Visual perception device based spatial calibration method and apparatus for robot body coordinate system, and storage medium

A robot control method, performed by a computer device, the method comprising:

• obtaining visual pose information of a target object in a visual perception coordinate system corresponding to a robot;
• obtaining a target transformation relationship between the visual perception coordinate system and an ontology coordinate system of the robot, the transformation relationship between the visual perception coordinate system and the ontology coordinate system being resolved according to an equivalence relationship between transformation relationships obtained through calculation respectively according to first transformation relationships and second transformation relationships;
• obtaining target pose information corresponding to the target object according to the visual pose information and the transformation relationship between the visual perception coordinate system and the ontology coordinate system;
• and
• controlling, according to the target pose information, a target motion mechanism of the robot to move,
• the first transformation relationships and the second transformation relationships respectively including:
• transformation relationships between a calibration object coordinate system and the visual perception coordinate system;
• and
• transformation relationships between a motion mechanism coordinate system and the ontology coordinate system when the target motion mechanism is located at different sampling points.

A computer device, comprising a memory and a processor, the memory storing computer-readable instructions, the processor, when executing the computer-readable instructions, causing the computer device to perform steps comprising:

• obtaining first transformation relationships, the first transformation relationships including:
• a transformation relationship between a calibration object coordinate system and a visual perception coordinate system when a target motion mechanism of a robot is located at a first sampling point, and
• a transformation relationship between a motion mechanism coordinate system and an ontology coordinate system when the target motion mechanism of the robot is located at the first sampling point;
• obtaining second transformation relationships, the second transformation relationships including:
• a transformation relationship between the calibration object coordinate system and the visual perception coordinate system when the target motion mechanism is located at a second sampling point, and
• a transformation relationship between the motion mechanism coordinate system and the ontology coordinate system when the target motion mechanism is located at the second sampling point;
• and
• deriving a target transformation relationship based on an equivalence relationship between a transformation relationship obtained according to the first transformation relationships and the target transformation relationship and a transformation relationship obtained according to the second transformation relationships and the target transformation relationship, the target transformation relationship being a transformation relationship between the visual perception coordinate system and the ontology coordinate system, and a target calibration object corresponding to the calibration object coordinate system being disposed on the target motion mechanism.

A robot, comprising a memory and a processor, the memory storing computer-readable instructions that, when executed by the processor, configure the robot to perform:

• obtaining visual pose information of a target object in a visual perception coordinate system corresponding to the robot;
• obtaining a target transformation relationship between the visual perception coordinate system and an ontology coordinate system of the robot, the transformation relationship between the visual perception coordinate system and the ontology coordinate system being resolved according to an equivalence relationship between transformation relationships obtained through calculation respectively according to first transformation relationships and second transformation relationships;
• obtaining target pose information corresponding to the target object according to the visual pose information and the transformation relationship between the visual perception coordinate system and the ontology coordinate system;
• and
• controlling, according to the target pose information, a target motion mechanism of the robot to move,
• the first transformation relationships and the second transformation relationships respectively including:
• transformation relationships between a calibration object coordinate system and the visual perception coordinate system;
• and
• transformation relationships between a motion mechanism coordinate system and the ontology coordinate system when the target motion mechanism is located at different sampling points.