Manipulator-guided spraying calibration method, device and equipment and storage medium thereof

• Main Authors: HUANG AILIN, LIU JIE, XIAO JUNLIN
• Format: Patent
• Language: Chinese; English
• Published: 27.08.2021
• Subjects: MEASURING; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS; MEASURING LENGTH, THICKNESS OR SIMILAR LINEARDIMENSIONS; PHYSICS; TESTING

The invention discloses a manipulator-guided spraying calibration method, device and equipment and a storage medium thereof. The method comprises the steps: controlling a contact type measuring head to touch a feature point on a calibration piece, so that the three-dimensional coordinate of the feature point is obtained through measurement; controlling a visual camera to collect a calibration piece image of the calibration piece in a preset posture; obtaining an X-coordinate difference value and a Y-coordinate difference value calculated by the visual camera, wherein the X-coordinate difference value is a deviation value of the track point on the dispensing path and the feature point in the X direction, and the Y-coordinate difference value is a deviation value of the track point on the dispensing path and the feature point in the Y direction; obtaining a Z coordinate difference value between the feature point on the calibration piece and the track point on the dispensing path in the Z direction; and accordin