Coordinate system calibration method, device, and computer readable medium

Abstract

The invention relates to the technical field of industrial robots, and particularly relates to a coordinate system calibration method, a device, and a computer readable medium. A coordinate calibration method comprising: rotating an actuator () about an z″ axis of an actual actuator coordinate system () to reach three different positions, and controlling a camera () to capture an image of a target object () on an operation platform () for each of the three reached positions; merging positions of the target object () in images captured at the three positions into one image, and determining coordinates of a center P3 of a circumcircle of the three positions of the target object () in the image under a camera coordinate system (); enabling the actuator () to move along the z″ axis and contact the operation platform () with a terminal end, and labeling a contact point as a point P2; controlling the actuator () to return to a first position () along the z″ axis, and controlling the camera () to capture an image; determining coordinates of P2 under the camera coordinate system () according to the position of P2 in the image; and determining, according to the coordinates of P2 and P3 under the camera coordinate system () and a moved distance of the actuator () from the first position () along the z″ axis, a deviation of the z″ axis from a theoretical z axis of an actuator coordinate system (). The invention has an advantage of operational simplicity.