CN113160326B - Hand-eye calibration method and device based on reconstruction coordinate system - Google Patents
Hand-eye calibration method and device based on reconstruction coordinate system Download PDFInfo
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
- G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1692—Calibration of manipulator
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/0002—Inspection of images, e.g. flaw detection
- G06T7/0004—Industrial image inspection
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/60—Analysis of geometric attributes
- G06T7/66—Analysis of geometric attributes of image moments or centre of gravity
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/80—Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
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Abstract
The invention provides a hand-eye calibration method and device based on a reconstructed coordinate system, wherein the method comprises the following steps: determining clear characteristic points; establishing a transition tool coordinate system and a workpiece coordinate system; calculating the conversion relation between the image coordinate system and the workpiece coordinate system; calculating a characteristic point coordinate A on the first rotating image, a characteristic point coordinate B on the second rotating image and a midpoint C between the coordinate A and the coordinate B; calculating the coordinate of the midpoint C under the coordinate system of the workpiece and the deviation between the point C and the origin of the coordinate system of the transition tool; reconstructing a new tool coordinate system, wherein the origin of the new tool coordinate system is the origin of the transition tool coordinate system plus the deviation amount, and guiding the positioning of the mechanical arm according to the new tool coordinate system; the next time the guiding and positioning is performed, the new tool coordinate system is taken as the transition tool coordinate system, and the new tool coordinate system is built again. The invention eliminates the error between the origin of the tool coordinate system and the rotation center of the workpiece, and effectively improves the hand-eye calibration precision.
Description
Technical Field
The invention relates to a hand-eye calibration method and device based on a reconstructed coordinate system.
Background
In high precision and rapid operations, it is often necessary to assist the industrial robot in accurate positioning by visual guidance techniques. The visual guidance means that an industrial camera is used for capturing an image of an objective object instead of an eyeball of a person, and useful information is obtained through processing of a related algorithm, and is finally used for controlling the operation of a robot. In the vision guiding robot system, a transformation relation between a camera coordinate system and a robot basic coordinate system can be finally established through hand-eye calibration, and the transformation relation is a necessary condition for enabling a robot gripper to accurately grasp an object.
The existing hand-eye calibration method comprises a traditional nine-point hand-eye calibration method, the method comprises the steps of recording the pose of a mechanical arm by adopting a mechanical arm TCP to touch a marker printed with nine characteristic points, then shooting and calculating image coordinates of the nine points, and establishing a conversion relation between the mechanical arm and an image coordinate system through a calibration algorithm. However, in the nine-point hand-eye calibration method, the marks printed with nine characteristic points are required to be pasted, the coordinates are unified by tip touch, the operation is complicated, the result precision is greatly dependent on the level of operators, more importantly, a certain error exists between the origin of a tool coordinate system established by the method and the rotation center of a workpiece, and the error cannot be completely overlapped, so that displacement error is introduced, the hand-eye calibration precision is influenced, the error cannot be ignored as the operation is carried out, and the smooth operation is seriously influenced.
Disclosure of Invention
The invention aims to overcome the defects of the prior art, and provides a hand-eye calibration method and device based on a reconstructed coordinate system, which eliminate errors between an origin of a tool coordinate system and a rotation center of a workpiece, and the result precision is not dependent on the level of operators, so that the hand-eye calibration precision is effectively improved, the operation is simpler, and the operation efficiency is improved.
The invention is realized by the following technical scheme:
a hand-eye calibration method based on a reconstructed coordinate system comprises the following steps:
A. determining a clear characteristic point on the surface of the photographed workpiece;
B. Establishing a transition tool coordinate system through a TCP calibration method of the mechanical arm, enabling an origin of the transition tool coordinate system to be basically coincident with the characteristic points, and establishing a workpiece coordinate system according to the transition tool coordinate system, wherein the direction of the workpiece coordinate system is consistent with the direction of a Base coordinate system of the mechanical arm;
C. The method comprises the steps of controlling a mechanical arm to move nine positions on a plane of a workpiece coordinate system z=0 by using a transition tool coordinate system, controlling a camera arranged on the mechanical arm to acquire images containing characteristic points at the nine positions respectively, extracting characteristic point coordinates on each image respectively, and calculating a conversion relation between the image coordinate system and the workpiece coordinate system through each position coordinate and each marker characteristic point coordinate;
D. Controlling a mechanical arm to rotate around a first angle and a second angle of which the difference value is 180 degrees respectively on (0, 0) of a z=0 plane of a workpiece coordinate system, controlling a camera to shoot a first rotating image and a second rotating image at the first angle and the second angle respectively, calculating a characteristic point coordinate A on the first rotating image and a characteristic point coordinate B on the second rotating image respectively, and calculating a coordinate of a midpoint C of the coordinate A and the coordinate B;
E. According to the transformation relation, calculating the coordinate (D x,Dy) of the midpoint C under the coordinate system of the workpiece, rotating the coordinate system of the workpiece to be consistent with the direction of the coordinate system of the transition tool, and calculating the deviation between the point C and the origin of the coordinate system of the transition tool
Wherein, theta x is the Euler angle of the Base coordinate x-axis of the mechanical arm, theta y is the Euler angle of the Base coordinate y-axis of the mechanical arm, and theta z is the Euler angle of the Base coordinate Z-axis of the mechanical arm;
F. Reconstructing a new tool coordinate system, wherein the origin of the new tool coordinate system is the origin of the transition tool coordinate system plus the deviation calculated in the step E, enabling the new tool coordinate system to be consistent with the tool coordinate system direction of the flange plate of the mechanical arm, and guiding the mechanical arm to be positioned according to the new tool coordinate system;
G. and C, taking the new tool coordinate system in the step F as a transition tool coordinate system when the next guiding and positioning is carried out, and entering the step C.
Further, in the step C, x and y coordinates of the nine positions are respectively: (-a, -a), (-a, 0), (-a, a), (0, -a), (0, 0), (0, a), (a, -a), (a, 0), (a, a), wherein the value of a is related to the marker size and the camera field of view.
Further, in the step a, the feature point is a center or a cross line intersection point.
In the step a, a marker is stuck on the surface of the photographed workpiece, a circular pattern or a cross line is printed on the marker, and the feature point is the center of the circular pattern or the intersection point of the cross line.
Further, in the step D, the first angle is rotated 90 ° clockwise, and the second angle is rotated 270 ° clockwise.
Further, in the step C, the conversion relation [ R M ] is calculated by the following formula:
wherein, (x, y) is xy coordinates of each position on a workpiece coordinate system, (u, v) is row coordinates of an image coordinate system of each marker feature point, R is a rotation matrix, and M is a translation matrix.
In the step B, a transition tool coordinate system is established by a TCP calibration four-point method of the mechanical arm.
Further, the camera view is 80mm x 80mm, the marker size is 20mm x 20mm, and the value of a is 20mm.
The invention is also realized by the following technical scheme:
A hand-eye calibration device based on a reconstructed coordinate system, comprising:
the feature point determining module: the method is used for determining a clear characteristic point on the surface of the photographed workpiece;
A transition tool coordinate system determination module: the method comprises the steps of establishing a transition tool coordinate system through a TCP calibration method of the mechanical arm, enabling an origin of the transition tool coordinate system to coincide with a characteristic point as much as possible, and establishing a workpiece coordinate system according to the transition tool coordinate system, wherein the direction of the workpiece coordinate system is consistent with the direction of a Base coordinate system of the mechanical arm;
the conversion relation determining module: the method comprises the steps of controlling a mechanical arm to move nine positions on a plane of a workpiece coordinate system z=0 by using a transition tool coordinate system, controlling a camera arranged on the mechanical arm to acquire images containing characteristic points at the nine positions respectively, extracting characteristic point coordinates on each image respectively, and calculating a conversion relation between the image coordinate system and the workpiece coordinate system through each position coordinate and each marker characteristic point coordinate;
The deviation amount determining module: the method comprises the steps of controlling a mechanical arm to rotate around a (0, 0) plane of a workpiece coordinate system z=0 by a first angle and a second angle with a difference of 180 degrees respectively, controlling a camera to shoot a first rotation image and a second rotation image at the first angle and the second angle respectively, calculating a characteristic point coordinate A on the first rotation image and a characteristic point coordinate B on the second rotation image respectively, and calculating a coordinate of a midpoint C of the coordinate A and the coordinate B; according to the transformation relation, calculating the coordinate (D x,Dy) of the midpoint C under the coordinate system of the workpiece, rotating the coordinate system of the workpiece to be consistent with the direction of the coordinate system of the transition tool, and calculating the deviation between the point C and the origin of the coordinate system of the transition tool
Wherein, theta x is the Euler angle of the Base coordinate x-axis of the mechanical arm, theta y is the Euler angle of the Base coordinate y-axis of the mechanical arm, and theta z is the Euler angle of the Base coordinate Z-axis of the mechanical arm;
The new tool coordinate system determination module: the method comprises the steps of (a) reconstructing a new tool coordinate system, wherein the origin of the new tool coordinate system is the origin of the transition tool coordinate system plus the deviation calculated in the step E, enabling the new tool coordinate system to be consistent with the tool coordinate system direction of the flange plate of the mechanical arm, and guiding the mechanical arm to be positioned according to the new tool coordinate system;
And a positioning updating module: the tool coordinate system is used as a transition tool coordinate system when the next guiding positioning is carried out, and the new tool coordinate system is reestablished through the transformation relation determining module, the deviation determining module and the new tool coordinate system determining module, and the new tool coordinate system is used for guiding the positioning of the mechanical arm.
The invention has the following beneficial effects:
1. Before a tool coordinate system is determined for the first time, a clear characteristic point is determined on the surface of a photographed workpiece, a transition tool coordinate system with an origin basically coincident with the characteristic point is established, then the mechanical arm is controlled to collect images containing the characteristic point at nine specific positions, the conversion relation between the image coordinate system and the workpiece coordinate system is calculated according to the images, then the mechanical arm is controlled to rotate so as to obtain a first rotating image and a second rotating image, the coordinates of the middle point of the characteristic point coordinates on the first rotating image and the second rotating image are obtained, the offset between the middle point and the origin of the transition tool coordinate system can be obtained by utilizing the middle point coordinates and the conversion relation, the new tool coordinate system is determined by adding the offset to the origin of the transition tool coordinate system, the mechanical arm is guided to be positioned according to the tool coordinate system, and when next guiding and positioning are needed, the conversion relation and the offset are calculated again so as to determine the new tool coordinate system, the tool coordinate system is always kept consistent with the rotation center coordinate system of the workpiece, the error between the tool coordinate system and the rotation center coordinate system is eliminated, the operation accuracy is improved, and the accuracy is improved.
Drawings
The invention is described in further detail below with reference to the accompanying drawings.
FIG. 1 is a schematic diagram of the coordinate system of the present invention.
Fig. 2 is a flow chart of the present invention.
Wherein, 1, a mechanical arm; 2. a tool coordinate system; 3. a workpiece coordinate system; 4. a camera coordinate system; 5. robot Base coordinate system.
Detailed Description
As shown in fig. 1 and 2, the hand-eye calibration method based on the reconstructed coordinate system comprises the following steps:
A. Determining a clear characteristic point on the surface of the photographed workpiece, wherein in the embodiment, a marker is stuck on the surface of the photographed workpiece, a circular pattern is printed on the marker, and the characteristic point is the center of the circular pattern; in other embodiments, feature points, such as intersection points of crisscross lines, may also be determined directly on the surface of the tool being imaged;
B. Establishing a transition tool coordinate system through a TCP four-point calibration method of the mechanical arm, enabling an origin of the transition tool coordinate system to be basically coincident with the characteristic points, and establishing a workpiece coordinate system according to the transition tool coordinate system, wherein the direction of the workpiece coordinate system is consistent with the direction of a Base coordinate system of the mechanical arm; the TCP four-point calibration method is the prior art, but the TCP four-point calibration method cannot be used for completely overlapping the origin of the coordinate system of the transition tool with the characteristic points, so that the origin of the coordinate system of the transition tool can be overlapped with the characteristic points as much as possible, furthermore, the origin of the coordinate system of the transition tool and the characteristic points do not need to be overlapped, and the point can be achieved only by a new coordinate system of the tool after the subsequent steps are processed, and the coordinate system of the transition tool is taken as a basis; the direction of the Base coordinate system of the mechanical arm is known;
C. The method comprises the steps of controlling a mechanical arm to move nine positions on a plane of a workpiece coordinate system z=0 by using a transition tool coordinate system, controlling a camera arranged on the mechanical arm to acquire images containing characteristic points at the nine positions respectively, extracting characteristic point coordinates on each image respectively, and calculating a conversion relation between the image coordinate system and the workpiece coordinate system through each position coordinate and each marker characteristic point coordinate; wherein, the x and y coordinates of the nine positions are respectively: (-a, -a), (-a, 0), (-a, a), (0, -a), (0, 0), (0, a), (a, -a), (a, 0), (a, a), wherein the value of a is related to the marker size and the camera field of view, in this embodiment 80mm x 80mm for the camera field of view, 20mm x 20mm for the marker size, 20mm for a; extracting the coordinates of the feature points of the image is the prior art, in this embodiment, extracting the coordinates of the circle center includes the steps of extracting the boundary, fitting the circle and obtaining the circle center, wherein the image coordinate system is the image pixel coordinate system, and the feature point coordinates are the pixel coordinates of the feature points on the image;
the specific formula for calculating the transformation relation [ R M ] is: Wherein, (x, y) is xy coordinates of each position on a workpiece coordinate system, (u, v) is row coordinates of an image coordinate system of each marker feature point, R is a rotation matrix, and M is a translation matrix;
D. Controlling a mechanical arm to rotate around a first angle and a second angle of which the difference value is 180 degrees respectively on (0, 0) of a z=0 plane of a workpiece coordinate system, controlling a camera to shoot a first rotating image and a second rotating image at the first angle and the second angle respectively, calculating a characteristic point coordinate A on the first rotating image and a characteristic point coordinate B on the second rotating image respectively, and calculating a coordinate of a midpoint C of the coordinate A and the coordinate B; in this embodiment, the first angle is rotated 90 ° clockwise and the second angle is rotated 270 ° clockwise;
E. According to the transformation relation, calculating the coordinate (D x,Dy) of the midpoint C under the coordinate system of the workpiece, rotating the coordinate system of the workpiece to be consistent with the direction of the coordinate system of the transition tool, and calculating the deviation between the point C and the origin of the coordinate system of the transition tool
Wherein, T x is the deviation amount of the new tool coordinate system and the transition tool coordinate system in the x direction, T y is the deviation amount of the new tool coordinate system and the transition tool coordinate system in the y direction, T z is the deviation amount of the new tool coordinate system and the transition tool coordinate system in the Z direction, θ x is the arm Base coordinate x-axis euler angle, θ y is the arm Base coordinate y-axis euler angle, and θ z is the arm Base coordinate Z-axis euler angle;
in the theoretical case, the feature point coordinate A and the feature point coordinate B should be the same point, but because the origin of the transition tool coordinate system is not coincident with the rotation center of the workpiece, the feature point coordinate A and the feature point coordinate B have a certain difference with (0, 0), and because the difference between the first angle and the second angle is 180 degrees, the midpoint C of the coordinate A and the coordinate B is the actual rotation center of the workpiece and is also the origin of the new tool coordinate system;
F. Reconstructing a new tool coordinate system, wherein the origin of the new tool coordinate system is the origin of the transition tool coordinate system plus the deviation calculated in the step E, enabling the new tool coordinate system to be consistent with the tool coordinate system direction of the flange plate of the mechanical arm, and guiding the mechanical arm to be positioned according to the new tool coordinate system; wherein the direction of the mechanical arm flange tool coordinate system is known;
G. and C, taking the new tool coordinate system in the step F as a transition tool coordinate system when the next guiding and positioning is carried out, and entering the step C.
Hand-eye calibration device based on rebuilding coordinate system includes:
the feature point determining module: the method is used for determining a clear characteristic point on the surface of the photographed workpiece;
A transition tool coordinate system determination module: the method comprises the steps of establishing a transition tool coordinate system through a TCP calibration method of the mechanical arm, enabling an origin of the transition tool coordinate system to coincide with a characteristic point as much as possible, and establishing a workpiece coordinate system according to the transition tool coordinate system, wherein the direction of the workpiece coordinate system is consistent with the direction of a Base coordinate system of the mechanical arm;
the conversion relation determining module: the method comprises the steps of controlling a mechanical arm to move nine positions on a plane of a workpiece coordinate system z=0 by using a transition tool coordinate system, controlling a camera arranged on the mechanical arm to acquire images containing characteristic points at the nine positions respectively, extracting characteristic point coordinates on each image respectively, and calculating a conversion relation between the image coordinate system and the workpiece coordinate system through each position coordinate and each marker characteristic point coordinate;
The deviation amount determining module: the method comprises the steps of controlling a mechanical arm to rotate around a (0, 0) plane of a workpiece coordinate system z=0 by a first angle and a second angle with a difference of 180 degrees respectively, controlling a camera to shoot a first rotation image and a second rotation image at the first angle and the second angle respectively, calculating a characteristic point coordinate A on the first rotation image and a characteristic point coordinate B on the second rotation image respectively, and calculating a coordinate of a midpoint C of the coordinate A and the coordinate B; according to the transformation relation, calculating the coordinate (D x,Dy) of the midpoint C under the coordinate system of the workpiece, rotating the coordinate system of the workpiece to be consistent with the direction of the coordinate system of the transition tool, and calculating the deviation between the point C and the origin of the coordinate system of the transition tool
Wherein, theta x is the Euler angle of the Base coordinate x-axis of the mechanical arm, theta y is the Euler angle of the Base coordinate y-axis of the mechanical arm, and theta z is the Euler angle of the Base coordinate Z-axis of the mechanical arm;
The new tool coordinate system determination module: the method comprises the steps of (a) reconstructing a new tool coordinate system, wherein the origin of the new tool coordinate system is the origin of the transition tool coordinate system plus the deviation calculated in the step E, enabling the new tool coordinate system to be consistent with the tool coordinate system direction of the flange plate of the mechanical arm, and guiding the mechanical arm to be positioned according to the new tool coordinate system;
And a positioning updating module: the tool coordinate system is used as a transition tool coordinate system when the next guiding positioning is carried out, and the new tool coordinate system is reestablished through the transformation relation determining module, the deviation determining module and the new tool coordinate system determining module, and the new tool coordinate system is used for guiding the positioning of the mechanical arm.
The foregoing description is only illustrative of the preferred embodiments of the present invention and is not to be construed as limiting the scope of the invention, i.e., the invention is not to be limited to the details of the claims and the description, but rather is to cover all modifications which are within the scope of the invention.
Claims (9)
1.A hand-eye calibration method based on a reconstructed coordinate system is characterized by comprising the following steps of: the method comprises the following steps:
A. determining a clear characteristic point on the surface of the photographed workpiece;
B. Establishing a transition tool coordinate system through a TCP calibration method of the mechanical arm, enabling an origin of the transition tool coordinate system to be basically coincident with the characteristic points, and establishing a workpiece coordinate system according to the transition tool coordinate system, wherein the direction of the workpiece coordinate system is consistent with the direction of a Base coordinate system of the mechanical arm;
C. The method comprises the steps of controlling a mechanical arm to move nine positions on a plane of a workpiece coordinate system z=0 by using a transition tool coordinate system, controlling a camera arranged on the mechanical arm to acquire images containing characteristic points at the nine positions respectively, extracting characteristic point coordinates on each image respectively, and calculating a conversion relation between the image coordinate system and the workpiece coordinate system through each position coordinate and each marker characteristic point coordinate;
D. Controlling a mechanical arm to rotate around a first angle and a second angle of which the difference value is 180 degrees respectively on (0, 0) of a z=0 plane of a workpiece coordinate system, controlling a camera to shoot a first rotating image and a second rotating image at the first angle and the second angle respectively, calculating a characteristic point coordinate A on the first rotating image and a characteristic point coordinate B on the second rotating image respectively, and calculating a coordinate of a midpoint C of the coordinate A and the coordinate B;
E. According to the transformation relation, calculating the coordinate (D x,Dy) of the midpoint C under the coordinate system of the workpiece, rotating the coordinate system of the workpiece to be consistent with the direction of the coordinate system of the transition tool, and calculating the deviation between the point C and the origin of the coordinate system of the transition tool
Wherein, theta x is the Euler angle of the Base coordinate x-axis of the mechanical arm, theta y is the Euler angle of the Base coordinate y-axis of the mechanical arm, and theta z is the Euler angle of the Base coordinate Z-axis of the mechanical arm;
F. reconstructing a new tool coordinate system, wherein the origin of the new tool coordinate system is the origin of the transition tool coordinate system plus the deviation calculated in the step E, enabling the direction of the new tool coordinate system to be consistent with that of the tool coordinate system of the flange plate of the mechanical arm, and guiding the mechanical arm to be positioned according to the new tool coordinate system;
G. and C, taking the new tool coordinate system in the step F as a transition tool coordinate system when the next guiding and positioning is carried out, and entering the step C.
2. The hand-eye calibration method based on the reconstructed coordinate system as set forth in claim 1, wherein: in the step C, x and y coordinates of the nine positions are respectively: (-a, -a), (-a, 0), (-a, a), (0, -a), (0, 0), (0, a), (a, -a), (a, 0), (a, a), wherein the value of a is related to the marker size and the camera field of view.
3. The hand-eye calibration method based on the reconstructed coordinate system as set forth in claim 1, wherein: in the step A, the characteristic point is a circle center or a cross line intersection point.
4. The hand-eye calibration method based on the reconstructed coordinate system as set forth in claim 1, wherein: in the step A, a marker is stuck on the surface of the photographed workpiece, a circular pattern or a cross line is printed on the marker, and the characteristic point is the circle center of the circular pattern or the cross line intersection point.
5. A hand-eye calibration method based on a reconstructed coordinate system according to claim 1 or 2 or 3 or 4, wherein: in the step D, the first angle is rotated 90 degrees clockwise, and the second angle is rotated 270 degrees clockwise.
6. A hand-eye calibration method based on a reconstructed coordinate system according to claim 1 or 2 or 3 or 4, wherein: in the step C, the transformation relation [ R M ] is calculated by the following formula:
wherein, (x, y) is xy coordinates of each position on a workpiece coordinate system, (u, v) is row coordinates of an image coordinate system of each marker feature point, R is a rotation matrix, and M is a translation matrix.
7. A hand-eye calibration method based on a reconstructed coordinate system according to claim 1 or 2 or 3 or 4, wherein: in the step B, a transition tool coordinate system is established through a TCP calibration four-point method of the mechanical arm.
8. The hand-eye calibration method based on the reconstructed coordinate system as set forth in claim 2, wherein: the camera field of view is 80mm, the marker size is 20mm, and the value of a is 20mm.
9. The utility model provides a hand eye calibration device based on rebuild coordinate system which characterized in that: comprising the following steps:
the feature point determining module: the method is used for determining a clear characteristic point on the surface of the photographed workpiece;
A transition tool coordinate system determination module: the method comprises the steps of establishing a transition tool coordinate system through a TCP calibration method of the mechanical arm, enabling an origin of the transition tool coordinate system to coincide with a characteristic point as much as possible, and establishing a workpiece coordinate system according to the transition tool coordinate system, wherein the direction of the workpiece coordinate system is consistent with the direction of a Base coordinate system of the mechanical arm;
the conversion relation determining module: the method comprises the steps of controlling a mechanical arm to move nine positions on a plane of a workpiece coordinate system z=0 by using a transition tool coordinate system, controlling a camera arranged on the mechanical arm to acquire images containing characteristic points at the nine positions respectively, extracting characteristic point coordinates on each image respectively, and calculating a conversion relation between the image coordinate system and the workpiece coordinate system through each position coordinate and each marker characteristic point coordinate;
The deviation amount determining module: the method comprises the steps of controlling a mechanical arm to rotate around a (0, 0) plane of a workpiece coordinate system z=0 by a first angle and a second angle with a difference of 180 degrees respectively, controlling a camera to shoot a first rotation image and a second rotation image at the first angle and the second angle respectively, calculating a characteristic point coordinate A on the first rotation image and a characteristic point coordinate B on the second rotation image respectively, and calculating a coordinate of a midpoint C of the coordinate A and the coordinate B; according to the transformation relation, calculating the coordinate (D x,Dy) of the midpoint C under the coordinate system of the workpiece, rotating the coordinate system of the workpiece to be consistent with the direction of the coordinate system of the transition tool, and calculating the deviation between the point C and the origin of the coordinate system of the transition tool
Wherein, theta x is the Euler angle of the Base coordinate x-axis of the mechanical arm, theta y is the Euler angle of the Base coordinate y-axis of the mechanical arm, and theta z is the Euler angle of the Base coordinate Z-axis of the mechanical arm;
The new tool coordinate system determination module: the method comprises the steps of (a) reconstructing a new tool coordinate system, wherein the origin of the new tool coordinate system is the origin of the transition tool coordinate system plus the deviation calculated in the step E, enabling the new tool coordinate system to be consistent with the tool coordinate system direction of the flange plate of the mechanical arm, and guiding the mechanical arm to be positioned according to the new tool coordinate system;
And a positioning updating module: the tool coordinate system is used as a transition tool coordinate system when the next guiding positioning is carried out, and the new tool coordinate system is reestablished through the transformation relation determining module, the deviation determining module and the new tool coordinate system determining module, and the new tool coordinate system is used for guiding the positioning of the mechanical arm.
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