US 12,202,152 B2
Visual perception device based spatial calibration method and apparatus for robot body coordinate system, and storage medium
Wanchao Chi, Shenzhen (CN); Le Chen, Shenzhen (CN); Yonggen Ling, Shenzhen (CN); Shenghao Zhang, Shenzhen (CN); Yu Zheng, Shenzhen (CN); Xinyang Jiang, Shenzhen (CN); and Zhengyou Zhang, Shenzhen (CN)
Assigned to Tencent Technology (Shenzhen) Company Limited, Shenzhen (CN)
Filed by Tencent Technology (Shenzhen) Company Limited, Guangdong (CN)
Filed on May 2, 2022, as Appl. No. 17/734,629.
Application 17/734,629 is a continuation of application No. PCT/CN2021/084229, filed on Mar. 31, 2021.
Claims priority of application No. 202010351422 (CN), filed on Apr. 28, 2020.
Prior Publication US 2022/0258356 A1, Aug. 18, 2022
Int. Cl. B25J 9/16 (2006.01); B25J 19/02 (2006.01); B62D 57/032 (2006.01)
CPC B25J 9/1697 (2013.01) [B25J 9/1602 (2013.01); B25J 9/1692 (2013.01); B25J 19/023 (2013.01); B62D 57/032 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A spatial calibration method of a robot ontology coordinate system based on a visual perception device, performed by a computer device, the method 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.