Indoor robot vision hand-eye relation calibration method based on 3D image sensor

Abstract

The invention provides an indoor robot vision hand-eye relation calibration method based on a 3D image sensor. The method comprises the following steps: S1, marking a plurality of marking points on hand grabbing tail end joints of a robot, acquiring point cloud image information of the hand grabbing tail end joints through the 3D vision sensor of the robot, and acquiring a plurality of sets of three-dimensional coordinate values relative to a visual sensor coordinate system; S2, acquiring the three-dimensional coordinate values of the multiple marking points of the hand grabbing tail end joints under the world coordinate system through an external three-dimensional measurement device, wherein the values are acquired through an arm-base coordinate system of the robot; S3, acquiring the coordinate values through the step S1 and the step S2 and obtaining a hand-eye calibration array. The indoor robot vision hand-eye relation calibration method based on the 3D image sensor simplifies the calibration process, the measurement precision is high, and the requirement for indoor robot hand-eye calibration can be effectively met.

Description

technical field [0001] The invention relates to a robot vision method, in particular to an indoor robot vision hand-eye relationship calibration method based on a 3D image sensor. Background technique [0002] With the application and development of 3D sensors, more and more robots use 3D sensors as the robot vision system. Unlike the traditional binocular vision system, the 3D sensor collects the point cloud image information of the current scene, and its image information is a large amount. The three-dimensional coordinate value can intuitively reflect the depth and image information. The traditional binocular vision system uses two industrial cameras to collect the plane image of the current scene. The image information is the pixel value. The depth information is calculated through the parallax of the two images, which will inevitably lead to calculation errors. , leading to a decrease in accuracy. In the robot hand-eye calibration system, the 3D sensor is used to retu...

AI Technical Summary

Problems solved by technology

"Robot", 2001, 23(2), pp.113~117) is based on the "black box" idea of ​​directly mapping image coordinates to robot reference coordinates, which simplifies the calibration process, but the calculation is relatively complicated

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