 1" and "external reflective column 2" according to its own positioning position in the map coordinate system. After the robot navigates to the "calibration station", the coordinate transformation matrix is ​​calibrated by using external laser to identify external reflective columns and vehicle body reflective columns.

[0004] Therefore, during the calibration process described above, it is necessary to use both vehicle-mounted lasers and external lasers to identify the reflective posts. This inevitably leads to identification errors, affecting the final calibration accuracy and preventing the robot's docking mechanism from accurately docking with the docking mechanism of the target workstation.

[0005] [1] A method and system for ensuring consistency among multiple robots, and a storage medium (patent application number: 202510500560.1). Summary of the Invention

[0006] Therefore, the main objective of this invention is to provide a method and system for calibrating robots based on optical motion capture, as well as a storage medium, to improve the calibration accuracy of robots.

[0007] To achieve the above objectives, according to one aspect of the present invention, a method for calibrating a robot based on optical motion capture is provided, comprising the following steps:

[0008] Light capture markers are set at workstation docking point A and robot docking point B, respectively;

[0009] To control the robot to perform calibrated movements, the historical optical capture position of docking point B is obtained based on the optical capture system. To calculate the robot's light-capturing orientation ;

[0010] Based on the calibration motion process Based on the projection geometry and vector angles in the robot coordinate system, determine the installation position of docking point B in the robot coordinate system. ;

[0011] Combination and according to and The determined position of the robot in the optical capture coordinate system To obtain the complete optical capture pose of the robot. ;

[0012] By combining the robot's map pose with the complete light-capturing pose, the coordinate transformation from light capture to map is determined. .

[0013] In a possible preferred embodiment, the steps further include:

[0014] Based on coordinate transformation The optical capture position of docking point A, collected by the optical capture system, is converted to a map coordinate system to establish a calibration site.

[0015] In a possible preferred embodiment, the light-capturing marks are respectively arranged in pairs on both sides of docking point A and docking point B, and maintain a preset positional arrangement relationship with docking point A and docking point B respectively.

[0016] In a possible preferred embodiment, the docking point B is located at the installation position in the robot coordinate system. The calculation steps include:

[0017] Record the historical optical capture position of docking point B before, after, and after the robot performs a stationary rotation and a straight-line motion during the calibration process. , Calculate the angle between the vectors:

[0018] Based on the relationship between the vector angle and the projection geometry, calculate the installation position of docking point B in the robot coordinate system:

[0019] .

[0020] In a possible preferred embodiment, the robot's light capture direction is... The calculation steps include:

[0021] Record the historical optical capture position of docking point B before and after the robot performs a straight-line motion during the calibration process. , ; Calculate the robot's orientation in the light-capturing coordinate system:

[0022] .

[0023] In a possible preferred embodiment, the robot is positioned in the optical capture coordinate system. The calculation steps include:

[0024] Record the historical optical capture position of docking point B before the robot performs a straight-line motion during calibration. ;

[0025] calculate:

[0026] .

[0027] To achieve the above objectives, according to another aspect of the present invention, a system for calibrating a robot based on optical motion capture is also provided, comprising:

[0028] The storage unit contains a program that implements the method steps of the optical motion capture calibration robot as described in any of the above examples, so that the control unit and the processing unit can retrieve and execute it as needed.

[0029] The control unit is used to control the robot to perform calibrated movements, including in-situ rotation and straight-line movement;

[0030] The optical capture system is used to collect the position of the optical capture mark b corresponding to docking point B during the calibration motion.

[0031] The processing unit is used to determine the historical light capture position of the docking point B based on the position of the light capture mark b. And based on the calibration process Calculate the installation position of docking point B in the robot coordinate system based on the projection geometry and vector angles. , then combined according to and Determine the robot's position in the optical capture coordinate system To calculate the complete optical capture pose of the robot And the coordinate transformation of the map captured by the light sensor is calculated in conjunction with the robot's map pose calculation. .

[0032] In a possible preferred embodiment, the system for calibrating a robot based on optical motion capture includes:

[0033] The optical capture system also includes a light capture marker a for acquiring the position of the corresponding docking point A;

[0034] The processing unit also includes a method for determining the light capture position of docking point A based on the position of light capture mark a, and based on coordinate transformation. Then, convert it to a map coordinate system and establish a calibration station.

[0035] In a possible preferred embodiment, the system for calibrating a robot based on optical motion capture further includes:

[0036] The navigation planning unit is used to establish a docking navigation path between docking points A and B based on the calibration site and the robot's current map pose.

[0037] To achieve the above objectives, according to another aspect of the present invention, a computer-readable storage medium is also provided, on which a computer program is stored, wherein the computer program, when executed by a processor, implements the steps of the method as described in any of the examples above.

[0038] The method, system, and storage medium for calibrating a robot based on optical motion capture provided by this invention can utilize the robot's motion characteristics to perform simple in-situ rotation and straight-line driving calibration actions. With the help of a small amount of data collected by the optical capture system, the coordinate transformation of the vehicle docking mechanism from the optical capture coordinate system to the map coordinate system where the robot is located can be calibrated. Compared with the prior art, this solution requires less computation, and the coordinate position of the optical capture mark is only collected by the optical capture device during the entire calibration process, avoiding the accumulation of data errors between different platforms, thereby improving the calibration accuracy of the robot and providing a basis for achieving precise docking between the docking mechanisms of the robot and the target workstation. Attached Figure Description

[0039] The accompanying drawings, which form part of this application, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an undue limitation of the invention. In the drawings:

[0040] Figure 1 This is a schematic diagram illustrating the steps of the method for calibrating a robot based on optical motion capture according to the present invention;

[0041] Figure 2 This is an example diagram showing the layout of the optical capture system and the orientation of the optical capture ball arrangement in the method for calibrating a robot based on optical motion capture of the present invention.

[0042] Figure 3 This is a schematic diagram of a robot with a two-wheel differential chassis.

[0043] Figure 4 This is an example diagram illustrating the historical positional relationship of docking point B during the execution of calibration actions in the method for calibrating a robot based on optical motion capture according to the present invention.

[0044] Figure 5 This is an example diagram of the system structure of the optical motion capture calibration robot of the present invention. Detailed Implementation

[0045] To enable those skilled in the art to better understand the technical solutions of the present invention, the specific technical solutions of the present invention will be clearly and completely described below in conjunction with embodiments, so as to help those skilled in the art further understand the present invention. Obviously, the embodiments described in this application are merely some embodiments of the present invention, and not all embodiments. It should be noted that, for those skilled in the art, the embodiments and features in the embodiments of this application can be combined with each other without departing from the concept of the present invention and without conflict. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the disclosure and protection scope of the present invention.

[0046] Furthermore, the terms "first," "second," "S1," "S2," etc., used in the specification, claims, and drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such features can be interchanged where appropriate so that embodiments of the invention described herein can be implemented in orders other than those described herein. At the same time, the stages described in each step are not necessarily to be implemented in the same step; it should be understood that the implementation order of the contents of each step stage can be adjusted and interchanged without violating the inventive concept, so that embodiments of the invention described herein can be implemented in orders other than those described herein. Additionally, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. Unless otherwise expressly specified and limited, the terms "set," "arrange," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; a mechanical connection or an electrical connection; a direct connection or an indirect connection through an intermediate medium; or a connection within two elements. Those skilled in the art can understand the specific meaning of the above terms in this case based on the specific circumstances and in conjunction with existing technology.

[0047] To further improve robot calibration accuracy and ensure more precise docking between the robot's docking mechanism and the target workstation's docking mechanism, this invention attempts to employ optical motion capture (hereinafter referred to as optical capture). By capturing the position coordinate changes of the robot's docking mechanism under the optical capture system coordinates during the robot's calibration motion, a coordinate transformation matrix between the calibration map coordinate system and the optical capture coordinate system is achieved.

[0048] Specifically, such as Figures 1 to 4 As shown, the present invention provides a method for calibrating a robot based on optical motion capture, the example steps of which include:

[0049] Step S1: Set up light capture markers at workstation docking point A and robot docking point B respectively.

[0050] In this example, an optical motion capture device (hereinafter referred to as the optical capture device) is used as the observation device to form the optical capture system. Four optical capture spheres that can be observed by the optical capture device are placed accordingly. The placement of each optical capture device is shown in the attached diagram. Figure 2 As shown, to cover the entire calibration scenario, the docking mechanism corresponding to the work station, namely, the two sides of docking point A, are provided with optical capture ball 1 and optical capture ball 2, for subsequent identification and to establish the calibration station corresponding to docking point A according to the transformation matrix; while the robot's vehicle docking mechanism, namely, the two sides of docking point B, are provided with optical capture ball 3 and optical capture ball 4. In this embodiment, the center position of optical capture ball 3 and optical capture ball 4 is taken as the position of docking point B.

[0051] Since the position of the light-capturing ball collected by the light-capturing device is based on the coordinate system of the light-capturing system, and the calibration station needs to be set in the map coordinate system where the robot is located so that the robot can navigate there, the key is how to obtain the position of the calibration station in the map coordinate system where the robot is located after the light-capturing system identifies the positions of light-capturing ball 1 and light-capturing ball 2 in the light-capturing coordinate system.

[0052] To this end, the present invention first attempts to calibrate the installation position of the vehicle docking mechanism B in the Robot coordinate system. and the robot's light capture direction The steps are as follows:

[0053] Step S2 controls the robot to perform calibration motion, and based on the optical capture system, obtains the historical optical capture position of docking point B. To calculate the robot's light-capturing orientation .

[0054] Step S3 is based on the calibration motion process Based on the projection geometry and vector angles in the robot coordinate system, determine the installation position of docking point B in the robot coordinate system. .

[0055] For example, the calibration motion described in this example includes: rotation in place and linear motion, such as... Figure 3 As shown, the example uses a robot with a two-wheel differential chassis. When the left drive motor and the right drive motor have equal speeds and opposite directions, the robot will rotate in place around its coordinate origin. In addition, other known chassis types that can rotate in place around the robot's coordinate center and can move in a straight line can also be used in other alternative embodiments.

[0056] First, control the robot to rotate 180° in place, and record the positions of optical spheres 3 and 4 in the optical capture coordinate system before the rotation. and Record the positions of optical spheres 3 and 4 in the optical coordinate system after they have been rotated in place. and .

[0057] Then, control the robot to move forward in a straight line for a certain distance, and record the positions of optical capture ball 3 and optical capture ball 4 in the optical capture coordinate system after moving forward. and .

[0058] Since the center positions of optical capture balls 3 and 4 represent the positions of docking point B, the positions of docking point B before, after, and after the robot rotates in place can be obtained respectively:

[0059] ;

[0060] ;

[0061] .

[0062] At this point, based on the robot's motion characteristics, such as Figure 4 As shown, assuming the docking point B is at position P1 before the robot rotates in place, this example fixes the robot's position at this time to facilitate observation of the change in the mechanism's position. Because the robot rotates around its origin when it rotates in place, the docking point B will move to position P2 after the rotation. After traveling a short distance in a straight line, the robot's docking point B will reach position P3.

[0063] from Figure 4 As can be seen, after the robot rotates in place, the position of docking point B changes from P1 to P2, and then reaches P3 after linear motion. Therefore, the position of docking point B in the vehicle coordinate system should be the projection of vector 0.5*(p1-p2) in the robot coordinate system. Furthermore, the angle between vectors p1-p2 and p3-p2 can be calculated at this point. Therefore, based on the geometric projection relationship, the projected installation position of the vehicle docking mechanism in the robot coordinate system can be obtained. .

[0064]

[0065] .

[0066] Meanwhile, during the process of controlling the robot to move straight, since the positions of optical capture ball 3 and optical capture ball 4 before moving straight are equal to their positions after rotating in place, the position of docking point B before and after the straight movement in the optical capture coordinate system is the same:

[0067] Before going straight

[0068] After going straight

[0069] Then the robot's light capture direction at this time for:

[0070] .

[0071] Once the above calculations are completed, the robot's complete optical capture pose can be calculated. The steps are as follows:

[0072] Step S4 combined and according to and The determined position of the robot in the optical capture coordinate system To obtain the complete optical capture pose of the robot. .

[0073] Specifically, given that before the linear motion, the position of docking point B in the optical capture coordinate system is... And the installation position of docking point B in the robot coordinate system. Therefore, the position of the robot in the optical capture coordinate system can be calculated. :

[0074] .

[0075] Combined with the previously calculated optical capture direction of the robot Then the robot's complete pose in the optical capture coordinate system can be obtained. .

[0076] Step S5 combines the robot's map pose with the complete light-capturing pose to determine the coordinate transformation from light capture to the map. .

[0077] Specifically, when the robot is moving in a straight line, its pose in the map coordinate system before moving in the straight line can be recorded simultaneously. The pose acquisition can rely on existing positioning devices installed on the robot, such as LiDAR, cameras and other positioning devices. After mapping, the robot's pose in the current map can be directly read, so it will not be described in detail in this example.

[0078] at this time, The robot's complete pose in the light-capturing coordinate system, calculated using the aforementioned methods. Then the coordinate transformation from the light capture system to the map coordinate system can be obtained. :

[0079]

[0080] .

[0081] Through this design, the above example reveals a method that leverages the robot's motion characteristics to calibrate the coordinate transformation from the optical capture coordinate system to the robot's map coordinate system using only simple in-situ rotation and straight-line travel calibration actions and a small amount of data. This method requires less computation than existing technologies, and the coordinate position of the optical capture marker is collected only by the optical capture device during the entire calibration process, avoiding the accumulation of data errors between different platforms, thereby improving the robot's calibration accuracy.

[0082] The following describes the implementation process in conjunction with the example steps described above.

[0083] First, control the robot to rotate 180° in place, and record the positions of optical spheres 3 and 4 in the optical coordinate system before the rotation:

[0084]

[0085]

[0086] Record the positions of optical spheres 3 and 4 in the optical capture coordinate system after they have been rotated in place:

[0087]

[0088]

[0089] Control the robot to move forward in a straight line for a certain distance, and record the positions of optical spheres 3 and 4 in the optical capture coordinate system after moving forward.

[0090]

[0091] .

[0092] Calculation step 1: Position of the docking point B of the vehicle body before the robot rotates in place, after rotating in place, and after moving straight. , :

[0093]

[0094]

[0095] .

[0096] Calculation step 2: The installation position of the docking mechanism in the robot coordinate system can be determined.

[0097]

[0098] .

[0099] At the same time, while controlling the robot to move straight, the robot's pose in the map coordinate system before moving straight is recorded simultaneously:

[0100] .

[0101] Calculation step 3: Calculate the robot's orientation in the optical capture coordinate system before it moves straight. :

[0102] .

[0103] Calculation step 4: Combining The pose of the docking mechanism in the coordinate system of the optical capture system before linear motion is known. Installation position of docking point B in the robot coordinate system Therefore, the robot's pose in the coordinate system of the optical capture system can be obtained. .

[0104] .

[0105] Calculation step 5: Since the robot's pose in the map coordinate system is The pose in the coordinate system of the optical capture system is Therefore, it is possible to capture the coordinate transformation in the map coordinate system. .

[0106] ;

[0107] .

[0108] Furthermore, in an optional implementation, the steps further include:

[0109] Step S6 is based on coordinate transformation The optical capture position of docking point A, collected by the optical capture system, is converted to a map coordinate system to establish a calibration site.

[0110] Regarding the position of docking point A in the optical capture coordinate system, it can be obtained by identifying the positions of optical capture ball 1 and optical capture ball 2 through the optical capture system, based on the above example, and then calculating the positional relationship between docking point A and optical capture ball 1 and optical capture ball 2 according to the preset positional relationship. It will not be elaborated here.

[0111] Furthermore, in an optional implementation, the steps further include:

[0112] Step S7 establishes a docking navigation path between docking points A and B based on the calibration site and the robot's current map pose. Since planning the navigation path based on two locations in the same coordinate system can be achieved using existing technology, it will not be elaborated here.

[0113] On the other hand, such as Figure 5 As shown, corresponding to the above method example, the present invention also provides a system for calibrating a robot based on optical motion capture, which includes:

[0114] The storage unit contains a program that implements the method steps of the optical motion capture calibration robot as described in the example above, so that the control unit and the processing unit can retrieve and execute it as needed.

[0115] The control unit is used to control the robot to perform calibrated movements, including in-situ rotation and straight-line movement;

[0116] The optical capture system is used to collect the position of the optical capture mark b corresponding to docking point B during the calibration motion.

[0117] The processing unit is used to determine the historical light capture position of the docking point B based on the position of the light capture mark b. And based on the calibration process Calculate the installation position of docking point B in the robot coordinate system based on the projection geometry and vector angles. , then combined according to and Determine the robot's position in the optical capture coordinate system To calculate the complete optical capture pose of the robot And the coordinate transformation of the map captured by the light sensor is calculated in conjunction with the robot's map pose calculation. .

[0118] Furthermore, in an optional implementation, wherein:

[0119] The light capture system also includes a light capture marker a for acquiring the position of the corresponding docking point A;

[0120] The processing unit further includes a function for determining the light capture position of docking point A based on the position of light capture mark a, and for performing coordinate transformation. Then, convert it to a map coordinate system and establish a calibration station.

[0121] Furthermore, in an optional embodiment, the system for calibrating a robot based on optical motion capture further includes:

[0122] The navigation planning unit is used to establish a docking navigation path between docking points A and B based on the calibration site and the robot's current map pose.

[0123] On the other hand, corresponding to the above method example, the present invention also provides a computer-readable storage medium having a computer program stored thereon, wherein when the computer program is executed by a processor, it can implement the steps of the above-described method for calibrating a robot based on optical motion capture.

[0124] In summary, the method, system, and storage medium for calibrating a robot based on optical motion capture provided by this invention can utilize the robot's motion characteristics to perform simple in-situ rotation and straight-line driving calibration actions. With the help of a small amount of data collected by the optical capture system, the coordinate transformation of the vehicle docking mechanism from the optical capture coordinate system to the map coordinate system where the robot is located can be calibrated. Compared with existing technologies, this solution requires less computation, and the coordinate position of the optical capture mark is only collected by the optical capture device during the entire calibration process, avoiding the accumulation of data errors between different platforms. This improves the calibration accuracy of the robot and provides a foundation for achieving precise docking between the docking mechanisms of the robot and the target workstation.

[0125] The preferred embodiments of the present invention disclosed above are merely illustrative of the invention. These preferred embodiments do not exhaustively describe all details, nor do they limit the invention to the specific implementations described. Clearly, many modifications and variations can be made based on the content of this specification. This specification selects and specifically describes these embodiments to better explain the principles and practical applications of the invention, thereby enabling those skilled in the art to better understand and utilize the invention. The present invention is limited only by the claims and their full scope and equivalents. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the invention should be included within the protection scope of the invention.

[0126] Those skilled in the art will understand that, besides implementing the system, apparatus, unit, and its modules provided by this invention in purely computer-readable program code, the same program can be implemented in the form of logic gates, switches, application-specific integrated circuits, programmable logic controllers, and embedded microcontrollers by logically programming the method steps. Therefore, the system, apparatus, and its modules provided by this invention can be considered a hardware component, and the modules included therein for implementing various programs can also be considered structures within the hardware component; alternatively, modules for implementing various functions can be considered both software programs implementing the method and structures within the hardware component.

[0127] Furthermore, all or part of the steps in the methods of the above embodiments can be implemented by a program instructing related hardware. This program is stored in a storage medium and includes several instructions to cause a microcontroller, chip, or processor to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as a USB flash drive, a portable hard drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0128] Furthermore, various different implementations of the present invention can be combined arbitrarily, as long as they do not violate the spirit of the present invention, they should also be regarded as the content disclosed in the present invention.

Claims

1. A method for calibrating a robot based on optical motion capture, comprising the following steps: Light capture markers are set at work station docking point A and robot docking point B respectively. The light capture markers are set in pairs on both sides of docking point A and docking point B respectively, and maintain a preset positional arrangement relationship with docking point A and docking point B respectively. The robot is controlled to perform calibration movements including in-situ rotation and straight-line movement. Based on the optical capture system, the historical optical capture position of docking point B is obtained. To calculate the robot's light capture direction ; Based on the calibration motion process Based on the projection geometry and vector angles in the robot coordinate system, determine the installation position of docking point B in the robot coordinate system. ; Combination and according to and The determined position of the robot in the optical capture coordinate system To obtain the complete optical capture pose of the robot. ; By combining the robot's map pose with the complete light-capturing pose, the coordinate transformation from light capture to map is determined. ; Based on coordinate transformation The optical capture position of docking point A, collected by the optical capture system, is converted to a map coordinate system to establish a calibration site.

2. The method for calibrating a robot based on optical motion capture according to claim 1, wherein the docking point B is located at the installation position in the robot coordinate system. The calculation steps include: Record the historical optical capture position of docking point B before, after, and after the robot performs a stationary rotation and a straight-line motion during the calibration process. , Calculate the angle between the vectors: ; Based on the relationship between the vector angle and the projection geometry, calculate the installation position of docking point B in the robot coordinate system: 。 3. The method for calibrating a robot based on optical motion capture according to claim 1, wherein the robot's optical capture direction is... The calculation steps include: Record the historical optical capture position of docking point B before and after the robot performs a straight-line motion during the calibration process. , ; Calculate the robot's orientation in the light-capturing coordinate system: 。 4. The method for calibrating a robot based on optical motion capture according to claim 1, wherein the robot is positioned in the optical motion capture coordinate system. The calculation steps include: Record the historical optical capture position of docking point B before the robot performs a straight-line motion during calibration. ; calculate: 。 5. A system for calibrating a robot based on optical motion capture, comprising: The storage unit contains a program that implements the method steps of the optical motion capture calibration robot as described in any one of claims 1 to 4, for the control unit and the processing unit to retrieve and execute as needed. The control unit is used to control the robot to perform calibrated movements, including in-situ rotation and straight-line movement; The optical capture system is used to collect the position of the optical capture mark b at docking point B and the position of the optical capture mark a at docking point A during the calibration motion. The processing unit is used to determine the historical light capture position of the docking point B based on the position of the light capture mark b. And based on the calibration process Calculate the installation position of docking point B in the robot coordinate system based on the projection geometry and vector angles. , then combined according to and Determine the robot's position in the optical capture coordinate system To calculate the complete optical capture pose of the robot And the coordinate transformation of the map captured by the light sensor is calculated in conjunction with the robot's map pose calculation. Then, based on the position of the light-capturing mark 'a', the light-capturing position of docking point A is determined, and based on coordinate transformation... Then, convert it to a map coordinate system and establish a calibration station.

6. The system for calibrating a robot based on optical motion capture according to claim 5 further includes: The navigation planning unit is used to establish a docking navigation path between docking points A and B based on the calibration site and the robot's current map pose.

7. A computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the steps of the method according to any one of claims 1 to 4.

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