Full-automatic hand-eye calibration and working plane calibration method and device

Abstract

The invention relates to a full-automatic hand-eye calibration and working plane calibration method and device. The method comprises the following steps that automatic exposure is conducted, so that acalibration plate can be recognized; the pose of a mechanical arm and calibration plate image data are acquired, and the next pose of the mechanical arm is calculated through an automatic path planning method; and whether there are at least nine calibration plate images covering the entire image view is determined, if not, the pose and calibration plate images are continuously collected, otherwise, according to the pose data, the calibration plate image data, a hand-eye relation matrix is calculated, meanwhile, camera internal parameters and a current working plane are calibrated, and re-projection errors of the calibration results are given. Compared with the prior art, one-button automatic hand-eye calibration and working plane calibration are achieved, manual intervention in the calibration process is reduced, the calibration accuracy can be effectively improved, the calibration re-projection errors are given, evaluation of the calibration results is more clear, operation is simpleand convenient, and the problems existing in the prior art are effectively solved.

Description

[0001] [technical field] [0002] The invention relates to the technical field of robot calibration, in particular to a fully automatic hand-eye calibration and working plane calibration method and device. [0003] [Background technique] [0004] At present, in the existing visual guidance system, calibration is a basic and key problem. Calibration is divided into two categories: one is the hand-eye calibration in three-dimensional space, which directly calibrates the relationship matrix between the camera coordinate system and the robot coordinate system, and converts the position information of visual recognition into the robot coordinate system; the other is to transform the problem of three-dimensional space into For the problem of two-dimensional plane, the working plane is calibrated, the relationship between the image plane and the working plane is calibrated, and the image coordinates are converted into robot coordinates. Four existing robot hand-eye calibration scheme...

AI Technical Summary

Problems solved by technology

[0009] There are certain deficiencies in the above four schemes: although the first scheme only needs two pose transformations of the robot to calculate the transformation matrix of the camera relative to the robot, manual intervention is required to set the pose of the robot during the calibration process; the internal parameters of the camera require Calibration in advance

The second solution requires manual intervention throughout the calibration process, the calibration process is complicated, and the accuracy cannot be guaranteed; the internal parameters of the camera need to be calibrated in advance

There is no quantitative index for the calibration results in the first to third schemes; the obstacle avoidance function cannot be provided during the calibration process

The fourth solution requires data collection according to a strict preset spherical path. Once the working plane is changed, complex hand-eye calibration needs to be re-performed

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