Coordinate system calibration method, apparatus and system for robot, and medium
AssigneeBeijing Jingdong Qianshi Technology Co., Ltd.
InventorsWeifeng Liu, Xu Liu, Yunjian Cheng
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Abstract
The present disclosure provides a coordinate system calibration method, apparatus and system for a robot, and a storage medium, wherein the method includes controlling an execution component of a robot to perform translation movement, and acquiring first coordinate information of the execution component, and second coordinate information which is collected by a photographic apparatus regarding a calibration board, so as to determine a rotation matrix; and controlling the execution component to perform rotatory movement, and acquiring third coordinate information which is collected by the photographic apparatus regarding the calibration board, so as to determine a translation matrix.
Claims20
A coordinate system calibration method for a robot, comprising:
- controlling an execution component of the robot to perform translational motion, and acquiring first coordinate information of the execution component which corresponds to the translational motion, wherein the robot is a four-degree-of-freedom robot, and the first coordinate information is coordinate information in a world coordinate system;
- acquiring second coordinate information which is collected by a photographic apparatus of the robot regarding a calibration board, wherein the calibration board is parallel to a corresponding coordinate plane of the world coordinate system, and the second coordinate information is coordinate information in a camera coordinate system;
- determining a rotation matrix on the basis of the first coordinate information and the second coordinate information;
- controlling the execution component to perform rotational motion, and acquiring third coordinate information which is collected by the photographic apparatus regarding the calibration board, wherein the third coordinate information is coordinate information in the camera coordinate system;
- determining a deviation vector between the calibration board and the execution component according to a position relation between the calibration board and the execution component;
- and
- determining a translation matrix on the basis of the first coordinate information, the deviation vector, the rotation matrix, and the third coordinate information.
A coordinate system calibration apparatus for a robot, comprising:
- a processor;
- and
- a memory coupled to the processor, storing program instructions which, when executed by the processor, cause the processor to:
- control an execution component of the robot to perform translation movement, and acquire first coordinate information of the execution component which corresponds to the translation movement, wherein the robot is a four-degree-of-freedom robot, and the first coordinate information is coordinate information in a world coordinate system;
- acquire second coordinate information which is collected by a photographic apparatus of the robot regarding a calibration board, wherein the calibration board is parallel to a corresponding coordinate plane of the world coordinate system, and the second coordinate information is coordinate information in a camera coordinate system;
- determine a rotation matrix on the basis of the first coordinate information and the second coordinate information;
- control the execution component to perform rotatory movement, and acquire third coordinate information which is collected by the photographic apparatus regarding the calibration board, wherein the third coordinate information is coordinate information in the camera coordinate system;
- determine a deviation vector between the calibration board and the execution component according to a position relation between the calibration board and the execution component;
- and
- determine a translation matrix on the basis of the first coordinate information, the deviation vector, the rotation matrix, and the third coordinate information.
A non-transitory computer-readable storage medium, having thereon stored computer instructions which, when executed by one or more processors, cause the one or more processors to:
- control an execution component of the robot to perform translation movement, and acquire first coordinate information of the execution component which corresponds to the translation movement, wherein the robot is a four-degree-of-freedom robot, and the first coordinate information is coordinate information in a world coordinate system;
- acquire second coordinate information which is collected by a photographic apparatus of the robot regarding a calibration board, wherein the calibration board is parallel to a corresponding coordinate plane of the world coordinate system, and the second coordinate information is coordinate information in a camera coordinate system;
- determine a rotation matrix on the basis of the first coordinate information and the second coordinate information;
- control the execution component to perform rotatory movement, and acquire third coordinate information which is collected by the photographic apparatus regarding the calibration board, wherein the third coordinate information is coordinate information in the camera coordinate system;
- determine a deviation vector between the calibration board and the execution component according to a position relation between the calibration board and the execution component;
- and
- determine a translation matrix on the basis of the first coordinate information, the deviation vector, the rotation matrix, and the third coordinate information.
Dependencies are inferred from the claim text.