Robot calibration method, robot and computer-readable storage medium

A robot, comprising:

• an execution end with a hand;
• an image detection device;
• a processor;
• a memory coupled to the processor;
• and
• one or more computer programs stored in the memory and executable on the processor;
• wherein, the one or more computer programs comprise:
• instructions for obtaining operation space information of the execution end of the robot, wherein the operation space information comprises three-dimensional information of an operation space of the execution end of the robot;
• instructions for obtaining operation space points by gridding the operation space based on the operation space information;
• instructions for obtaining calibration data by controlling the execution end to move to the operation space points meeting a preset requirement;
• and
• instructions for calibrating the hand and the image detection device of the robot based on the obtained calibration data;
• wherein the instructions for obtaining the operation space points by gridding the operation space based on the operation space information comprise:
• instructions for obtaining the three-dimensional information of the operation space from the operation space information, wherein the three-dimensional information of the operation space comprises:
• information of length, width and height of the operation space;
• instructions for obtaining a plurality of sub-operation space positions by discretizing the operation space based on a preset distance sampling interval and the three-dimensional information of the operation space;
• instructions for obtaining a posture amount of the execution end at each of the sub-operation space positions by discretizing postures of the execution end at each of the sub-operation space positions based on a preset angle sampling interval, wherein the execution end of the robot has various postures at each of the sub-operation space positions;
• and
• instructions for obtaining a total amount of the operation space points based on the posture amount of the execution end at each of the sub-operation space positions and the sub-operation space positions.

A non-transitory computer-readable storage medium for storing one or more computer programs, wherein the one or more computer programs comprise:

• instructions for obtaining operation space information of an execution end of a robot, wherein the robot has an image detection device and the execution end with a hand, and the operation space information comprises three-dimensional information of an operation space of the execution end of the robot;
• instructions for obtaining operation space points by gridding the operation space based on the operation space information;
• instructions for obtaining calibration data by controlling the execution end to move to the operation space points meeting a preset requirement;
• and
• instructions for calibrating the hand and the image detection device of the robot based on the obtained calibration data;
• wherein the instructions for obtaining the operation space points by gridding the operation space based on the operation space information comprise:
• instructions for obtaining the three-dimensional information of the operation space from the operation space information, wherein the three-dimensional information of the operation space comprises:
• information of length, width and height of the operation space;
• instructions for obtaining a plurality of sub-operation space positions by discretizing the operation space based on a preset distance sampling interval and the three-dimensional information of the operation space;
• instructions for obtaining a posture amount of the execution end at each of the sub-operation space positions by discretizing postures of the execution end at each of the sub-operation space positions based on a preset angle sampling interval, wherein the execution end of the robot has various postures at each of the sub-operation space positions;
• and
• instructions for obtaining a total amount of the operation space points based on the posture amount of the execution end at each of the sub-operation space positions and the sub-operation space positions.