CN110978056B - Plane calibration system and method for robot movement - Google Patents
Plane calibration system and method for robot movement Download PDFInfo
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- CN110978056B CN110978056B CN201911313494.8A CN201911313494A CN110978056B CN 110978056 B CN110978056 B CN 110978056B CN 201911313494 A CN201911313494 A CN 201911313494A CN 110978056 B CN110978056 B CN 110978056B
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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
- B25J19/0095—Means or methods for testing manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/088—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration sensors
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Abstract
The invention discloses a plane calibration system for robot movement, which comprises a detection structure, a camera device and a processor, wherein the detection structure is arranged on an end effector of a robot and comprises three detection pieces which are not on the same straight line, and the lower end surfaces of the three detection pieces are positioned on the same plane; the camera device is used for acquiring image information when the detection structure is positioned in the calibration area; the processor is used for executing: controlling the robot to drive the detection structure to move to the calibration area; acquiring image information acquired by a camera device when a detection structure is located in a calibration area; obtaining the height difference between the three detection pieces according to the image information; and comparing the height difference value with a difference threshold value, if the height difference value exceeds the difference threshold value, controlling the robot to adjust the posture, performing difference compensation, and then repeatedly executing the operation until the height difference value meets the difference threshold value. In addition, the invention also discloses a plane calibration system for robot motion. The invention realizes accurate and rapid horizontal plane calibration.
Description
Technical Field
The invention relates to the technical field of robot motion calibration, in particular to a plane calibration system and method for robot motion.
Background
Robotics is widely used in industrial fields, such as automatic assembly, automatic tracking and grasping, automatic welding, and the like. Different actuators, such as a clamping jaw and a welding gun, are arranged at the tail end of the robot to complete different operation tasks, and the accuracy of the working face angle of the actuator in the operation process directly influences the operation precision of the whole robot.
Especially, in the process of automatically tracking and grabbing the object through the clamping jaws, whether the clamping jaws are horizontal or not influences whether the clamping jaws can accurately and stably grab the object or not. Therefore, in order to ensure the working accuracy and efficiency of the robot, it is necessary to calibrate the jaws of the robot before performing work with the robot. In the prior art, the operator usually observes whether the clamping jaw is horizontal or not through naked eyes, and the method is time-consuming, labor-consuming and inaccurate.
Disclosure of Invention
The invention aims to provide a plane calibration system for robot movement, which can accurately and quickly calibrate a horizontal plane.
Another object of the present invention is to provide a plane calibration method for robot movement that can calibrate a horizontal plane accurately and rapidly.
In order to achieve the purpose, the invention discloses a robot motion plane calibration system, which comprises a detection structure, a camera device and a processor, wherein the detection structure is arranged on an end effector of a robot and comprises a first detection piece, a second detection piece and a third detection piece which are not on the same straight line, and the lower end surfaces of the first detection piece, the second detection piece and the third detection piece are positioned on the same plane; the camera device is used for acquiring image information when the detection structure is positioned in a calibration area; the processor is configured to perform: controlling the robot to drive the detection structure to move to the calibration area; acquiring image information acquired by the camera device when the detection structure is located in the calibration area; obtaining the height difference values among the first detection piece, the second detection piece and the third detection piece according to the image information; and comparing the height difference value with a difference threshold value, if the height difference value exceeds the difference threshold value, controlling the robot to adjust the posture, performing difference compensation, and then repeatedly executing the operation until the height difference value meets the difference threshold value.
Preferably, the image information includes a first image, a second image and a third image, and the processor performs: controlling the robot to drive the first detection piece to move to a position where the calibration area is close to the camera device; acquiring a first image of the detection structure when the first detection piece acquired by the camera device is positioned at a position where the calibration area is close to the camera device; controlling the robot to drive the second detection piece to move to a position where the calibration area is close to the camera device; acquiring a second image of the detection structure when the second detection piece acquired by the camera device is positioned at a position where the calibration area is close to the camera device; controlling the robot to drive the third detection piece to move to a position where the calibration area is close to the camera device; acquiring a third image of the detection structure when the third detection piece acquired by the camera device is positioned at a position where the calibration area is close to the camera device; obtaining height information of the first detection piece, the second detection piece and the third detection piece according to the distance between the lower end of the first detection piece and a reference surface in the first image, the distance between the lower end of the second detection piece and the reference surface in the second image and the distance between the lower end of the third detection piece and the reference surface in the third image; and obtaining the height difference value according to the height information of the first detection piece, the second detection piece and the third detection piece.
Preferably, after the height difference value meets the difference threshold, the processor further performs an XY axis calibration comprising: controlling the robot to move to enable the end effector to move to be right above the camera device; acquiring an end effector image acquired by the camera device; obtaining an actual center position of the end effector from the end effector image; and comparing the actual central position with the ideal central position, and if the error of the actual central position exceeds a preset range, controlling the robot to adjust the posture to perform difference compensation until the actual central position meets the requirement.
Preferably, the camera device includes a reference block and a camera assembly, the reference block is formed with a reference surface, the reference block is horizontally disposed, the camera assembly is vertically disposed, the camera assembly includes a camera, a lens, a light source and a prism which are sequentially disposed from bottom to top, and light emitted from the lens and the light source is refracted by the prism to the detection structure located in the calibration area.
Preferably, the processor performs the XY axis calibration after the prism is removed.
Preferably, the camera device further comprises a camera mounting bracket for mounting the camera and a prism mounting bracket for mounting the prism, the prism mounting bracket is detachably mounted on the camera mounting bracket, the camera mounting bracket is mounted on one side of a horizontal table, and the reference block is arranged on the horizontal table.
Preferably, after the processor controls the robot to drive the detection structure to reach the calibration area, the robot is controlled to drive the end effector to rotate, so that the first detection piece, the second detection piece and the third detection piece sequentially move to the position, close to the camera device, of the calibration area.
Preferably, the end effector is a jaw.
In order to achieve another purpose, the invention also discloses a plane calibration method for robot movement, which comprises the following steps:
s1, providing a plane calibration system, which comprises a camera device, a processor, and a first detection piece, a second detection piece and a third detection piece which are arranged on an end effector of the robot, wherein the first detection piece, the second detection piece and the third detection piece are not in the same straight line, and the lower end surfaces are positioned on the same plane,
s2, controlling the robot to drive the detection structure to move to a calibration area by the processor;
s3, the camera device collects the image information when the detection structure is located in the calibration area;
s4, the processor obtains the height difference value among the first detection piece, the second detection piece and the third detection piece according to the image information;
s5, the processor compares the height difference value with a difference threshold value, if the height difference value exceeds the difference threshold value, the step S6 is executed;
and S6, the processor controls the robot to adjust the posture, performs difference compensation and then repeatedly executes the steps S2-S5 until the height difference value meets the difference threshold value.
Preferably, after the height difference value meets the difference threshold, the following steps are performed:
s7, controlling the robot to move so that the end effector moves to be right above the camera device by the processor;
s8, acquiring an image of the end effector positioned right above the camera device by the camera device to obtain an end effector image;
s9, the processor obtains the actual center position of the end effector from the end effector image;
s10, comparing the actual central position with the ideal central position, if the error of the actual central position exceeds the preset range, executing the step S11;
and S11, the processor controls the robot to adjust the posture, performs difference compensation and repeatedly executes the steps S7 to S10 until the actual center position meets the requirement.
Compared with the prior art, the detection structure is arranged on the end effector of the robot and comprises three detection pieces which are not positioned on the same straight line, the lower end face of each detection piece is positioned on the same plane, the robot is controlled by the processor to drive the detection structure to move to the calibration area of the camera device, the height difference between the detection pieces is obtained by utilizing the visual positioning function of the camera device to know whether the end effector is horizontal or not, then the robot is controlled to adjust the posture according to the obtained difference information to perform difference compensation, the height difference between the detection pieces is continuously reduced, the rapid and accurate horizontal plane calibration is realized, and the defects of large error and long consumed time existing in a visual observation mode are overcome.
Drawings
Fig. 1 is a schematic structural diagram of a plane calibration system when a robot is located at an origin according to an embodiment of the present invention.
Fig. 2 is a schematic diagram of the planar calibration system as the robot moves to the calibration area.
Fig. 2a is an enlarged view of a portion a in fig. 2.
Fig. 3 is a schematic diagram of the planar calibration system when the first detecting member is moved to a position where the calibration area is close to the camera device.
Fig. 3a is an enlarged view of a portion a in fig. 3.
Fig. 4 is a schematic view of the planar calibration system when the second detection member is moved to a position where the calibration area is close to the camera device.
Fig. 4a is an enlarged view of a portion a in fig. 4.
Fig. 5 is a schematic view of the planar calibration system when the third detecting member is moved to a position where the calibration area is close to the camera device.
Fig. 5a is an enlarged view of a portion a in fig. 5.
Fig. 6 is a schematic diagram of the plane calibration system when performing XY axis calibration.
Fig. 6a is an enlarged view of a portion a in fig. 6.
Fig. 7 is a schematic structural view of the camera apparatus.
Fig. 8 is a schematic view of another angle of the camera device.
FIG. 9 is a schematic view of an end effector and detection structure.
Fig. 10 is a flowchart of a plane calibration method for robot movement according to an embodiment of the present invention.
Detailed Description
The following detailed description is given with reference to the accompanying drawings for illustrating the contents, structural features, and objects and effects of the present invention.
Referring to fig. 1 to 9, the present invention discloses a plane calibration system for robot motion, which is used for performing a horizontal plane calibration on an end effector 210 (e.g., a clamping jaw, etc.) of a robot 200, so that the end effector 210 can accurately and stably grip an object, thereby improving the operation accuracy of the robot 200. Specifically, the robot motion plane calibration system of the present invention includes a detection structure 1, a camera device 2 and a processor (not shown), wherein the detection structure 1 is configured to be mounted on an end effector 210 of a robot 200, and includes a first detection part 11, a second detection part 12 and a third detection part 13, the first detection part 11, the second detection part 12 and the third detection part 13 are not on the same straight line, and lower end surfaces of the first detection part 11, the second detection part 12 and the third detection part 13 are located on the same plane; the camera device 2 is used for acquiring image information when the detection structure 1 is located in the calibration area; the processor is used for executing: controlling the robot 200 to drive the detection structure 1 to move to the calibration area; acquiring image information acquired by a camera device 2 when a detection structure 1 is positioned in a calibration area; obtaining the height difference among the first detecting piece 11, the second detecting piece 12 and the third detecting piece 13 according to the image information; and comparing the height difference value with the difference threshold value, if the height difference value exceeds the difference threshold value, controlling the robot 200 to adjust the posture, performing difference compensation, and then repeatedly executing the operation until the height difference value meets the difference threshold value. In the embodiment, the end effector 210 is a clamping jaw, and after the plane calibration is completed, the detection structure 1 is detached from the clamping jaw 210, so that the clamping jaw 210 can be used for operation.
When the height difference between one of the detection pieces and the other two detection pieces exceeds the difference threshold (for example, the height of one of the detection pieces is higher), the processor controls the robot 200 to adjust the posture so that the higher detection piece is finely adjusted downwards to reduce the height difference between the higher detection piece and the other two detection pieces, and then the height difference of each detection piece is rechecked in a circulating manner and the posture is adjusted until the height difference meets the requirement, so that the horizontal plane calibration is realized.
Specifically, the image information includes a first image, a second image and a third image, and the processor executes: controlling the robot 200 to drive the first detecting member 11 to move to a position where the calibration area is close to the camera device 2 (as shown in fig. 3 and 3 a); acquiring a first image of the detection structure 1 when the first detection piece 11 acquired by the camera device 2 is located at a position where the calibration area is close to the camera device 2; the robot 200 is controlled to drive the second detecting element 12 to move to a position where the calibration area is close to the camera device 2 (as shown in fig. 4 and 4 a); acquiring a second image of the detection structure 1 when the second detection piece 12 acquired by the camera device 2 is located at a position where the calibration area is close to the camera device 2; the control robot 200 drives the third detecting element 13 to move to a position where the calibration area is close to the camera device 2 (as shown in fig. 5 and 5 a); acquiring a third image of the detection structure 1 when the third detection piece 13 acquired by the camera device 2 is located at a position where the calibration area is close to the camera device 2; obtaining height information of the first detecting piece 11, the second detecting piece 12 and the third detecting piece 13 according to the distance between the lower end of the first detecting piece 11 and the reference plane 211 in the first image, the distance between the lower end of the second detecting piece 12 and the reference plane 211 in the second image and the distance between the lower end of the third detecting piece 13 and the reference plane 211 in the third image; and obtaining the height difference value according to the height information of the first detecting piece 11, the second detecting piece 12 and the third detecting piece 13. By calibrating the first detecting piece 11, the second detecting piece 12 and the third detecting piece 13 respectively, compared with the method of calibrating the three detecting pieces 11, 12 and 13 by the same image, the method can improve the accuracy of acquiring the height information. It should be noted that the "position of the calibration area close to the camera device 2" refers to the position of the light ray 241 directed to the camera device 2.
Specifically, after the processor controls the robot 200 to drive the detection structure 1 to reach the calibration area (as shown in fig. 2), the robot 200 is controlled to drive the end effector 210 to rotate, so that the first detection piece 11, the second detection piece 12 and the third detection piece 13 sequentially move to the position, close to the camera device 2, of the calibration area; for example, the processor controls the robot 200 to rotate the end effector 210 by a preset angle to move the first detecting element 11 to a position where the calibration area is close to the camera device 2 (as shown in fig. 3 and 3 a), and after the calibration of the first detecting element 11 is completed, the processor controls the robot 200 to rotate the end effector 210 by a preset angle to move the second detecting element 12 to a position where the calibration area is close to the camera device 2 (as shown in fig. 4 and 4 a); after the calibration of the second detecting member 12 is completed, the processor controls the robot 200 to rotate the end effector 210 by a preset angle to move the third detecting member 13 to a position where the calibration area is close to the camera device 2 (as shown in fig. 5 and 5 a).
Referring to fig. 9, the detecting structure 1 further includes a mounting plate 14, the first detecting member 11, the second detecting member 12, and the third detecting member 13 are mounted on the mounting plate 14, and the mounting plate 14 is mounted on the lower surface of the end effector 210; of course, in some embodiments, the detecting structure 1 may not be provided with the mounting plate 14, and the first detecting member 11, the second detecting member 12, and the third detecting member 13 may be mounted on the end effector 210 by other fixing methods. In this embodiment, the first detecting element 11, the second detecting element 12, and the third detecting element 13 are probes having the same length, and the lower ends of the first detecting element 11, the second detecting element 12, and the third detecting element 13 are tapered, but the lower ends of the first detecting element 11, the second detecting element 12, and the third detecting element 13 may also be rounded.
Furthermore, the detection structure 1 further comprises a fourth detection piece 15, and the four detection pieces are arranged at four corners of the mounting plate 14 at equal intervals; therefore, arrangement of the detection pieces and simplification of a control program of the processor are both considered. When the height difference exceeds the difference threshold, the processor controls the robot 200 to adjust the posture for difference compensation, and then the processor controls the robot 200 to rotate the end effector 210 by a preset angle to move the fourth detecting member 15 to a position where the calibration area is close to the camera device 2, at this time, the fourth detecting member 15 is equivalent to the first detecting member 11, thereby simplifying the control procedure of the robot 200.
Incidentally, the term "first detecting element 11, second detecting element 12, third detecting element 13, and fourth detecting element 15" is used herein for convenience of description to distinguish between the four detecting elements and does not refer to a specific detecting element; in the process of performing plane calibration by the calibration system, the robot 200 is controlled to drive any three detection pieces to move to the positions of the calibration area close to the camera device 2 respectively by the end effector 210, and simultaneously, the camera device 2 is used to obtain image information of the three detection pieces at the positions of the calibration area close to the camera device 2 respectively.
Further, after the height difference value meets the difference threshold, the processor also performs an XY axis calibration comprising: controlling the robot 200 to move the end effector 210 to a position right above the camera device 2 (as shown in fig. 6 and 6 a); acquiring an end effector image acquired by the camera device 2; obtaining an actual center position of the end effector 210 from the end effector image; and comparing the actual central position with the ideal central position, and if the error of the actual central position exceeds a preset range, controlling the robot 200 to adjust the posture to perform difference compensation until the actual central position meets the requirement. Therefore, on the basis of realizing plane calibration (namely Z-axis calibration), two-dimensional calibration is carried out on a horizontal plane, and three-dimensional calibration of robot motion is realized; and the calibration of the robot 200 in the XY axis is realized by calibrating the center position of the end effector 210, which is simple and fast.
Referring to fig. 5a, 7 and 8, in particular, the camera device 2 includes a reference block 21 and a camera assembly, the reference block 21 is disposed horizontally, a reference plane 211 is formed on the reference block 21, the camera assembly is disposed vertically and includes a camera 22, a lens 23, a light source 24 and a prism 25, which are sequentially disposed from bottom to top, and light 241 emitted from the lens 23 and the light source 24 is refracted by the prism 25 to the detection structure 1 located in the calibration area. The shooting angle is changed by arranging the prism 25, so that the shooting angle of the vertically arranged camera assembly is changed into the horizontal direction, and the image information of each detection piece in the calibration area can be acquired. After the prism 25 is removed, the shooting angle of the camera device 2 is changed to the vertical direction, the processor controls the robot 200 to move the end effector 210 to the position right above the camera device 2, the camera device 2 can collect images of the end effector, two shooting angles are achieved through one fixed camera 22, when shooting is needed to be carried out at different angles, the camera 22 does not need to be adjusted, time is saved, and errors easily caused by readjustment of the camera 22 do not exist. Of course, the camera device 2 is not limited to the form of the present embodiment, and in other embodiments, it may even include two cameras, one camera collects the image information of the detecting element, and the other camera collects the image of the end effector, so the invention should not be limited thereto.
More specifically, the camera device 2 further includes a camera mounting bracket 26 for mounting the camera 22 and a prism mounting bracket 27 for mounting the prism 25, the prism mounting bracket 27 is detachably mounted on the camera mounting bracket 26, the camera mounting bracket 26 is mounted on one side of a horizontally disposed horizontal table 3, and the reference block 21 is disposed on the horizontal table 3. When the XY-axis calibration is required, the entire prism mounting bracket 27 can be detached from the camera mounting bracket 26, and the operation is simple.
With continuing reference to fig. 7 and 8, further, the prism mounting frame 27 includes a frame body 271, a fixing portion 272 formed at a lower portion of the frame body 271 for fixing with the camera mounting frame 26, and a mounting portion 273 formed at an upper end of the frame body 271 for mounting the prism 25, the camera mounting frame 26 includes a mounting plate 261 extending vertically and a mounting platform 262 formed at a top portion of the mounting plate 261 for mounting the light source 24, the camera 22 and the lens 23 are mounted at a side portion of the mounting plate 261, a through hole (not shown) for exposing the lens 23 is opened at a middle portion of the mounting platform 262, and the lens 23 faces the light source 24. In the embodiment, the mounting plate 261 is provided with an elongated slot 2611, the prism mounting bracket 27 and the camera mounting bracket 26 are fixed by inserting screws into the fixing portion 272 and the elongated slot 2611, and the mounting angle of the prism mounting bracket 27 on the camera mounting bracket 26 is adjustable by virtue of the design of the elongated slot 2611, so that the mounting angle of the prism 25 is adjusted. Further, the prism mounting bracket 27 includes a handle 274 for easy access, but should not be limited thereto.
Referring to fig. 10, in another embodiment, the present invention further discloses a method for calibrating a plane of robot motion, which includes the following steps:
s1, providing a plane calibration system, which includes a camera device 2, a processor, and a first detecting element 11, a second detecting element 12, and a third detecting element 13 mounted on the end effector 210 of the robot 200, wherein the first detecting element 11, the second detecting element 12, and the third detecting element 13 are not on the same straight line, and the lower end surfaces thereof are located on the same plane;
s2, the processor controls the robot 200 to drive the detection structure 1 to move to a calibration area;
s3, the camera device 2 collects the image information when the detection structure 1 is located in the calibration area;
s4, the processor obtains the height difference value among the first detecting piece 11, the second detecting piece 12 and the third detecting piece 13 according to the image information;
s5, comparing the height difference value with the difference threshold value, if the height difference value exceeds the difference threshold value, executing step S6;
s6, the processor controls the robot 200 to adjust the attitude for the difference compensation and then repeatedly executes the steps S2 to S5 until the height difference value meets the difference threshold.
Specifically, the image information includes a first image, a second image and a third image, and the processor controls the robot 200 to drive the first detecting element 11 to move to a position where the calibration area is close to the camera device 2 (as shown in fig. 3 and 3 a); the camera device 2 acquires a first image of the detection structure 1 when the first detection piece 11 is located at a position where the calibration area is close to the camera device 2; the robot 200 is controlled to drive the second detecting element 12 to move to a position where the calibration area is close to the camera device 2 (as shown in fig. 4 and 5 a); the camera device 2 acquires a second image of the detection structure 1 when the second detection piece 12 is located at a position where the calibration area is close to the camera device 2; the control robot 200 drives the third detecting element 13 to move to a position where the calibration area is close to the camera device 2 (as shown in fig. 5 and 5 a); the camera device 2 acquires a third image of the detection structure 1 when the third detection piece 13 is located at a position where the calibration area is close to the camera device 2; obtaining height information of the first detecting piece 11, the second detecting piece 12 and the third detecting piece 13 according to the distance between the lower end of the first detecting piece 11 and the reference plane 211 in the first image, the distance between the lower end of the second detecting piece 12 and the reference plane 211 in the second image and the distance between the lower end of the third detecting piece 13 and the reference plane 211 in the third image; and obtaining the height difference value according to the height information of the first detecting piece 11, the second detecting piece 12 and the third detecting piece 13. By calibrating the first detecting piece 11, the second detecting piece 12 and the third detecting piece 13 respectively, compared with the method of calibrating the three detecting pieces 11, 12 and 13 by the same image, the method can improve the accuracy of acquiring the height information.
Further, after the height difference value meets the difference threshold, performing the steps of:
s7, the processor controls the robot 200 to move so that the end effector 210 moves to the position right above the camera device 2 (as shown in fig. 6 and 6 a);
s8, the camera device 2 acquires an image of the end effector 210 located directly above the camera device to obtain an end effector image;
s9, the processor obtains the actual center position of the end effector 210 from the end effector image;
s10, comparing the actual central position with the ideal central position, if the error of the actual central position exceeds the preset range, executing the step S11;
s11, the processor controls the robot 200 to adjust the attitude for the difference compensation and repeatedly executes the steps S7 to S10 until the actual center position meets the requirement. Therefore, on the basis of realizing plane calibration (namely Z-axis calibration), two-dimensional calibration is carried out on a horizontal plane, and three-dimensional calibration of robot motion is realized; and the calibration of the robot 200 in the XY axis is realized by calibrating the center position of the end effector 210, which is simple and fast.
Compared with the prior art, the detection structure 1 is arranged on the end effector 210 of the robot 200, the detection structure 1 comprises three detection pieces 11, 12 and 13 which are not positioned on the same straight line, the lower end face of each detection piece is positioned on the same plane, the robot 200 is controlled by the processor to drive the detection structure 1 to move to the calibration area of the camera device 2, the height difference between the detection pieces 11, 12 and 13 is obtained by utilizing the visual positioning function of the camera device 2 to know whether the end effector 210 is horizontal, then the robot 200 is controlled to adjust the posture according to the obtained difference information to perform difference compensation, the height difference between the detection pieces 11, 12 and 13 is reduced, the horizontal plane is calibrated quickly and accurately, and the defects of large error and long consumed time existing in a visual observation mode are overcome.
The above disclosure is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the scope of the present invention, therefore, the present invention is not limited by the appended claims.
Claims (8)
1. A system for planar calibration of robotic movement, comprising:
the detection structure is arranged on an end effector of the robot and comprises a first detection piece, a second detection piece and a third detection piece which are not on the same straight line, and the lower end surfaces of the first detection piece, the second detection piece and the third detection piece are positioned on the same plane;
the camera device is used for acquiring image information when the detection structure is positioned in the calibration area;
a processor to perform:
controlling the robot to drive the detection structure to move to the calibration area;
acquiring image information acquired by the camera device when the detection structure is located in the calibration area;
obtaining the height difference values among the first detection piece, the second detection piece and the third detection piece according to the image information;
comparing the height difference value with a difference threshold value, if the height difference value exceeds the difference threshold value, controlling the robot to adjust the posture, performing difference compensation, and then repeatedly executing the operation until the height difference value meets the difference threshold value; and
after the height difference meets the difference threshold, performing an XY axis calibration comprising:
controlling the robot to move to enable the end effector to move to be right above the camera device;
acquiring an end effector image acquired by the camera device;
obtaining an actual center position of the end effector from the end effector image;
and comparing the actual central position with the ideal central position, and if the error of the actual central position exceeds a preset range, controlling the robot to adjust the posture to perform difference compensation until the actual central position meets the requirement.
2. The system of claim 1, wherein the image information comprises a first image, a second image, and a third image, and wherein the processor performs:
controlling the robot to drive the first detection piece to move to a position where the calibration area is close to the camera device;
acquiring a first image of the detection structure when the first detection piece acquired by the camera device is positioned at a position where the calibration area is close to the camera device;
controlling the robot to drive the second detection piece to move to a position where the calibration area is close to the camera device;
acquiring a second image of the detection structure when the second detection piece acquired by the camera device is positioned at a position where the calibration area is close to the camera device;
controlling the robot to drive the third detection piece to move to a position where the calibration area is close to the camera device;
acquiring a third image of the detection structure when the third detection piece acquired by the camera device is positioned at a position where the calibration area is close to the camera device;
obtaining height information of the first detection piece, the second detection piece and the third detection piece according to the distance between the lower end of the first detection piece and a reference surface in the first image, the distance between the lower end of the second detection piece and the reference surface in the second image and the distance between the lower end of the third detection piece and the reference surface in the third image; and obtaining the height difference value according to the height information of the first detection piece, the second detection piece and the third detection piece.
3. The system of claim 1 or 2, wherein the camera device comprises a reference block and a camera assembly, the reference block forms a reference surface, the reference block is horizontally arranged, the camera assembly is vertically arranged, the camera assembly comprises a camera, a lens, a light source and a prism, which are sequentially arranged from bottom to top, and light emitted by the lens and the light source is refracted by the prism to the detection structure in the calibration area.
4. A system for planar calibration of robot movement according to claim 3, wherein the processor performs the XY axis calibration after the prism is removed.
5. The system of claim 4, wherein the camera assembly further comprises a camera mount for mounting the camera and a prism mount for mounting the prism, the prism mount being removably mounted to the camera mount, the camera mount being mounted to one side of a horizontal table, the datum block being located on the horizontal table.
6. The system of claim 1, wherein the processor controls the robot to drive the detection structure to reach the calibration area, and then controls the robot to drive the end effector to rotate so as to sequentially move the first detection element, the second detection element, and the third detection element to a position where the calibration area is close to the camera device.
7. The robotic moving plane calibration system of claim 1 wherein the end effector is a jaw.
8. A planar calibration method for robot motion is characterized by comprising the following steps:
s1, providing a plane calibration system, which includes a camera device, a processor, and a detection structure mounted on an end effector of the robot, wherein the detection structure includes a first detection piece, a second detection piece, and a third detection piece, the first detection piece, the second detection piece, and the third detection piece are not on the same line, and lower end surfaces thereof are on the same plane;
s2, controlling the robot to drive the detection structure to move to a calibration area by the processor;
s3, the camera device collects the image information when the detection structure is located in the calibration area;
s4, the processor obtains the height difference value among the first detection piece, the second detection piece and the third detection piece according to the image information;
s5, the processor compares the height difference value with a difference threshold value, if the height difference value exceeds the difference threshold value, the step S6 is executed;
s6, the processor controls the robot to adjust the posture, performs difference compensation and then repeatedly executes the steps S2-S5 until the height difference value meets the difference threshold value;
s7, after the height difference value meets the difference threshold value, the processor controls the robot to move so that the end effector moves to be right above the camera device;
s8, acquiring an image of the end effector positioned right above the camera device by the camera device to obtain an end effector image;
s9, the processor obtains the actual center position of the end effector from the end effector image;
s10, comparing the actual central position with the ideal central position, if the error of the actual central position exceeds the preset range, executing the step S11;
and S11, the processor controls the robot to adjust the posture, performs difference compensation and repeatedly executes the steps S7 to S10 until the actual center position meets the requirement.
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| CN111791231B (en) * | 2020-06-02 | 2021-09-03 | 同济大学 | Robot calibration system and two-dimensional plane and three-dimensional space motion calibration method |
| CN111872931B (en) * | 2020-07-31 | 2021-08-13 | 安徽巨一科技股份有限公司 | Robot automatic calibration detection position mechanism |
| CN113635349B (en) * | 2021-07-01 | 2023-06-20 | 东风柳州汽车有限公司 | Calibrating device and welding robot |
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