Robot hand-eye calibration method and device, electronic equipment and system

Abstract

The invention provides a robot hand-eye calibration method and device, electronic equipment and a system. The method comprises the steps that three-dimensional point cloud image information obtained through photographing of a three-dimensional camera is obtained, wherein the three-dimensional point cloud image information comprises three-dimensional point cloud information of at least three identification balls which are not completely located on the same straight line; first position data of the mass center of the identification balls in a camera coordinate system are calculated according tothe three-dimensional point cloud image information; second position data of the mass center of the identification balls in a robot base coordinate system are acquired; and a conversion matrix betweenthe camera coordinate system and the robot base coordinate system is calculated according to the first position data and the second position data. Calibration can be completed only by acquiring the image information once, so that hand-eye calibration of a robot can be completed quickly, the efficiency is high, the calibration result is accurate, and the requirement on the industrial skill of an operator is relatively low.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a robot hand-eye calibration method, device, electronic equipment and system. Background technique [0002] With the development of precision and intelligent modern industry, the dependence on robot vision is getting higher and higher, and the application of robot vision is becoming more and more common, such as welding and assembly in the fields of aerospace and automobile manufacturing, and coding in the field of logistics. Palletizing, sorting, industrial 3D automatic inspection and other fields are used. The first and most important step in the intelligent application of robots is the robot hand-eye calibration. Its accuracy directly determines the processing and manufacturing precision of the robot system. [0003] Existing hand-eye calibration generally uses a calibration plate with a specific square or pattern. For hand-eye calibration where the eye is outside the hand, c...

AI Technical Summary

Problems solved by technology

[0005] 1. Due to the large number of measurement groups, the collection is divided into multiple times, which takes a long time and is inefficient;

[0006] 2. Every time the robot moves, it is easy to cause the calibration plate to shake due to the complex industrial environment, which reduces the correlation between different sets of data and affects the accuracy of the calibration results;

[0007] 3. Professionals are required to determine the measurement point based on their experience, which requires high professional skills for operators

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