Robot, hand-eye calibration method for fixing camera of robot at tail end and storage medium

Abstract

The invention discloses a robot, a hand-eye calibration method for fixing a camera of the robot at the tail end of the robot, and a storage medium. The method comprises the steps of building a visual template, and demonstrating at least three point locations in the visual field range of the camera of the robot; correspondingly obtaining a target coordinate data set obtained after the robot drives the camera to move among the at least three point locations; calculating a pixel equivalent initial value and a camera tool initial value by utilizing the pixel coordinate data set and the robot tail end coordinate data set; calculating coordinate data of the template center under a robot base coordinate system through the pixel equivalent initial value and the camera tool initial value; and constructing a nonlinear optimization model according to the relationship that the coordinates of the template in the robot base coordinate system are always unchanged, taking the pixel equivalent initial value and the camera tool initial value as iterative initial values, and performing iterative optimization by using a nonlinear optimization algorithm to obtain the optimal pixel equivalent and the camera tool. According to the scheme, the calibration precision can be effectively improved, and the calibration operation steps are simplified.

Description

technical field [0001] The invention relates to the technical field of automatic calibration of robots, in particular to a hand-eye calibration method and a storage medium in which a robot and its camera are fixed at the end. Background technique [0002] With the rapid development of the manufacturing industry, robots, as a high-tech industry, are also developing rapidly, and their application scenarios continue to expand. For example: installing a vision sensor on the robot, and helping the robot to detect, judge, identify, measure, etc. the external environment according to the visual information obtained by the vision sensor, so that the robot can perform more complex and intelligent tasks. [0003] Before the use of vision sensors, hand-eye calibration is required, and in robot vision applications, hand-eye calibration is a very basic and critical issue. Simply put, the purpose of hand-eye calibration is to obtain the relationship between the base coordinates and the v...

AI Technical Summary

Problems solved by technology

The above-mentioned hand-eye calibration method requires many times of manual participation, and the calibration process is less efficient, and the processing accuracy of the calibration plate and the accuracy of manual operations will affect the accuracy of the hand-eye calibration results, making it difficult to guarantee the accuracy of the hand-eye calibration results

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