Hand-eye calibration methods, systems, and storage media for robots

A calibration target, comprising a target body, an infrared light emitting component, and an infrared light modulating component, wherein

• the infrared light emitting component is provided inside the target body;
• the infrared light emitting component is configured to emit an infrared light to the target body, wherein different regions of the target body have different transmittances to the infrared light emitted by the infrared light emitting component;
• and
• the infrared light modulating component is configured to control the infrared light emitting component to emit an infrared light of at least one of a preset waveband or a preset intensity.

A hand-eye calibration system for a robot, comprising a calibration target, an imaging device, the robot, a processor, and a storage, wherein the storage is configured to store an instruction set, and the processor is configured to execute the instruction set to execute the hand-eye calibration method for the robot including:

• obtaining images of a target body of the calibration target acquired by the imaging device when the robot is in different poses, the calibration target further including an infrared light emitting component and an infrared light modulating component, the infrared light emitting component being provided inside the target body, the infrared light emitting component being configured to emit an infrared light in an infrared light waveband that the imaging device is capable of collecting to the target body, different regions of the target body having different transmittances to the infrared light emitted by the infrared light emitting component, and the infrared light modulating component being configured to control the infrared light emitting component to emit an infrared light of at least one of a preset waveband or a preset intensity;
• for any pose,
• determining, based on at least one image collected in the pose, a first transformation relationship, in the pose, between a first coordinate system of the calibration target and a second coordinate system of the imaging device;
• obtaining a second transformation relationship between a third coordinate system and a fourth coordinate system of the robot;
• and
• determining, based on the first transformation relationships and the second transformation relationships corresponding to the different poses, a third transformation relationship between the second coordinate system and one of the third coordinate system and the fourth coordinate system, the third coordinate system being related to a base of the robot, and the fourth coordinate system being related to an end-of-arm tool (EOAT) of a robotic arm of the robot.