An industrial robot depth vision sensor calibration board and calibration method

Abstract

The invention provides an industrial robot depth vision sensor calibration board and a calibration method, which relate to the field of intelligent industrial robots. The initial position outer hole 1, the initial position outer hole 2, the origin of the calibration plate coordinate system, the initial position inner hole 1, the initial position inner hole 2, trapezoidal grooves and triangular grooves, the initial position outer hole 1, The outer hole 2 at the starting position, the inner hole 1 at the starting position and the inner hole 2 at the starting position are on the same straight line. Point 1 and datum point 2. The present invention quickly calibrates the depth vision sensor by using a calibration plate with a processing precision controlled at ±0.01mm, a simple structure and low production cost, and the method has high versatility, and can be applied to the calibration of the depth vision sensor of most industrial robots.

Description

technical field [0001] The invention relates to the field of intelligent industrial robots, in particular to an industrial robot depth vision sensor calibration plate and a calibration method. Background technique [0002] At present, the research on the calibration of industrial robot sensors has made great progress, but it is mainly used to solve the problem of calibration between industrial robots, industrial cameras, and 3D scanners. For the TCP calibration problem of the clamping sensor of the end effector of the industrial robot, the closed-loop kinematic chain equation of the industrial robot under specific geometric constraints (point, line, surface) is mainly solved, including the following four methods: [0003] Method 1: Measure the same point while changing the position and attitude of the industrial robot multiple times, and use the kinematic equation and the least square method to obtain the homogeneous transformation matrix between the end coordinate system of...

AI Technical Summary

Problems solved by technology

This method has high calibration accuracy, but it needs the industrial robot servo control system to assist in calibrating the sensor direction parameters, which is not universal

[0006] Method 4: Use the composite calibration method of cylindrical surface and conical surface. This method needs to design a calibration surface with adjustable direction, and use the TCP calibration algorithm to calibrate the direction of the laser beam on the serial coordinate measuring machine platform. This method has high calibration accuracy. However, the calibration process needs to calibrate the direction and position parameters of the sensor separately. The calibration process is cumbersome and requires auxiliary calibration objects or close auxiliary measurement equipment. The calibration cost is high, and in the sensor calibration process, the measurement of industrial robots Attitude and measurement conditions have a great influence on the calibration results

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