Vision-based double-robot relative pose online calibration method

Abstract

The invention belongs to the field of multi-robot relative pose calibration, and specifically discloses a vision-based double-robot relative pose online calibration method. The method includes the following steps: 1, determining a pose relation ATC between a base coordinate system {A} of a robot A and a camera coordinate system {C} and a pose relation BTM between a base coordinate system {B} of arobot B and a target coordinate system {M} offline; and 2, obtaining a pose relation CTM between the camera coordinate system and the target coordinate system online through a vision measurement technology, and building a calibration equation according to the ATC, BTM and CTM in a coordinate system closed-loop mode to calculate a double-robot relative pose relation ATB, so as to complete calibration of a double-robot base coordinate system. The vision-based double-robot relative pose online calibration method provided by the invention can perform high-precision online calibration for multipletimes only by offline measurement once, and is suitable for occasions on which a relative pose of multiple robots changes frequently and a requirement for collaborative operation precision is relatively high, and relative pose calibration needs to be performed frequently and rapidly.

Description

technical field [0001] The invention belongs to the field of relative pose calibration of robots, and more particularly relates to a vision-based online calibration method for relative poses of dual robots. Background technique [0002] With the development of robot technology and the increasing complexity of the working environment and tasks, more and more occasions need to adopt the multi-robot collaborative operation mode represented by dual robots, such as: hole-making and assembly of thin-walled parts such as aircraft skins With milling, dual-robot grinding and polishing for large wind turbine blades, and traditional dual-robot coordination of welding, spraying, handling, etc. [0003] Since the manufacturing industry usually has strict requirements on precision, each robot must accurately know the relative pose relationship between each other's base coordinate systems when a dual / multi-robot system is used for collaborative work. However, in the existing dual / multi-ro...

AI Technical Summary

Problems solved by technology

In comparison, the principle of the contact method is simple, but the manual participation is high and the efficiency is low; the preparation work before the calibration of the non-contact method is more complicated, and the calibration speed is still at the minute level, and the calibration speed is slow

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