Hand and eye coordinate converting method of visual positioning robot

Abstract

The invention discloses a hand and eye coordinate converting method of a visual positioning robot. The method is characterized in that a visual sensor cloud deck rotating when a rotating platform rotates is arranged on the rotating platform of a mechanical arm chassis, the visual sensor cloud deck is of a dual-shaft rotating structure with a horizontal rotating shaft and a vertical rotating shaft,detection data is obtained by a visual sensor on the visual sensor cloud deck, and a mechanical arm is driven by the robot to move to a target for positioning through the coordinate conversion of thedetection data between a visual coordinate system and a kinematics coordinate system. The errors caused by coordinate obtaining and converting are effectively reduced, and the method can be widely used for coordinate converting treatment of various visual positioning type robots.

Description

technical field [0001] The invention relates to a coordinate conversion method, more specifically a hand-eye coordinate conversion method for a visual positioning robot, which includes acquiring coordinates and converting the coordinates into a usable form. Background technique [0002] In the process of visual positioning movement, there are transformations between coordinate systems. The traditional method is to deduce the coordinate transformation from vision to kinematics according to the geometric relationship between several coordinate systems. The limitations of this method in actual use include: the accurate transformation relationship from the visual reference point to the kinematics reference point cannot be obtained by measurement, and the installation of the robot often cannot ensure that the visual coordinate system and the kinematics coordinate system constitute a complete The translation relationship makes the coordinates in the kinematic coordinate system obt...

AI Technical Summary

Problems solved by technology

The limitations of this method in actual use include: the accurate transformation relationship from the visual reference point to the kinematics reference point cannot be obtained accurately by measurement, and the installation of the robot often cannot ensure that the visual coordinate system and the kinematics coordinate system constitute a complete The translation relationship makes the coordinates in the kinematic coordinate system obtained by the translation transformation not very accurate during the subsequent geometric transformation, and the corresponding rotation transformation needs to be added

Therefore, the accuracy of traditional coordinate acquisition and conversion methods usually cannot meet the requirements, and the errors are irregular and inconsistent in all directions.

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