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Full-automatic hand-eye calibration method and device

A hand-to-eye calibration and fully automatic technology, applied in the field of robot calibration, can solve the problems of not providing eye-to-hand calibration methods, calibration results without quantitative indicators, and failure to provide obstacle avoidance functions, etc.

Inactive Publication Date: 2017-12-22
北京阿丘科技有限公司
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  • Summary
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  • Application Information

AI Technical Summary

Problems solved by technology

[0010] The second solution requires manual intervention throughout the calibration process, the calibration process is complicated, and the accuracy cannot be guaranteed
[0012] In addition, the above three schemes do not provide eye-to-hand calibration methods; there is no quantitative index for the calibration results; the obstacle avoidance function cannot be provided during the calibration process

Method used

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  • Full-automatic hand-eye calibration method and device

Examples

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no. 1 example

[0037] Please refer to figure 2 , the present embodiment provides a fully automatic hand-eye calibration method, the method comprising:

[0038] Step S200: Obtain the current pose of the robotic arm;

[0039] In this embodiment, the pose of the robotic arm may be the position and posture of the robotic arm in the current space. Specifically, the pose may be the end of the robot to the base on which the robotic arm is installed. The transformation matrix A between. By constructing a space coordinate system with a fixed base of the manipulator, the calibration of the pose of the manipulator can be completed. By obtaining the angle between each joint of the manipulator, the current attitude of the manipulator can be obtained, and finally the end of the manipulator can be obtained. Transformation matrix A between to the base of the manipulator.

[0040] Step S210: Obtain the next pose of the robotic arm according to the current pose of the robotic arm and the preset motion pat...

no. 2 example

[0081] Please refer to Figure 10 , the present embodiment provides a fully automatic hand-eye calibration device 700, which includes:

[0082] A pose acquisition module 710, configured to acquire the current pose of the mechanical arm;

[0083] The pose calculation module 720 is configured to obtain the next pose of the robotic arm according to the current pose of the robotic arm and a preset motion path;

[0084] An image acquisition module 730, configured to acquire calibration plate data under each pose of the manipulator;

[0085] The result calculation module 740 obtains the hand-eye calibration result of the camera and the robot arm according to the pose of the robot arm and the calibration board data.

[0086] To sum up, the fully automatic hand-eye calibration method and device provided by the embodiments of the present invention can obtain the initial state of the robotic arm before starting the calibration by obtaining the current pose of the robotic arm, so as to...

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Abstract

The invention provides a full-automatic hand-eye calibration method and device and relates to the technical field of robot calibration. The full-automatic hand-eye calibration method comprises the steps that the current pose of a mechanical arm is obtained; the next pose of the mechanical arm is obtained according to the current pose of the mechanical arm and the preset movement path; calibration board data under all the poses of the mechanical arm are obtained; and according to the poses of the mechanical arm and the calibration board data, the hand-eye calibration result of a camera and the mechanical arm is obtained. According to the full-automatic hand-eye calibration method and device, a simpler, more accurate and collisionless automatic calibration scheme is provided for hand-eye calibration of a robot; a calibration system does not need extra auxiliary hardware equipment except a calibration board, and inner reference of the camera and calibration of a transformation matrix of the camera and the mechanical arm can be simultaneously completed only by automatically controlling the mechanical arm to move with the calibration board or the camera as the center.

Description

technical field [0001] The invention relates to the technical field of robot calibration, in particular to a fully automatic hand-eye calibration method and device. Background technique [0002] Giving industrial robots a pair of "intelligent eyes" and establishing the coordinate relationship between robots and cameras is an important part of making robots intelligent. After the robot is installed with a vision sensor, it can perform more complex and intelligent tasks with the help of visual information, and the precise calibration of the robot and the camera is a bridge to establish the relationship between the robot and the vision system. [0003] In the robot system, the installation method of the camera can be divided into two categories: eye-in-hand, that is, the camera is installed at the end of the mechanical arm and moves with the movement of the mechanical arm; eye-to-hand, the camera is installed between the mechanical arm In addition, it is relatively fixed with ...

Claims

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Application Information

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IPC IPC(8): B25J9/16
CPCB25J9/1697G05B2219/40002
Inventor 郑慧伟黄耀张辉王旒军
Owner 北京阿丘科技有限公司
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