CN110866956A - Robot calibration method and terminal - Google Patents

Abstract

The present application is applicable to the field of computer technology, and provides a robot calibration method and terminal, including: acquiring a first image captured by a robot to be calibrated; coordinates, the camera internal parameters corresponding to each of the first images, and calculate the camera external parameters corresponding to each of the first images; based on the camera external parameters corresponding to each of the first images, determine each of the robots to be calibrated calibration data. In the above manner, the terminal obtains the image obtained by the robot to be calibrated by shooting the calibration device, and based on the corner coordinates, target corner coordinates, and camera internal parameters in the image, calculates and obtains the camera external parameters corresponding to the robot to be calibrated, thereby obtaining the image of the robot to be calibrated. Calibration data. This calibration method has low calibration cost, good flexibility, high efficiency and simple steps, which is beneficial to robot calibration.

Description

A robot calibration method and terminal

technical field

The present application belongs to the field of computer technology, and in particular, relates to a robot calibration method and a terminal.

Background technique

At present, with the increase of labor costs, the demand for automated production in factory production lines is increasing. In addition, some high temperature environments, air pollution work environments, dangerous work environments, strong radiation work environments, etc. require robots to complete. Therefore, the position calibration of the robot is particularly important.

However, in the existing robot calibration method, the calibration data (the calibration data can be used to represent the current position of the robot) is obtained by using a precise measuring instrument to track and illuminate the calibration point with laser light. This calibration method has high calibration cost, poor flexibility, low efficiency, and complicated operation steps, which is not conducive to robot calibration.

SUMMARY OF THE INVENTION

In view of this, the embodiments of the present application provide a robot calibration method and terminal to solve the problems of traditional robot calibration methods, which lead to high calibration cost, poor flexibility, low efficiency, and complicated operation steps, which are not conducive to robot calibration.

A first aspect of the embodiments of the present application provides a method for calibrating a robot, including:

acquiring a first image captured by the robot to be calibrated; the first image includes a first calibration image corresponding to a calibration plate on the first calibration device;

Based on the corner coordinates in each of the first calibration images, the coordinates of the first target corners, and the camera internal parameters corresponding to each of the first images, calculate the camera external parameters corresponding to each of the first images; the The coordinates of the first target corner point are the coordinates corresponding to the corner point coordinates in the first calibration image in the calibration plate on the first calibration device;

Based on the camera external parameters corresponding to each of the first images, calibration data of each of the robots to be calibrated is determined.

Further, in order to accurately and quickly calculate the external parameters of each camera, based on the coordinates of the corner points in each of the first calibration images, the coordinates of the corner points of the first target, and the internal parameters of the camera corresponding to each of the first images, calculate The camera extrinsic parameters corresponding to each of the first images may include:

Based on the corner coordinates in each of the first calibration images, the coordinates of each first target corner, and the camera internal parameters corresponding to each of the first images, a calibration equation corresponding to each of the robots to be calibrated is constructed Group;

Solve each of the calibration equations to obtain the camera external parameters corresponding to each of the robots to be calibrated.

Further, in order to facilitate the mutual cooperation of each robot in the factory and to determine the mutual position of each robot, the present application also includes:

Adjust the calibration data of the second robot to be calibrated based on the calibration data of the first robot to be calibrated to obtain first target data; wherein the first robot to be calibrated is any device that can photograph the calibration plate on the first calibration device A robot to be calibrated; the second robot to be calibrated is any robot to be calibrated except the first robot to be calibrated that can photograph the calibration plate on the first calibration device; the first target data is used for Indicates the position of the second robot to be calibrated relative to the first robot to be calibrated.

Further, in order to ensure accurate calibration of each robot, this application also includes:

When an uncalibrated robot is detected, a second image captured based on the uncalibrated robot is acquired; the second image includes a second calibration image corresponding to the calibration plate on the second calibration device; the second The location where the calibration device is located is different from the location where the first calibration device is located;

Based on the corner coordinates in each second calibration image, the second target corner coordinates, and the camera internal parameters corresponding to each second image, the camera external parameters corresponding to each second image are calculated, wherein, The second target corner coordinates are the coordinates in the calibration plate on the second calibration device corresponding to the corner coordinates in the second calibration image;

Based on the camera extrinsic parameters corresponding to each of the second images, calibration data of each of the uncalibrated robots is determined.

Further, in order to facilitate the mutual cooperation of each robot in the factory and to determine the mutual position of each robot, the present application also includes:

Adjust the calibration data of the uncalibrated robot based on the calibration data of the third robot to be calibrated to obtain second target data; wherein the third robot to be calibrated is a calibration that can be photographed on the first calibration device At the same time, any robot to be calibrated on the calibration plate on the second calibration device can be photographed; the second target data is used to represent the position of the uncalibrated robot relative to the third robot to be calibrated.

Further, in order to speed up the calibration speed of the robots to be calibrated, to achieve simultaneous calibration of multiple robots to be calibrated, it is convenient to calibrate the robots to be calibrated in large scenes, when the terminal detects that the number of robots to be calibrated is greater than or equal to the preset threshold. , the acquiring the first image captured by the robot to be calibrated includes: dividing the robots to be calibrated into at least two groups, and acquiring images to be analyzed sent by the robots to be calibrated in each group; wherein, each group of robots corresponds to a first calibration device, different Grouping corresponds to different first calibration devices;

Grouping the images to be analyzed according to the grouping identifiers of the robots to be calibrated, to obtain first images corresponding to each group of robots to be calibrated; wherein the first images correspond to the grouping identifiers;

The determining the calibration data of each robot to be calibrated based on the camera extrinsic parameters corresponding to each of the first images includes: based on the camera extrinsic parameters corresponding to each of the first images, each of the first images The belonging group identifier of the robot to be calibrated determines the calibration data of each robot to be calibrated.

Further, in order to facilitate the mutual cooperation of each robot in the factory and to determine the mutual position of each robot, the present application also includes:

Determine a target robot from the grouped robots to be calibrated; the target robot is a robot to be calibrated belonging to all groups at the same time;

Based on the group identification, obtain the calibration data corresponding to each group of the target robot;

Based on the calibration data corresponding to the target robot in each group, the calibration data of the robot to be calibrated corresponding to each of the group identifiers is adjusted to obtain third target data; the third target data is used to represent each group in each group. The position of the robot to be calibrated relative to the target robot in each group.

A second aspect of the embodiments of the present invention provides a terminal, and the terminal includes:

an acquisition unit, configured to acquire a first image captured by the robot to be calibrated; the first image includes a first calibration image corresponding to a calibration plate on the first calibration device;

A calculation unit, configured to calculate the camera corresponding to each of the first images based on the coordinates of the corners in each of the first calibration images, the coordinates of the corners of the first target, and the camera internal parameters corresponding to each of the first images External parameters; the coordinates of the first target corner point are the coordinates in the calibration board on the first calibration device that correspond to the coordinates of the corner points in the first calibration image.

A determination unit, configured to determine calibration data of each of the robots to be calibrated based on the camera external parameters corresponding to each of the first images.

Further, the computing unit is specifically used for:

Based on the corner coordinates in each of the first calibration images, the coordinates of each first target corner, and the camera internal parameters corresponding to each of the first images, a calibration equation corresponding to each of the robots to be calibrated is constructed Group;

Solve each of the calibration equations to obtain the camera external parameters corresponding to each of the robots to be calibrated.

Further, the terminal also includes:

a first adjustment unit, configured to adjust the calibration data of the second robot to be calibrated based on the calibration data of the first robot to be calibrated to obtain first target data; wherein the first robot to be calibrated is capable of photographing the first calibration Any robot to be calibrated on the calibration board on the device; the second robot to be calibrated is any robot to be calibrated except the first robot to be calibrated that can photograph the calibration plate on the first calibration device; The first target data is used to represent the position of the second robot to be calibrated relative to the first robot to be calibrated.

Further, the terminal also includes:

an image acquisition unit, configured to acquire a second image based on the uncalibrated robot when it is detected that there is still an uncalibrated robot; the second image includes a second calibration corresponding to the calibration plate on the second calibration device an image; the position of the second calibration device is different from the position of the first calibration device;

A camera extrinsic parameter calculation unit, configured to calculate each of the second images based on the corner coordinates in each of the second calibration images, the coordinates of the second target corners, and the camera intrinsic parameters corresponding to each of the second images Corresponding camera external parameters, wherein the coordinates of the second target corner point are the coordinates corresponding to the corner point coordinates in the second calibration image in the calibration plate on the second calibration device;

A calibration data determination unit, configured to determine calibration data of each of the uncalibrated robots based on the camera extrinsic parameters corresponding to each of the second images.

The uncalibrated robots at least include a third robot to be calibrated;

Further, the terminal also includes:

The second adjustment unit is configured to adjust the calibration data of the uncalibrated robot based on the calibration data of the third robot to be calibrated to obtain second target data; wherein the third robot to be calibrated is capable of photographing the The calibration plate on the first calibration device, and any robot to be calibrated on the calibration plate on the second calibration device can be photographed at the same time; the second target data is used to indicate that the uncalibrated robot is relative to the first calibration device. 3. The position of the robot to be calibrated.

The number of the robots to be calibrated is greater than or equal to a preset threshold;

Further, the acquisition unit is specifically used for:

Divide the robots to be calibrated into at least two groups, and obtain images to be analyzed sent by each group of robots to be calibrated; wherein, each group of robots corresponds to a first calibration device, and different groups correspond to different first calibration devices;

The images to be analyzed are grouped according to the grouping identifiers of the robots to be calibrated, and a first image corresponding to each group of robots to be calibrated is obtained; wherein, the first images correspond to the grouping identifiers.

Further, the determining unit is specifically configured to: based on the camera external parameters corresponding to each first image and the group identification of the robot to be calibrated to which each first image belongs, to determine the robot to be calibrated. Calibration data.

Further, the terminal also includes:

a target robot determination unit, used to determine the target robot from the grouped robots to be calibrated; the target robot is the to-be-calibrated robot belonging to all groups at the same time;

a data acquisition unit, configured to acquire calibration data corresponding to each group of the target robot based on the group identification;

The third adjustment unit is configured to adjust the calibration data of the robot to be calibrated corresponding to each of the group identifiers based on the calibration data corresponding to the target robot in each group, to obtain third target data; the third target data uses where represents the position of each robot to be calibrated in each group relative to the target robot in each group.

A third aspect of the embodiments of the present invention provides another terminal, including a processor, an input device, an output device, and a memory, wherein the processor, the input device, the output device, and the memory are connected to each other, wherein the memory is used for storing A computer program that supports the terminal to perform the above method, the computer program includes program instructions, and the processor is configured to invoke the program instructions to perform the following steps:

acquiring a first image captured by the robot to be calibrated; the first image includes a first calibration image corresponding to a calibration plate on the first calibration device;

Based on the corner coordinates in each of the first calibration images, the coordinates of the first target corners, and the camera internal parameters corresponding to each of the first images, calculate the camera external parameters corresponding to each of the first images; the The coordinates of the first target corner point are the coordinates corresponding to the corner point coordinates in the first calibration image in the calibration plate on the first calibration device;

Based on the camera external parameters corresponding to each of the first images, calibration data of each of the robots to be calibrated is determined.

A fourth aspect of the embodiments of the present invention provides a computer-readable storage medium, where the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the following steps are implemented:

acquiring a first image captured by the robot to be calibrated; the first image includes a first calibration image corresponding to a calibration plate on the first calibration device;

Based on the corner coordinates in each of the first calibration images, the coordinates of the first target corners, and the camera internal parameters corresponding to each of the first images, calculate the camera external parameters corresponding to each of the first images; the The coordinates of the first target corner point are the coordinates corresponding to the corner point coordinates in the first calibration image in the calibration plate on the first calibration device;

Based on the camera external parameters corresponding to each of the first images, calibration data of each of the robots to be calibrated is determined.

The robot calibration method and terminal provided by the embodiments of the present application have the following beneficial effects:

In this embodiment of the present application, by acquiring the first image captured by the robot to be calibrated; based on the corner coordinates in each of the first calibration images, the coordinates of the first target corners, and the camera internal parameters corresponding to each of the first images, Calculate the camera extrinsic parameters corresponding to each of the first images; and determine calibration data of each of the robots to be calibrated based on the camera extrinsic parameters corresponding to each of the first images. In the above manner, the terminal obtains the image obtained by the robot to be calibrated by shooting the calibration device, and based on the corner coordinates, target corner coordinates, and camera internal parameters in the image, calculates and obtains the camera external parameters corresponding to the robot to be calibrated, thereby obtaining the image of the robot to be calibrated. Calibration data. This calibration method can be realized only by the calibration equipment and the terminal, without the need for precise measuring instruments, and the calibration cost is low; the calibration equipment can be moved according to the position of the robot to be calibrated, and the flexibility is very high; and this calibration method can be used at the same time. The calibration of multiple robots to be calibrated improves the robot calibration efficiency; the entire calibration process is mainly completed by the robot to be calibrated, the terminal, and the calibration equipment, and the operation steps are simple, which is conducive to robot calibration.

Description of drawings

In order to illustrate the technical solutions in the embodiments of the present application more clearly, the following briefly introduces the accompanying drawings that need to be used in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only for the present application. In some embodiments, for those of ordinary skill in the art, other drawings can also be obtained according to these drawings without any creative effort.

Fig. 1 is the realization flow chart of a kind of robot calibration method provided by an embodiment of the present application;

2 is a schematic diagram of the calibration equipment provided by the application;

Fig. 3 is the realization flow chart of a kind of robot calibration method provided by another embodiment of the present application;

Fig. 4 is the realization flow chart of a kind of robot calibration method provided by another embodiment of the present application;

Fig. 5 is the realization flow chart of a kind of robot calibration method provided by still another embodiment of the present application;

FIG. 6 is a schematic diagram of a terminal provided by an embodiment of the present application;

FIG. 7 is a schematic diagram of a terminal according to another embodiment of the present application.

Detailed ways

In order to make the purpose, technical solutions and advantages of the present application more clearly understood, the present application will be described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application, but not to limit the present application.

Please refer to FIG. 1. FIG. 1 is a schematic flowchart of a method for calibrating a robot according to an embodiment of the present invention. The execution subject of the robot calibration method in this embodiment is a terminal, and the terminal includes but is not limited to a mobile terminal such as a computer, a smart phone, a desktop computer, a tablet computer, and a Personal Digital Assistant (PDA). The robot calibration method shown in Figure 1 may include:

S101: Acquire a first image captured by a robot to be calibrated; the first image includes a first calibration image corresponding to a calibration plate on a first calibration device.

The calibration device is a device used to assist the terminal to calibrate the robot to be calibrated. A calibration device as shown in Figure 2, the device includes a base, a conical tower calibration plate, and a supporting column. There are multiple wheels under the base, which can drive the calibration equipment to move freely; the conical tower calibration plate is composed of multiple isosceles trapezoid surfaces, and each isosceles trapezoid surface is provided with black and white checkerboard-shaped squares. The supporting column is used to connect the base and the conical tower calibration plate. The supporting column can be driven by the motor to rotate, which in turn drives the conical tower calibration plate to rotate. The length of the supporting column can be adjusted. The tower-type calibration plate is adjusted to the appropriate height. The user can set the corresponding coordinate system for the calibration device in advance, as shown in Figure 2, take the center of the base of the calibration device as the origin to establish a coordinate system (R _x , R _y , R _z ); The coordinates corresponding to the squares on the isosceles trapezoid surface. Among them, the number of isosceles trapezoid surfaces can be freely set and adjusted by the user. For example, the conical tower calibration plate of a calibration device can be composed of 3 isosceles trapezoid surfaces, or the conical tower calibration plate of a calibration device can be composed of 5 It is composed of two isosceles trapezoid surfaces; this is only an exemplary illustration, which is not limited. It is worth noting that the calibration plate of the calibration device mentioned in this embodiment is the conical tower calibration plate of the calibration device.

In this embodiment, the calibration devices corresponding to the robots to be calibrated are the same, that is, the robots to be calibrated all correspond to the first calibration device. The user can place the first calibration device in a first preset position in advance, and the position can enable the first calibration device to be photographed by multiple robots to be calibrated. Further, the user can adjust the height of the first calibration device, so that each robot to be calibrated has the best effect of the first image obtained by shooting the first calibration device.

The terminal acquires the first image captured by the robot to be calibrated. Specifically, a camera is installed on the robot to be calibrated, and the robot to be calibrated shoots its corresponding calibration device through the camera to obtain a first image; the first image includes a first calibration image corresponding to a calibration plate on the calibration device. The robot to be calibrated sends the captured first image and the robot identification information to the terminal, and the terminal receives the first image and the robot identification information sent by the robot to be calibrated; the terminal extracts the first image from the first image corresponding to the calibration board on the calibration device the first calibration image, and save the first calibration image.

S102: Calculate the camera extrinsic parameters corresponding to each first image based on the corner coordinates in each of the first calibration images, the first target corner coordinates, and the camera intrinsic parameters corresponding to each first image; The coordinates of the first target corner point are coordinates in the calibration plate on the first calibration device that correspond to the coordinates of the corner points in the first calibration image.

The terminal calculates the camera extrinsic parameters corresponding to each first image based on the corner coordinates in each first calibration image, the first target corner coordinates, and the camera intrinsic parameters corresponding to each first image. The camera internal parameter is the camera internal parameter corresponding to the camera on the robot to be calibrated that captures the first image, and the camera internal parameter is carried by the camera when it leaves the factory; the coordinates of the first target corner point are the coordinates of the A coordinate corresponding to a corner coordinate in a calibration image, that is, each corner coordinate in the first calibration image, has a corresponding coordinate in the calibration plate of the first calibration device. The camera extrinsic parameter is the camera extrinsic parameter corresponding to the first image, and can also be understood as the camera extrinsic parameter corresponding to the camera on the robot to be calibrated that captures the first image.

Specifically, the terminal acquires the camera internal parameters corresponding to the first image, that is, acquires the camera internal parameters corresponding to the camera on the robot to be calibrated for capturing the first image. The terminal acquires the corner coordinates in the first calibration image corresponding to the robot to be calibrated, and acquires the first target corner coordinates corresponding to each corner coordinate. According to the corner coordinates corresponding to the robot to be calibrated, the target corner coordinates, and the camera internal parameters, an equation set corresponding to the calibration robot is constructed, and the equation set is solved to obtain the camera external parameters corresponding to the first image. It should be noted that the terminal constructs the equation system corresponding to the robot to be calibrated according to the corner coordinates corresponding to the robot to be calibrated, the coordinates of the first target corner, and the camera internal parameters, and solves the equation system to obtain the first image captured by the robot to be calibrated. The camera extrinsic parameters corresponding to the image. The terminal constructs a corresponding set of equations for each robot to be calibrated in the same way, and by solving each set of equations, the camera external parameters corresponding to the first image captured by each robot to be calibrated can be obtained.

Further, in order to accurately and quickly calculate the external parameters of each camera, S102 may include S1021-S1022, as follows:

S1021: Based on the corner coordinates in each of the first calibration images, the coordinates of the corners of each of the first targets, and the camera internal parameters corresponding to each of the first images, construct a corresponding robot to be calibrated. Calibration equation system.

The terminal acquires the corner coordinates corresponding to each robot to be calibrated, and the first target corner coordinates corresponding to each corner coordinate. The number of corner coordinates corresponding to each robot to be calibrated is greater than or equal to a preset number, and the preset number is set by the user. For example, the number of corner coordinates corresponding to a robot to be calibrated can be 6, 15, etc. , correspondingly, the number of first target angle coordinates corresponds to the number of corner coordinates.

The terminal obtains the camera internal parameters corresponding to the first image based on the robot identification information, that is, obtains the camera internal parameters corresponding to the camera on the robot to be calibrated identified by the robot identification information. For example, the terminal sends the camera internal parameter acquisition information to the robot to be calibrated based on the robot identification information. When the to-be-calibrated robot receives the camera internal parameter acquisition information, it obtains the camera internal parameters corresponding to the camera, and sends the camera internal parameters to the terminal.

The terminal can construct an equation corresponding to the robot to be calibrated according to the coordinates of a corner point corresponding to each robot to be calibrated, the coordinates of a first target corner point corresponding to the coordinates of the corner point, and the camera internal parameters corresponding to the robot to be calibrated . The number of equations corresponding to the robot to be calibrated can be constructed according to the number of corner coordinates obtained. A set of calibration equations corresponding to the robot to be calibrated is generated by combining multiple equations corresponding to the robot to be calibrated.

构建得到待标定机器人A对应的一个方程式为：

其中，

为待标定机器人A的第一图像对应的相机外参；(u₀,v₀)表示摄像头对应的坐标系中光轴投影坐标系中的主点坐标。终端针对该待标定机器人A构建多个上述的方程式，组成该待标定机器人A对应的标定方程组。For example, the coordinates of a corner point in the first calibration image corresponding to the robot A to be calibrated are (u ₁ , v ₁ , 1), and the coordinates of a first target corner point corresponding to the coordinates of the corner point are (X _i , Y _i ,Z _i ,1), the camera internal parameters corresponding to robot A to be calibrated are

An equation corresponding to the robot A to be calibrated is constructed as:

in,

is the camera external parameter corresponding to the first image of the robot A to be calibrated; (u ₀ , v ₀ ) represents the principal point coordinate in the optical axis projection coordinate system in the coordinate system corresponding to the camera. The terminal constructs a plurality of the above equations for the robot A to be calibrated to form a calibration equation group corresponding to the robot A to be calibrated.

S1022: Solve each of the calibration equations to obtain camera external parameters corresponding to each of the robots to be calibrated.

的值，该值就是待标定机器人A对应的相机外参，也可称为待标定机器人A对应的第一图像的相机外参。The terminal can solve the calibration equation set corresponding to each robot to be calibrated by the least square method, and obtain the camera external parameters corresponding to each robot to be calibrated. That is, the terminal solves the calibration equations corresponding to the robot to be calibrated, and obtains the camera external parameters corresponding to the robot to be calibrated. For example, the terminal solves the equation system in S1021 to get

The value is the camera extrinsic parameter corresponding to the robot A to be calibrated, and may also be referred to as the camera extrinsic parameter of the first image corresponding to the robot A to be calibrated.

S103: Determine calibration data of each of the robots to be calibrated based on the camera external parameters corresponding to each of the first images.

The terminal determines the calibration data of each robot to be calibrated based on the external parameters of each camera, and the calibration data can represent the position of the robot to be calibrated. The camera external parameter is obtained by solving the equation system corresponding to the robot to be calibrated, and the camera external parameter corresponds to the robot to be calibrated. Specifically, the camera external parameters calculated by the terminal, that is, the camera external parameters corresponding to the camera on the robot to be calibrated that captures the first image are obtained, which is equivalent to obtaining the calibration data of the robot to be calibrated. The terminal directly uses the camera external parameters as the calibration data of the robot to be calibrated; it can also convert the camera external parameters into coordinates, and use the converted coordinates as the calibration data of the robot to be calibrated.

In this embodiment of the present application, by acquiring the first image captured by the robot to be calibrated; based on the corner coordinates in each of the first calibration images, the coordinates of the first target corners, and the camera internal parameters corresponding to each of the first images, Calculate the camera extrinsic parameters corresponding to each of the first images; and determine calibration data of each of the robots to be calibrated based on the camera extrinsic parameters corresponding to each of the first images. In the above manner, the terminal obtains the image obtained by the robot to be calibrated by shooting the calibration device, and based on the corner coordinates, target corner coordinates, and camera internal parameters in the image, calculates and obtains the camera external parameters corresponding to the robot to be calibrated, thereby obtaining the image of the robot to be calibrated. Calibration data. This calibration method can be realized only by the calibration equipment and the terminal, without the need for precise measuring instruments, and the calibration cost is low; the calibration equipment can be moved according to the position of the robot to be calibrated, and the flexibility is very high; and this calibration method can be used at the same time. The calibration of multiple robots to be calibrated improves the robot calibration efficiency; the entire calibration process is mainly completed by the robot to be calibrated, the terminal, and the calibration equipment, and the operation steps are simple, which is conducive to robot calibration.

Please refer to FIG. 3 , which is a schematic flowchart of a method for calibrating a robot according to another embodiment of the present invention. The execution subject of the robot calibration method in this embodiment is a terminal, and the terminal includes but is not limited to a mobile terminal such as a computer, a smart phone, a desktop computer, a tablet computer, and a Personal Digital Assistant (PDA).

The difference between this embodiment and the embodiment corresponding to FIG. 1 is S204. S201-S203 in this embodiment are exactly the same as S101-S103 in the embodiment corresponding to FIG. 1 . For details, please refer to S101-S103 in the embodiment corresponding to FIG. 1 . The related descriptions are not repeated here. In order to facilitate the mutual cooperation of each robot and determine the mutual position of each robot, S204 may also be included after S203, and the details are as follows:

S204: Adjust the calibration data of the second robot to be calibrated based on the calibration data of the first robot to be calibrated to obtain first target data; wherein the first robot to be calibrated is a calibration plate that can be photographed on the first calibration device any robot to be calibrated; the second robot to be calibrated is any robot to be calibrated except the first robot to be calibrated that can photograph the calibration plate on the first calibration device; the first target data It is used to indicate the position of the second robot to be calibrated relative to the first robot to be calibrated.

The terminal adjusts the calibration data of the second robot to be calibrated based on the calibration data of the first robot to be calibrated to obtain first target data. The first robot to be calibrated is any robot to be calibrated that can photograph the calibration plate on the first calibration device. For example, if there are M robots to be calibrated corresponding to the same first calibration device, that is, all the M robots to be calibrated can photograph the calibration plate on the first calibration device, then any one of the M robots to be calibrated can be used as the first calibration device. Once the robot is to be calibrated. The second robot to be calibrated is any robot to be calibrated that can photograph the calibration plate on the first calibration device except the first robot to be calibrated. For example, if any one of the M robots to be calibrated is the first robot to be calibrated, any one of the M robots to be calibrated can be used as the second robot to be calibrated except the first robot to be calibrated. The first target data is used to represent the position of the second robot to be calibrated relative to the first robot to be calibrated. For example, one of the M robots to be calibrated is used as the first robot to be calibrated, and the first target data represents the position of each other robot to be calibrated relative to the first robot to be calibrated in the M robots to be calibrated.

Specifically, the terminal takes the calibration data of the first robot to be calibrated as reference data, which is equivalent to reference data, and the remaining second robots to be calibrated can adjust their own calibration data according to the reference data, and mark the adjusted data as the first target data . For example, obtain the vector included in the calibration data of the first robot to be calibrated, obtain the vector included in the calibration data of the second robot to be calibrated, and perform vector operations on the two vectors, that is, subtract the former vector from the latter vector, The vector obtained by the subtraction is used as the calibration data of the second robot to be calibrated, that is, as the first target data. The first target data may represent the position of the second robot to be calibrated relative to the first robot to be calibrated.

Further, since the first robot to be calibrated is any robot to be calibrated that can photograph the calibration plate on the first calibration device, the calibration data of the remaining second robots to be calibrated can be adjusted by setting different first robots to be calibrated. , to obtain different first target data, thereby obtaining the positional relationship between any two robots in the M robots to be calibrated. This makes it easier for robots in the factory to collaborate with each other, thereby improving work efficiency and facilitating user management.

In this embodiment of the present application, by acquiring the first image captured by the robot to be calibrated; based on the corner coordinates in each of the first calibration images, the coordinates of the first target corners, and the camera internal parameters corresponding to each of the first images, Calculate the camera extrinsic parameters corresponding to each of the first images; and determine calibration data of each of the robots to be calibrated based on the camera extrinsic parameters corresponding to each of the first images. In the above manner, the terminal obtains the image obtained by the robot to be calibrated by shooting the calibration device, and based on the corner coordinates, target corner coordinates, and camera internal parameters in the image, calculates and obtains the camera external parameters corresponding to the robot to be calibrated, thereby obtaining the image of the robot to be calibrated. Calibration data. This calibration method can be realized only by the calibration equipment and the terminal, without the need for precise measuring instruments, and the calibration cost is low; the calibration equipment can be moved according to the position of the robot to be calibrated, and the flexibility is very high; and this calibration method can be used at the same time. The calibration of multiple robots to be calibrated improves the robot calibration efficiency; the entire calibration process is mainly completed by the robot to be calibrated, the terminal, and the calibration equipment, and the operation steps are simple, which is conducive to robot calibration.

Please refer to FIG. 4. FIG. 4 is a schematic flowchart of a method for calibrating a robot according to another embodiment of the present invention. The execution subject of the robot calibration method in this embodiment is a terminal, and the terminal includes but is not limited to a mobile terminal such as a computer, a smart phone, a desktop computer, a tablet computer, and a Personal Digital Assistant (PDA).

The difference between this embodiment and the embodiment corresponding to FIG. 1 is S304-S307, and S301-S303 in this embodiment are exactly the same as S101-S103 in the embodiment corresponding to FIG. 1. For details, please refer to S101 in the embodiment corresponding to FIG. 1 . -The relevant description of S103 is not repeated here. In order to ensure accurate calibration of each robot, S304-S306 can also be included after S303, as follows:

S304: when it is detected that there is still an uncalibrated robot, obtain a second image taken based on the uncalibrated robot; the second image includes a second calibration image corresponding to a calibration plate on the second calibration device; the The location of the second calibration device is different from the location of the first calibration device.

The terminal detects whether there are currently uncalibrated robots to be calibrated, that is, whether there are uncalibrated robots. The terminal can search the calibration data of each robot to be calibrated through the robot identification information of the robot to be calibrated. When it is detected that a robot has no corresponding calibration data, it is determined that the robot to be calibrated is an uncalibrated robot.

When the terminal detects that there are still uncalibrated robots, a second image captured by the uncalibrated robots is acquired. Specifically, a camera is installed on the uncalibrated robot, and the uncalibrated robot shoots its corresponding second calibration device through the camera to obtain a second image; the second image includes the first calibration plate corresponding to the second calibration device. Two calibration images. The uncalibrated robot sends the captured second image and the robot identification information to the terminal, and the terminal receives the second image and the robot identification information sent by the uncalibrated robot; the terminal extracts the calibration on the second calibration device from the second image The second calibration image corresponding to the board is saved, and the second calibration image is saved. Wherein, the positions of the second calibration device and the first calibration device are different, and when the second calibration device and the first calibration device are two different calibration devices, the first calibration device and the second calibration device are respectively placed in the first preset position and the second preset position. The first preset position enables multiple robots to be calibrated to photograph the first calibration device; the second preset position enables multiple uncalibrated robots to photograph the second calibration device. When the second calibration device and the first calibration device are the same calibration device, when the robot to be calibrated is calibrated for the first time, the calibration device is placed in the first preset position, and when the calibration of the robots to be calibrated is completed, the calibration device is The device is moved to the second preset position to facilitate the calibration of the uncalibrated robot.

S305: Calculate the camera extrinsic parameters corresponding to each second image based on the corner coordinates in each of the second calibration images, the second target corner coordinates, and the camera intrinsic parameters corresponding to each second image, Wherein, the coordinate of the second target corner point is the coordinate corresponding to the corner point coordinate in the second calibration image in the calibration plate on the second calibration device;

The terminal calculates the camera external parameters corresponding to each second image based on the corner coordinates in each second calibration image, the second target corner coordinates, and the camera internal parameters corresponding to each second image. Among them, the camera internal parameters are the camera internal parameters corresponding to the camera on the uncalibrated robot that captures the second image, and the camera internal parameters are carried by the camera when it leaves the factory; the coordinates of the second target corner point are the coordinates in the calibration board on the second calibration device and The coordinates corresponding to the corner coordinates in the second calibration image, that is, each corner coordinate in the second calibration image, has a corresponding coordinate in the calibration plate of the second calibration device. The camera extrinsic parameter is the camera extrinsic parameter corresponding to the second image, and can also be understood as the camera extrinsic parameter corresponding to the camera on the uncalibrated robot that captures the second image.

Specifically, the terminal acquires the camera internal parameters corresponding to the second image, that is, acquires the camera internal parameters corresponding to the camera on the uncalibrated robot. The terminal acquires the corner coordinates in the second calibration image corresponding to the uncalibrated robot, and acquires the second target corner coordinates corresponding to each corner coordinate. According to the corresponding corner coordinates of the calibrated robot, the coordinates of the second target corner, and the camera internal parameters, an equation set corresponding to the calibrated robot is constructed, and the equation set is solved to obtain the camera external parameters corresponding to the second image. It should be noted that the terminal constructs the equation system corresponding to the calibrated robot according to the corner coordinates corresponding to an uncalibrated robot, the first target corner coordinates, and the camera internal parameters, and solves the equation system to obtain the uncalibrated robot. The camera extrinsic parameters corresponding to the first image. The terminal constructs a corresponding set of equations for each uncalibrated robot in the same way, and by solving each equation set, the camera extrinsic parameters corresponding to the first image captured by each uncalibrated robot can be obtained. The process of specifically calculating the camera external parameters corresponding to each second image in this embodiment is similar to S102 in the embodiment corresponding to FIG. 1 , and reference may be made to the description of S102 in the embodiment corresponding to FIG. 1 , which will not be repeated here. .

S306: Determine calibration data of each of the uncalibrated robots based on the camera external parameters corresponding to each of the second images.

The terminal determines calibration data of each uncalibrated robot based on the camera external parameters corresponding to each second image, where the calibration data may represent the position of the uncalibrated robot. The camera extrinsic parameter is obtained by solving the equation system corresponding to which uncalibrated robot, then the camera extrinsic parameter corresponds to which uncalibrated robot. Specifically, the camera extrinsic parameters calculated by the terminal, that is, the camera extrinsic parameters corresponding to the camera on the uncalibrated robot that captures the second image are obtained, which is equivalent to obtaining the calibration data of the uncalibrated robot. The terminal directly uses the camera external parameters as the calibration data of the uncalibrated robot; it can also convert the camera external parameters into coordinates, and use the converted coordinates as the calibration data of the uncalibrated robot.

Further, the uncalibrated robots include at least one third robot to be calibrated, and the third robot to be calibrated is a calibration plate that can be photographed on the first calibration device, and can be photographed at the same time. Any of the calibration plates on the second calibration device. Robot to be calibrated.

In order to facilitate the mutual cooperation of each robot in the factory and determine the mutual position of each robot, S307 may also be included after S306, as follows:

S307: Adjust the calibration data of the uncalibrated robot based on the calibration data of the third robot to be calibrated to obtain second target data; wherein the third robot to be calibrated can be photographed on the first calibration device at the same time, any robot to be calibrated on the calibration plate on the second calibration device can be photographed; the second target data is used to represent the uncalibrated robot relative to the third robot to be calibrated. Location.

The terminal adjusts the calibration data of the uncalibrated robot based on the calibration data of the third robot to be calibrated, and obtains the second target data. Wherein, the third robot to be calibrated is any robot to be calibrated that can photograph the calibration plate on the first calibration device and at the same time can photograph the calibration plate on the second calibration device. When the second calibration device and the first calibration device are two different calibration devices, the third robot to be calibrated is a calibration plate on the first calibration device that can photograph the first preset position, and can photograph the second preset position at the same time. Set any robot to be calibrated on the calibration board on the second calibration device. When the second calibration device and the first calibration device are the same calibration device, the third robot to be calibrated is the calibration plate on the calibration device that can photograph the first preset position for the first time, and can photograph the The calibration plate on the calibration device at the preset position. Among them, the first time refers to the terminal being calibrated for the robot to be calibrated, and the second time refers to the terminal being calibrated for the uncalibrated robot.

Specifically, the terminal takes the calibration data of the third robot to be calibrated as reference data, which is equivalent to reference data, and other uncalibrated robots can adjust their calibration data according to the reference data, and mark the adjusted data as the second target data. For example, obtain the vector contained in the calibration data of the third robot to be calibrated, obtain the vector contained in the calibration data of the uncalibrated robot, and perform vector operations on the two vectors, that is, subtract the former vector from the latter vector, and The vector obtained by the subtraction is used as the calibration data of the uncalibrated robot, that is, as the second target data. The second target data may represent the position of the uncalibrated robot relative to the third to-be-calibrated robot.

Further, S304-S307 in this embodiment may also be executed after S204 in the embodiment corresponding to FIG. 3 , and the specific execution process is subject to the actual situation, which is not limited.

In this embodiment of the present application, by acquiring the first image captured by the robot to be calibrated; based on the corner coordinates in each of the first calibration images, the coordinates of the first target corners, and the camera internal parameters corresponding to each of the first images, Calculate the camera extrinsic parameters corresponding to each of the first images; and determine calibration data of each of the robots to be calibrated based on the camera extrinsic parameters corresponding to each of the first images. In the above manner, the terminal obtains the image obtained by the robot to be calibrated by shooting the calibration device, and based on the corner coordinates, target corner coordinates, and camera internal parameters in the image, calculates and obtains the camera external parameters corresponding to the robot to be calibrated, thereby obtaining the image of the robot to be calibrated. Calibration data. This calibration method can be realized only by the calibration equipment and the terminal, without the need for precise measuring instruments, and the calibration cost is low; the calibration equipment can be moved according to the position of the robot to be calibrated, and the flexibility is very high; and this calibration method can be used at the same time. The calibration of multiple robots to be calibrated improves the robot calibration efficiency; the entire calibration process is mainly completed by the robot to be calibrated, the terminal, and the calibration equipment, and the operation steps are simple, which is conducive to robot calibration

Please refer to FIG. 5. FIG. 5 is a schematic flowchart of a method for calibrating a robot according to another embodiment of the present invention. The execution subject of the robot calibration method in this embodiment is a terminal, and the terminal includes but is not limited to a mobile terminal such as a computer, a smart phone, a desktop computer, a tablet computer, and a Personal Digital Assistant (PDA).

The differences between this embodiment and the embodiment corresponding to FIG. 1 are S401-S402 and S404-S407. In this embodiment, S403 in this embodiment is exactly the same as S102 in the embodiment corresponding to FIG. 1 . For details, please refer to S102 in the embodiment corresponding to FIG. 1 . The related descriptions are not repeated here.

In order to speed up the calibration speed of the robots to be calibrated, realize the calibration of multiple robots to be calibrated at the same time, and facilitate the calibration of the robots to be calibrated in large scenes, when the terminal detects that the number of robots to be calibrated is greater than or equal to the preset threshold, this implementation Examples can include S401-402, as follows:

S401: Divide the robots to be calibrated into at least two groups, and obtain images to be analyzed sent by each group of robots to be calibrated; wherein each group of robots corresponds to a first calibration device, and different groups correspond to different first calibration devices.

The terminal detects the number of robots to be calibrated, and when it is detected that the number of robots to be calibrated is greater than or equal to a preset threshold, it divides the robots to be calibrated into at least two groups, and obtains images to be analyzed sent by each group of robots to be calibrated. The preset threshold is set and adjusted by the user; each group of robots to be calibrated corresponds to a first calibration device, and different groups correspond to different first calibration devices. For example, when there are 10 robots to be calibrated, these robots are divided into two groups, each group contains 5 robots to be calibrated, each group of robots corresponds to a calibration device, and the corresponding calibration devices of the two groups are different.

The terminal divides the robots to be calibrated into at least two groups, and acquires images to be analyzed sent by the robots to be calibrated in each group. Specifically, the terminal divides the robots to be calibrated into two groups according to the distance from the first calibration device, and each robot to be calibrated in each group takes pictures of the calibration plate on the corresponding first calibration device, and obtains each group of robots to be calibrated. Corresponding to the image to be analyzed, the robot to be calibrated sends the image to be analyzed to the terminal, and the terminal obtains the image to be analyzed sent by each group of robots to be calibrated.

S402: Group the images to be analyzed according to the grouping identifiers of the robots to be calibrated, and obtain a first image corresponding to each group of robots to be calibrated; wherein the first images correspond to the grouping identifiers.

The terminal groups the images to be analyzed according to the grouping identifiers of the robots to be calibrated, and obtains a first image corresponding to each group of the robots to be calibrated; wherein the first images correspond to the grouping identifiers. The terminal first groups the images to be analyzed according to the grouping identifiers of the robots to be calibrated, and obtains a first image corresponding to each group of robots to be calibrated; and then obtains a first calibration image corresponding to each robot to be calibrated based on the first image.

S403: Calculate the camera extrinsic parameters corresponding to each first image based on the corner coordinates in each of the first calibration images, the first target corner coordinates, and the camera intrinsic parameters corresponding to each first image; The coordinates of the first target corner point are coordinates in the calibration plate on the first calibration device that correspond to the coordinates of the corner points in the first calibration image.

S403 in this embodiment is exactly the same as S102 in the embodiment corresponding to FIG. 1 . For details, please refer to the relevant description of S102 in the embodiment corresponding to FIG. 1 , which is not repeated here.

S404: Determine calibration data of each robot to be calibrated based on the camera external parameters corresponding to each first image and the group identifier of the robot to be calibrated to which each first image belongs.

The terminal determines the calibration data of each robot to be calibrated based on the camera external parameters and group identification corresponding to each robot to be calibrated, and the calibration data can represent the position of the robot to be calibrated. The camera external parameter is obtained by solving the equation system corresponding to the robot to be calibrated, and the camera external parameter corresponds to the robot to be calibrated. Specifically, the camera external parameters calculated by the terminal, that is, the camera external parameters corresponding to the camera on the to-be-calibrated robot that captures the first image, are equivalent to obtaining the calibration data of the to-be-calibrated robot. The terminal directly uses the camera external parameters as the calibration data of the robot to be calibrated; it can also convert the camera external parameters into coordinates, and use the converted coordinates as the calibration data of the robot to be calibrated.

In order to facilitate the mutual cooperation of each robot in the factory and determine the mutual position of each robot, S405-S407 can also be included after S404, as follows:

S405: Determine a target robot from the grouped robots to be calibrated; the target robot is a robot to be calibrated belonging to all groups at the same time.

The terminal determines a target robot from the grouped robots to be calibrated, and the target robot is a robot to be calibrated belonging to all groups at the same time, that is, the target robot is a robot to be calibrated that is shared by each group. For example, when the robots to be calibrated are divided into two groups, namely the first group of robots to be calibrated and the second group of robots to be calibrated, the target robot is not only in the first group of robots to be calibrated, but also in the second group of robots to be calibrated middle. The terminal marks the robots to be calibrated that belong to all groups at the same time as target robots.

S406: Based on the group identification, obtain calibration data corresponding to each group of the target robot.

The terminal obtains the calibration data corresponding to each group of the target robot according to the group identification. For example, when the robots to be calibrated are divided into two groups, the first group of robots to be calibrated and the second group of robots to be calibrated, respectively, and the calibration data corresponding to the target robot in the first group of robots to be calibrated is obtained according to the group identification, which can be marked as The first calibration data; the calibration data corresponding to the target robot in the second group of robots to be calibrated is obtained according to the group identifier, which may be marked as the second calibration data.

S407: Based on the calibration data corresponding to the target robot in each group, adjust the calibration data of the robot to be calibrated corresponding to each of the group identifiers to obtain third target data; the third target data is used to represent the data within each group The position of each robot to be calibrated relative to the target robot in each group.

The terminal adjusts the calibration data of the robot to be calibrated corresponding to the identification of each group based on the calibration data corresponding to the target robot in each group to obtain third target data. The third target data can be used to represent the position of each robot to be calibrated in each group relative to the target robot in each group.

For example, when the robots to be calibrated are divided into two groups, the first group of robots to be calibrated and the second group of robots to be calibrated, respectively, and the calibration data corresponding to the target robot in the first group of robots to be calibrated is obtained according to the group identification, which is marked as the first group of robots to be calibrated. A calibration data; the calibration data corresponding to the target robot in the second group of robots to be calibrated is obtained according to the group identification, and is marked as the second calibration data. The terminal uses the first calibration data corresponding to the target robot in the first group of robots to be calibrated as the reference data of the first group of robots to be calibrated, and other robots in the first group of robots to be calibrated adjust their own calibration according to the reference data The adjusted data is recorded as third target data, and the third target data can be used to represent the positions of other robots to be calibrated in the first group of robots to be calibrated relative to the target robot in the group. The terminal uses the second calibration data corresponding to the target robot in the second group of robots to be calibrated as the reference data of the second group of robots to be calibrated, and other robots in the second group of robots to be calibrated adjust their own calibration according to the reference data The adjusted data is recorded as third target data, and the third target data can be used to represent the positions of other robots to be calibrated in the second group of robots to be calibrated relative to the target robot in the group.

In this embodiment of the present application, by acquiring the first image captured by the robot to be calibrated; based on the corner coordinates in each of the first calibration images, the coordinates of the first target corners, and the camera internal parameters corresponding to each of the first images, Calculate the camera extrinsic parameters corresponding to each of the first images; and determine calibration data of each of the robots to be calibrated based on the camera extrinsic parameters corresponding to each of the first images. In the above method, the terminal obtains the image obtained by the robot to be calibrated by shooting the calibration device, and calculates the external parameters of the camera corresponding to the robot to be calibrated based on the corner coordinates, target corner coordinates, and camera internal parameters in the image, thereby obtaining the image of the robot to be calibrated. Calibration data. This calibration method can be realized only by the calibration equipment and the terminal, without the need for precise measuring instruments, and the calibration cost is low; the calibration equipment can be moved according to the position of the robot to be calibrated, and the flexibility is very high; and this calibration method can be used at the same time. The calibration of multiple robots to be calibrated improves the robot calibration efficiency; the entire calibration process is mainly completed by the robot to be calibrated, the terminal, and the calibration equipment, and the operation steps are simple, which is conducive to robot calibration.

Please refer to FIG. 6. FIG. 6 is a schematic diagram of a terminal for robot calibration provided by an embodiment of the present application. Each unit included in the terminal is used to execute each step in the embodiment corresponding to FIG. 1 , FIG. 3 , FIG. 4 , and FIG. 5 . For details, please refer to the relevant descriptions in the corresponding embodiments of FIG. 1 , FIG. 3 , FIG. 4 , and FIG. 5 . For convenience of explanation, only the parts related to this embodiment are shown. See Figure 6, including:

an acquisition unit 510, configured to acquire a first image captured by the robot to be calibrated; the first image includes a first calibration image corresponding to a calibration plate on the first calibration device;

The calculation unit 520 is configured to calculate the corresponding coordinates of each first image based on the coordinates of the corner points in each of the first calibration images, the coordinates of the corner points of the first target, and the camera internal parameters corresponding to each of the first images. Camera external parameters; the coordinates of the first target corner point are the coordinates corresponding to the corner point coordinates in the first calibration image in the calibration plate on the first calibration device.

The determining unit 530 is configured to determine calibration data of each of the robots to be calibrated based on the camera external parameters corresponding to each of the first images.

Further, the computing unit 520 is specifically used for:

Based on the corner coordinates in each of the first calibration images, the coordinates of each first target corner, and the camera internal parameters corresponding to each of the first images, a calibration equation corresponding to each of the robots to be calibrated is constructed Group;

Solve each of the calibration equations to obtain the camera external parameters corresponding to each of the robots to be calibrated.

Further, the terminal also includes:

a first adjustment unit, configured to adjust the calibration data of the second robot to be calibrated based on the calibration data of the first robot to be calibrated to obtain first target data; wherein the first robot to be calibrated is capable of photographing the first calibration Any robot to be calibrated on the calibration board on the device; the second robot to be calibrated is any robot to be calibrated except the first robot to be calibrated that can photograph the calibration plate on the first calibration device; The first target data is used to represent the position of the second robot to be calibrated relative to the first robot to be calibrated.

Further, the terminal also includes:

an image acquisition unit, configured to acquire a second image based on the uncalibrated robot when it is detected that there is still an uncalibrated robot; the second image includes a second calibration corresponding to the calibration plate on the second calibration device an image; the position of the second calibration device is different from the position of the first calibration device;

A camera extrinsic parameter calculation unit, configured to calculate each of the second images based on the corner coordinates in each of the second calibration images, the coordinates of the second target corners, and the camera intrinsic parameters corresponding to each of the second images Corresponding camera external parameters, wherein the coordinates of the second target corner point are the coordinates corresponding to the corner point coordinates in the second calibration image in the calibration plate on the second calibration device;

A calibration data determination unit, configured to determine calibration data of each of the uncalibrated robots based on the camera extrinsic parameters corresponding to each of the second images.

The uncalibrated robots at least include a third robot to be calibrated;

Further, the terminal also includes:

The second adjustment unit is configured to adjust the calibration data of the uncalibrated robot based on the calibration data of the third robot to be calibrated to obtain second target data; wherein the third robot to be calibrated is capable of photographing the The calibration plate on the first calibration device, and any robot to be calibrated on the calibration plate on the second calibration device can be photographed at the same time; the second target data is used to indicate that the uncalibrated robot is relative to the first calibration device. 3. The position of the robot to be calibrated.

The number of the robots to be calibrated is greater than or equal to a preset threshold;

Further, the obtaining unit 510 is specifically used for:

Divide the robots to be calibrated into at least two groups, and obtain images to be analyzed sent by each group of robots to be calibrated; wherein, each group of robots corresponds to a first calibration device, and different groups correspond to different first calibration devices;

The images to be analyzed are grouped according to the grouping identifiers of the robots to be calibrated, and a first image corresponding to each group of robots to be calibrated is obtained; wherein, the first images correspond to the grouping identifiers.

Further, the determining unit 530 is specifically configured to: determine each robot to be calibrated based on the camera external parameter corresponding to each first image and the group identifier of the robot to be calibrated to which each first image belongs. calibration data.

Further, the terminal also includes:

a target robot determination unit, used to determine the target robot from the grouped robots to be calibrated; the target robot is the to-be-calibrated robot belonging to all groups at the same time;

a data acquisition unit, configured to acquire calibration data corresponding to each group of the target robot based on the group identification;

The third adjustment unit is configured to adjust the calibration data of the robot to be calibrated corresponding to each of the group identifiers based on the calibration data corresponding to the target robot in each group, to obtain third target data; the third target data uses where represents the position of each robot to be calibrated in each group relative to the target robot in each group.

Please refer to FIG. 7 , which is a schematic diagram of a terminal for robot calibration provided by another embodiment of the present application. As shown in FIG. 7 , the terminal 6 of this embodiment includes: a processor 60 , a memory 61 , and computer-readable instructions 62 stored in the memory 61 and executable on the processor 60 . When the processor 60 executes the computer-readable instructions 62 , the steps in each of the above-mentioned embodiments of the method for calibrating a robot by a terminal are implemented, for example, S101 to S103 shown in FIG. 1 . Alternatively, when the processor 60 executes the computer-readable instructions 62, the functions of the units in the foregoing embodiments are implemented, for example, the functions of the units 310 to 330 shown in FIG. 3 .

Exemplarily, the computer-readable instructions 62 may be divided into one or more units, and the one or more units are stored in the memory 61 and executed by the processor 60 to complete the present application. . The one or more units may be a series of computer-readable instruction segments capable of accomplishing specific functions, and the instruction segments are used to describe the execution process of the computer-readable instructions 62 in the terminal 6 . For example, the computer-readable instructions 42 can be obtained by an acquisition unit, a calculation unit, and a determination unit, and the specific functions of each unit are as described above.

The terminal may include, but is not limited to, the processor 60 and the memory 61 . Those skilled in the art can understand that FIG. 6 is only an example of the terminal 6, and does not constitute a limitation on the terminal 6. It may include more or less components than the one shown in the figure, or combine some components, or different components, such as The terminals may also include input and output terminals, network access terminals, buses, and the like.

The so-called processor 60 may be a central processing unit (Central Processing Unit, CPU), and may also be other general-purpose processors, digital signal processors (Digital Signal Processors, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC), Off-the-shelf programmable gate array (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, and the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.

The memory 61 may be an internal storage unit of the terminal 6 , such as a hard disk or a memory of the terminal 6 . The memory 61 may also be an external storage terminal of the terminal 6, such as a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card equipped on the terminal 6, Flash card (Flash Card) and so on. Further, the memory 61 may also include both an internal storage unit of the terminal 6 and an external storage terminal. The memory 61 is used to store the computer-readable instructions and other programs and data required by the terminal. The memory 61 can also be used to temporarily store data that has been output or will be output.

The above-mentioned embodiments are only used to illustrate the technical solutions of the present application, but not to limit them; although the present application has been described in detail with reference to the above-mentioned embodiments, those of ordinary skill in the art should understand that: it can still be used for the above-mentioned implementations. The technical solutions recorded in the examples are modified, or some technical features thereof are equivalently replaced; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit scope of the technical solutions in the embodiments of the application, and should be included in the present application. within the scope of protection of the application.

Claims (10)

1. a robot calibration method, is characterized in that, comprises: acquiring a first image captured by the robot to be calibrated; the first image includes a first calibration image corresponding to a calibration plate on the first calibration device; Based on the corner coordinates in each of the first calibration images, the coordinates of the first target corners, and the camera internal parameters corresponding to each of the first images, calculate the camera external parameters corresponding to each of the first images; the The coordinates of the first target corner point are the coordinates corresponding to the corner point coordinates in the first calibration image in the calibration plate on the first calibration device; Based on the camera external parameters corresponding to each of the first images, calibration data of each of the robots to be calibrated is determined. 2. The robot calibration method according to claim 1, characterized in that, based on the corner coordinates in each of the first calibration images, the coordinates of the first target corners, and the corresponding coordinates of each of the first images. Camera intrinsic parameters, calculating the camera extrinsic parameters corresponding to each of the first images include: Based on the corner coordinates in each of the first calibration images, the coordinates of each first target corner, and the camera internal parameters corresponding to each of the first images, a calibration equation corresponding to each of the robots to be calibrated is constructed Group; Solve each of the calibration equations to obtain the camera external parameters corresponding to each of the robots to be calibrated. 3. The robot calibration method according to claim 1, wherein after determining the calibration data of each of the robots to be calibrated based on the camera external parameters corresponding to each of the first images, the method further comprises: Adjust the calibration data of the second robot to be calibrated based on the calibration data of the first robot to be calibrated to obtain first target data; wherein the first robot to be calibrated is any device that can photograph the calibration plate on the first calibration device A robot to be calibrated; the second robot to be calibrated is any robot to be calibrated except the first robot to be calibrated that can photograph the calibration plate on the first calibration device; the first target data is used for Indicates the position of the second robot to be calibrated relative to the first robot to be calibrated. 4. The robot calibration method according to claim 1, wherein after determining the calibration data of each of the robots to be calibrated based on the camera external parameters corresponding to each of the first images, the method further comprises: When an uncalibrated robot is detected, a second image captured based on the uncalibrated robot is acquired; the second image includes a second calibration image corresponding to the calibration plate on the second calibration device; the second The location where the calibration device is located is different from the location where the first calibration device is located; Based on the corner coordinates in each second calibration image, the second target corner coordinates, and the camera internal parameters corresponding to each second image, calculate the camera external parameters corresponding to each second image; wherein, The second target corner coordinates are the coordinates in the calibration plate on the second calibration device corresponding to the corner coordinates in the second calibration image; Based on the camera extrinsic parameters corresponding to each of the second images, calibration data of each of the uncalibrated robots is determined. 5 . The robot calibration method according to claim 4 , wherein at least one third robot to be calibrated is included in the uncalibrated robots; the determination is based on the camera external parameters corresponding to each of the second images. 6 . After the calibration data of each uncalibrated robot, it also includes: Adjust the calibration data of the uncalibrated robot based on the calibration data of the third robot to be calibrated to obtain second target data; wherein the third robot to be calibrated is a calibration that can be photographed on the first calibration device At the same time, any robot to be calibrated on the calibration plate on the second calibration device can be photographed; the second target data is used to represent the position of the uncalibrated robot relative to the third robot to be calibrated. 6. The robot calibration method according to claim 1, wherein the number of the robots to be calibrated is greater than or equal to a preset threshold, and the acquiring the first image captured by the robots to be calibrated comprises: Divide the robots to be calibrated into at least two groups, and obtain images to be analyzed sent by each group of robots to be calibrated; wherein, each group of robots corresponds to a first calibration device, and different groups correspond to different first calibration devices; Grouping the images to be analyzed according to the grouping identifiers of the robots to be calibrated, to obtain first images corresponding to each group of robots to be calibrated; wherein the first images correspond to the grouping identifiers; The determining the calibration data of each robot to be calibrated based on the camera external parameters corresponding to each of the first images, including: The calibration data of each robot to be calibrated is determined based on the camera external parameter corresponding to each first image and the group identifier of the robot to be calibrated to which each first image belongs. 7. The robot calibration method according to claim 6, wherein after determining the calibration data of each of the robots to be calibrated based on the camera external parameters corresponding to each of the first images, the method further comprises: Determine a target robot from the grouped robots to be calibrated; the target robot is a robot to be calibrated belonging to all groups at the same time; Based on the group identification, obtain the calibration data corresponding to each group of the target robot; Based on the calibration data corresponding to the target robot in each group, the calibration data of the robot to be calibrated corresponding to each of the group identifiers is adjusted to obtain third target data; the third target data is used to represent each group in each group. The position of the robot to be calibrated relative to the target robot in each group. 8. A terminal, characterized in that, comprising: an acquisition unit, configured to acquire a first image captured by the robot to be calibrated; the first image includes a first calibration image corresponding to a calibration plate on the first calibration device; A calculation unit, configured to calculate the camera corresponding to each of the first images based on the coordinates of the corners in each of the first calibration images, the coordinates of the corners of the first target, and the camera internal parameters corresponding to each of the first images External parameters; the coordinates of the first target corner point are the coordinates in the calibration board on the first calibration device that correspond to the coordinates of the corner points in the first calibration image. A determination unit, configured to determine calibration data of each of the robots to be calibrated based on the camera external parameters corresponding to each of the first images. 9. A terminal, comprising a memory, a processor, and computer-readable instructions stored in the memory and executable on the processor, wherein the processor implements the computer-readable instructions when executed A method as claimed in any one of claims 1 to 7. 10 . A computer-readable storage medium storing a computer program, wherein the computer program implements the method according to any one of claims 1 to 7 when the computer program is executed by a processor. 11 .

Images