CN106426172B - A kind of scaling method and system of industrial robot tool coordinates system - Google Patents
A kind of scaling method and system of industrial robot tool coordinates system Download PDFInfo
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- CN106426172B CN106426172B CN201610958034.0A CN201610958034A CN106426172B CN 106426172 B CN106426172 B CN 106426172B CN 201610958034 A CN201610958034 A CN 201610958034A CN 106426172 B CN106426172 B CN 106426172B
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- 238000000034 method Methods 0.000 title claims abstract description 56
- 239000003550 marker Substances 0.000 claims abstract description 140
- 238000003384 imaging method Methods 0.000 claims abstract description 76
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 13
- 230000008569 process Effects 0.000 claims description 10
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Classifications
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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
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/02—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness
- G01B21/04—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness by measuring coordinates of points
- G01B21/042—Calibration or calibration artifacts
Abstract
A kind of scaling method and system of industrial robot tool coordinates system, wherein method includes: a bit for being imaged on the center of circle of circle marker object in viewing field of camera, records imaging radius R, the center pixel coordinate of marker under original statepAnd the coordinate of mechanical arm tail endP 1；Make the ring flange of mechanical arm tail end aroundUShaft rotary random angle, mobile mechanical arm end are arrivedP 2Place makes the center of circle of marker be imaged on the same point in above-mentioned viewing field of camera, according to coordinate twiceP 1WithP 2Value obtains the horizontal component of tool center point relative mechanical arm end；Make any joint of mechanical arm aroundWShaft rotary random angle, mobile mechanical arm end are arrivedP 3Place makes the center of circle of marker be imaged on the same point in above-mentioned viewing field of camera, and the imaging long axis length of marker is made to be equal to imaging radius R, according to coordinate twiceP 2WithP 3Value and horizontal component obtain the vertical component of the space vector of tool center point relative mechanical arm end.This method speed is fast, precision is high.
Description
Technical field
The present invention relates to the scaling methods and system of a kind of industrial robot tool coordinates system, belong to manipulator control neck
Domain.
Background technique
In industrial production line, usually such as pressed from both sides in the fixed special component of the mechanical arm tail end of industrial robot as tool
The devices such as tool, welding gun, some on these tools, which is fixed on position, will usually establish a coordinate system, i.e., so-called tool is sat
Mark system.The trajectory planning of robot is usually to be planned after being added to above-mentioned tool for the certain point of tool, is led to
Normal this point is referred to as tool center point (TCP:Tool Center Point).Under normal circumstances, the origin of tool coordinates system is just
It is TCP, after tool is on the mechanical arm tail end for be installed in robot, except its installation site of non-artificial change, otherwise work
Tool coordinate system is fixed and invariable relative to the relationship of robot end's coordinate system.Correct tool coordinates system calibration is to robot
Trajectory planning there is great influence, and the tool of robot may need to be replaced frequently machine for different application scenarios
The tool coordinates system of device people, therefore a kind of fast and accurate robot tool coordinate system scaling method is urgent need.
Document " calibration of industrial robot tool and workpiece coordinate system is studied " discloses a kind of tool system of view-based access control model
Coordinate automates calibration principle and scheme, acquires image using two industrial cameras, and utilize image correlation algorithm identification circle
Ring mark and the coordinate for indicating circle ring center's point.When robot make in different positions indicate annulus center in two images
In coordinate value it is consistent when, then it is believed that robot with multiple postures make end-of-arm tooling central point or characteristic point be in sky
Between same position.And further solved by positive kinematics, the center of available index point is under robot basis coordinates system
Coordinate.However, if reduce tool coordinates system calibration needed for device, and reduce needed in calibration process mechanical arm convert appearance
The number of state can then make the calibration of tool coordinates system become more quickly and accurately.
Summary of the invention
It is an object of the invention to simplify calibration tool coordinate system calibration process and improve tool coordinates system calibration speed
Degree and precision, provide the scaling method and system of a kind of industrial robot tool coordinates system.
To achieve the goals above, the following technical solution is employed by the present invention:
According to the first aspect of the invention, a kind of scaling method of industrial robot tool coordinates system, this method packet are provided
Include following steps:
S1, the flange face of circle marker object relative mechanical arm end is fixed on tool center point in parallel, makes marker
The center of circle be imaged in viewing field of camera a little and keep the flange face of mechanical arm tail end parallel with respect to camera imaging plane H, record this
The imaging radius R of marker in the image that Shi Xiangji is shot, the marker center of circle pixel coordinate p and mechanical arm tail end
Space coordinate P1；
S2, make the ring flange of mechanical arm tail end around U shaft rotary random angle A1, mobile mechanical arm end to space coordinate P2
Place makes the center of circle of marker be imaged on the same point in above-mentioned viewing field of camera, according to the space coordinate P of mechanical arm tail end twice1With
P2The component (a, b) of the horizontal direction of the space vector of tool center point relative mechanical arm end is calculated, the U axis is vertical
In plane H；
S3, make any joint of mechanical arm around W shaft rotary random angle A2, mobile mechanical arm end to space coordinate P3Place makes
The center of circle of marker is imaged on the same point in above-mentioned viewing field of camera, and makes the imaging long axis length on plane H of marker
Equal to the imaging radius R of marker, according to the space coordinate P of mechanical arm tail end twice2And P3And horizontal direction component (a,
B) the component c of the vertical direction of the space vector of tool center point relative mechanical arm end is calculated1, the W axis is parallel to
Plane H.
As the further improvement of the above method of the present invention, in viewing field of camera described in step S1 is a little viewing field of camera
In the central pixel point of image that shoots of midpoint or camera.
As the further improvement of the above method of the present invention, the step S2 includes the following steps:
S21, make the ring flange of mechanical arm tail end around U axis multi-step rotation any angle A1, the U axis is perpendicular to plane H, institute
It is A that multi-step rotation, which is stated, to be divided into two steps or more than two step rotations, the angle summation of multi-step rotation1；
Moving in parallel mechanical arm tail end with respect to plane H after S22, every step multi-step rotation makes on the center of circle infinite approach of marker
The same point in viewing field of camera is stated, and records the pixel in the marker center of circle in the image that camera after every step multi-step rotation is shot
When coordinate p ', p ' and the absolute position difference of the pixel coordinate p in the marker center of circle in step S1 are no more than 0.5 pixel, then indicate
The center of circle of object is imaged on the same point in above-mentioned viewing field of camera；
S23, the space for reading the mechanical arm tail end when the center of circle of marker is imaged on the same point in above-mentioned viewing field of camera
Coordinate P2；
S24, the space coordinate P according to mechanical arm tail end twice1And P2Alternate position spike tool center point is calculated with respect to machine
The component (a, b) of the horizontal direction of the space vector of tool arm end.
As the further improvement of the above method of the present invention, the angle A1It is 180 °.
As the further improvement of the above method of the present invention, the step S3 includes the following steps:
S31, make any joint of mechanical arm around W axis multi-step rotation any angle A2, the W axis is parallel to plane H, and described point
Step, which rotates to be, is divided into two steps or the rotation of more than two step, and the angle summation of multi-step rotation is A2；
After S32, every step multi-step rotation with respect to plane H move in parallel mechanical arm tail end make marker the center of circle imaging it is unlimited
Close at the original pixel coordinate p in the center of circle, and record the marker center of circle in the image that camera after every step multi-step rotation is shot
When pixel coordinate p ", p " and the absolute position difference of the pixel coordinate p in the marker center of circle in step S1 are no more than 0.5 pixel, then
The center of circle of marker is imaged at pixel coordinate p；
S33, vertically move mechanical arm tail end with respect to plane H, when the imaging of marker in the image that camera is shot
Long axis length stops mobile mechanical arm when being equal to the imaging radius R of marker, and the center of circle of marker is imaged on above-mentioned camera at this time
Same point in visual field；
S34, the space coordinate P for reading above-mentioned mechanical arm tail end3；
S35, the space coordinate P according to mechanical arm tail end twice2And P3And the horizontal direction in step S2 component (a,
B) the component c of the vertical direction of the space vector of tool center point relative mechanical arm end is calculated1。
As the further improvement of the above method of the present invention, the angle A2It is 60 °.
There is step S4 after the step S3 as the further improvement of the above method of the present invention, specifically: make
Mechanical arm tail end is returned to the state of step S2 completion, and makes any joint of mechanical arm around V shaft rotary random angle A3, moving machine
Tool arm end is to space coordinate P4Place makes the center of circle of marker be imaged on the same point in above-mentioned viewing field of camera, and makes marker
The imaging radius R that long axis length is equal to marker is imaged, according to the space coordinate P of mechanical arm tail end twice2And P4And level side
To component (a, b) be calculated tool center point relative mechanical arm end space vector vertical direction component c2, will
The component c of vertical direction twice1With c2Space vector of the average value c as final tool center point relative mechanical arm end
The component of vertical direction, the V axis are parallel to plane H and perpendicular to W axis.
As the further improvement of the above method of the present invention, there is a step before the step S3, specifically: make
Any joint of mechanical arm is around V shaft rotary random angle A3, mobile mechanical arm end to space coordinate P4Place make the center of circle of marker at
As the same point in above-mentioned viewing field of camera, and make the imaging long axis length of marker equal to the imaging radius R of marker, according to
The space coordinate P of mechanical arm tail end twice2And P4And tool center point is calculated with respect to machine in the component (a, b) of horizontal direction
The component c of the vertical direction of the space vector of tool arm end2, so that mechanical arm tail end is returned to the state of step S2 completion,
Again after the completion of step S3, by the component c of vertical direction twice1With c2Average value c as final tool center point relative mechanical
The component of the vertical direction of the space vector of arm end, the V axis are parallel to plane H and perpendicular to W axis.
According to the second aspect of the invention, a kind of calibration system of industrial robot tool coordinates system is provided, the system packet
It includes:
Acquisition module is set as the image of collection machinery arm end；
Memory module is set as storing data, the number of each joint movement of image, mechanical arm of the acquisition module acquisition
According to the intermediate data and final calibration result of processing；
Display module is set as the image of the acquisition of acquisition module described in real-time display and shows calibration result；
Control module is set as the movement of control mechanical arm or rotation；
Processing module is set as processing image and therefrom extracts index point, sends corresponding instruction according to the result of processing
To control module.
According to the third aspect of the invention we, a kind of calibration system of industrial robot tool coordinates system is provided, the system packet
Include: industrial robot, the industrial robot include pedestal and mechanical arm, and the pedestal is fixed at the one of industrial robot and answers
With place, the mechanical arm tool there are two and more than two joints and there is a ring flange that can be rotated, institute in end
Stating ring flange has the protrusion or groove for being used for setting tool, and the joint can be rotated such that mechanical arm reaches at object；
Tool, one end of the tool and ring flange fixed-link, the other end of tool is for completing different applications；
Marker, the marker is pasted on the center of tool and the flange face relative to ring flange is placed in parallel,
Point that the central point of the tool is demarcated as needed and determine；
Camera, the camera are fixed on the lower section of mechanical arm tail end, and the imaging plane of the camera is in industrial robot
Opposite flange face is parallel under original state, and the original state of the industrial robot is in the spherical coordinate O '-where pedestal
Mechanical arm tail end is placed along U axis in UWV and the rotation angle of ring flange is 0 °；
Memory, it is mobile that the memory is used to store each joint of picture, mechanical arm that camera is shot in calibration process
Data, data processing intermediate data and final calibration result；
Display, the display is for the picture of real-time display camera shooting and the result of displaying calibration；
Controller, the controller is for controlling mechanical arm movement or rotation；
Processor, the processor are sent corresponding for handling image and therefrom extracting index point according to the result of processing
Instruction to controller.
According to the fourth aspect of the invention, a kind of calibration system of industrial robot tool coordinates system is provided, the system packet
Include following device:
First device is set as the flange face of circle marker object relative mechanical arm end being fixed on tool focus in parallel
Point, make the center of circle of marker be imaged in viewing field of camera a little and make the flange face of mechanical arm tail end with respect to camera imaging plane
H is parallel, in record camera is shot at this time image the imaging radius R of marker, the pixel coordinate p in the marker center of circle and
The space coordinate P of mechanical arm tail end1；
Second device is set as making the ring flange of mechanical arm tail end around U shaft rotary random angle A1, mobile mechanical arm end
To space coordinate P2Place makes the center of circle of marker be imaged on the same point in above-mentioned viewing field of camera, according to mechanical arm tail end twice
Space coordinate P1And P2The component (a, b) of the horizontal direction of the space vector of tool center point relative mechanical arm end is calculated,
The U axis is perpendicular to plane H；
3rd device is set as making any joint of mechanical arm around W shaft rotary random angle A2, mobile mechanical arm end to sky
Between coordinate P3Place makes the center of circle of marker be imaged on the same point in above-mentioned viewing field of camera, and make marker on plane H
The imaging radius R that long axis length is equal to marker is imaged, according to the space coordinate P of mechanical arm tail end twice2And P3And level side
To component (a, b) be calculated tool center point relative mechanical arm end space vector vertical direction component c1, institute
It states W axis and is parallel to plane H.
Compared with prior art, the present invention have following remarkable advantage and the utility model has the advantages that
In the prior art, marker is imaged using two cameras, when the characteristic point of marker is magazine at two
The characteristic point of the industrial robot tool center point of mechanical arm tail end or marker in different positions is thought when coordinate value is consistent
It is solved in space same position, then by positive kinematics, obtains coordinate of the center of index point under robot basis coordinates system.
The present invention is by the ring flange of rotation one-time mechanical arm end and by making the characteristic point of marker be imaged on camera imaging plane
Same point, the tool center point or marker of mechanical arm tail end can be obtained by the moving distance of one-time mechanical arm end
The horizontal component of the space vector of characteristic point relative mechanical hand end.Again by converting the posture of an industrial robot and passing through
The characteristic point of marker is set to be imaged on the same point of camera imaging plane, by one-time mechanical arm end with respect to camera imaging plane
Vertical travel distance can obtain the tool center point of mechanical arm tail end or the characteristic point relative mechanical hand end of marker
Space vector vertical component.
The present invention is by respectively obtaining the tool center point of mechanical arm tail end or the characteristic point relative mechanical hand of marker
The horizontal component and vertical component of the space vector of end, in conjunction with mechanical arm tail end robot base basis coordinates system down space
Coordinate is known, it is easy to which the characteristic point of the tool center point or marker that obtain mechanical arm tail end is in robot basis coordinates system
Under coordinate greatly simplify the calibration process of tool coordinates system, Jin Erti without solving complicated kinematical equation
High stated accuracy.
The present invention only needs a camera that can demarcate to tool coordinates by the method for vision, the device of calibration
Simply, speed is fast.
The present invention only need to adjust one-time mechanical hand posture can the calibration of full automatic completion tool coordinates, when transformation is different
Tool when can quickly complete to the calibration of the tool coordinates of different tools, scaling method is reliable and stable and repeatable strong.
The present invention is to demarcate the characteristic point relative mechanical hand end of the tool center point or marker of mechanical arm tail end
Space vector, thus can further become and examine whether tool clamped by mechanical arm tail end deviates the scheduled angle of operation and position
It sets, and it is corrected.
Detailed description of the invention
Below in conjunction with attached drawing, the embodiment of the present invention is described in detail, in which:
Fig. 1 is the schematic diagram for implementing several typical graphics of marker used in the present invention；
Fig. 2 is a kind of overall flow figure of the scaling method of industrial robot tool coordinates system of the present invention；
Fig. 3 is to implement a kind of setting position schematic diagram of the scaling method of industrial robot tool coordinates system of the present invention；
Fig. 4 is that the ring flange of mechanical arm tail end in one embodiment of the invention is pressed counterclockwise around U shaft rotary random angle A1Afterwards
The schematic diagram of each changes in coordinates；
Fig. 5 is the process of step S2 in an a kind of embodiment of the scaling method of industrial robot tool coordinates system of the present invention
Figure；
Fig. 6 be mechanical arm tail end in one embodiment of the invention ring flange by counterclockwise around U axis rotate 180 ° of angle after it is each
The schematic diagram of a changes in coordinates；
Fig. 7 is the process of step S3 in an a kind of embodiment of the scaling method of industrial robot tool coordinates system of the present invention
Figure；
Fig. 8 is any joint of mechanical arm tail end each changes in coordinates after 60 ° of angle of the rotation of W axis in one embodiment of the invention
Schematic diagram；
Fig. 9 is a kind of structural schematic diagram of an embodiment of the calibration system of industrial robot tool coordinates system of the present invention；
Figure 10 is a kind of structural representation of another embodiment of the calibration system of industrial robot tool coordinates system of the present invention
Figure.
Specific embodiment
Implementing the required camera of the present invention can be CMOS camera or CCD camera.Robot include pedestal and tool there are two or
The mechanical arm in more than two joints is simultaneously commonly configured with the ring flange of an energy any rotation, flange in the end of mechanical arm
Disk can be integral with mechanical arm, can also be by user configuration.Each joint and mechanical arm tail end exist under the robot any attitude
The coordinate under basis coordinates system O '-XYZ on the basis of robot base can be read in real time, or can be further transformed to corresponding
Spherical coordinate system O '-WVU under coordinate.Marker has the characteristic point that can be accurately positioned, and the figure of marker can be liked with user
Good arbitrarily setting is as shown in Figure 1 several marker figures under normal conditions for calibration, wherein the size of exemplary diagram
The size of actually marker is not represented.Display, processor, memory can be the device such as PC machine to become one
It can be split up into each mutually independent device, controller is the device for controlling mechanical arm movement or transformation posture, the controller
Motion control is carried out to mechanical arm according to the processing result of processor and shows result in the display.Implement as preferred
Mode, for the present invention using a tool there are three the robotic gripper system of articulated mechanical arm, an industrial CCD camera carries out image
Acquisition, He Yitai PC machine carry out display acquisition image, image is handled and store image of the invention, intermediate data with
And processing result, the controller used are embedded in PC machine in the form of software, the marker used is preferably Pasting in work
The circle marker of figure as shown in Figure 1a on tool pastes, the tool used be the sucker tool being fixed on ring flange or fixture simultaneously
Can be with ring flange any rotation, defining the outside one side of ring flange is flange face F, and the U axis for defining spherical coordinate system hangs down
Directly in flange face F, W axis, V axis are parallel to flange face F.
Fig. 2 is a kind of flow chart of an embodiment of the scaling method of industrial robot tool coordinates system of the present invention, is such as schemed
It is shown that this method comprises the following steps:
S1, the flange face of figure circle marker patch as shown in Figure 3 M relative mechanical arm end is pasted onto tool in parallel
The tool center point of T, make circle marker paste the center of circle be imaged in viewing field of camera a little and make mechanical arm tail end as shown in Figure 3
Flange face F it is parallel with respect to camera imaging plane H.The imaging of the record Circle in Digital Images shape sign pasting M that camera is shot at this time
The space coordinate P of radius R, the pixel coordinate p (u, v) in the circle marker patch center of circle M and mechanical arm tail end1(X1, Y1, Z1), it is described
Tool center point be tool on any point, can be according to the demand of user depending on.The sucker tool used according to the present embodiment,
Circle marker M patch is preferably pasted onto sucker center.In the viewing field of camera is a little in viewing field of camera or camera is shot
Obtained any point on image.Imaging radius R, the circle marker of the circle marker patch M pastes the pixel coordinate p in the center of circle M
(u, v) can be obtained by carrying out ellipse fitting algorithm on the image, the space coordinate P of the mechanical arm tail end1(X1, Y1, Z1) can
It directly reads.
S2, make the ring flange of mechanical arm tail end around U shaft rotary random angle A1, mobile mechanical arm end to space coordinate P2
(X2, Y2, Z2) at so that the center of circle of circle marker patch M is imaged on same point in above-mentioned viewing field of camera, according to mechanical arm tail end twice
Space coordinate P1(X1, Y1, Z1) and P2(X2, Y2, Z2) space vector of tool center point relative mechanical arm end is calculated
The component (a, b) of horizontal direction, the U axis is perpendicular to plane H.Since camera imaging plane H is parallel with flange face F, mechanical arm
The ring flange of end circle marker patch after the rotation of U axis is still parallel to camera imaging plane H, therefore makes the circle of circle marker patch M
The movement of mechanical arm tail end is to move horizontally when same point of the heart re-imaging in above-mentioned viewing field of camera.Fig. 4 show machinery
The ring flange of arm end is pressed counterclockwise around U shaft rotary random angle A1The signal of the center point changes in coordinates of circle marker patch M afterwards
Figure indicates that the center of circle of circle marker patch M is imaged on one in above-mentioned viewing field of camera with P (X, Y, Z) at basis coordinates system O '-XYZ
The space coordinate of point, i.e. point P (X, Y, Z) represent the space in the center of circle of corresponding circle marker patch M with pixel coordinate p (u, v)
Coordinate.P ' is the space coordinate in the center of circle of circle marker patch M after rotating, if point P (X, Y, Z) relative mechanical arm end before rotating
Space coordinate P1(X1, Y1, Z1) space vector be r1(a1, b1, c1), if simultaneously mobile mechanical arm end makes circle marker paste M for rotation
The center of circle be imaged on the same point P (X, Y, Z) in above-mentioned viewing field of camera after, the space of point P (X, Y, Z) relative mechanical arm end is sat
Mark P2(X2, Y2, Z2) space vector be r2(a2, b2, c2), then have:
r1(a1, b1, c1)=P (X, Y, Z)-P1(X1, Y1, Z1)
r2(a2, b2, c2)=P (X, Y, Z)-P2(X2, Y2, Z2)
Due to indicating r with matrix to move in parallel1With r2Between relationship are as follows:
And due to space vector r1With r2Mould is equal and vertical component c1=c2, then have:
r1-r2=P2-P1
I.e.
From the foregoing, it will be observed that passing through the space coordinate P for reading mechanical arm tail end rotation front and back in mechanical arm system1(X1, Y1, Z1)、
P2(X2, Y2, Z2) and rotation angle A1, it can solve r1Horizontal component (a1, b1) value, i.e. horizontal component (a1, b1) be
The component (a, b) of the horizontal direction of the space vector of tool center point relative mechanical arm end.As long as above-mentioned steps method is identical,
Other types of calculation method can also be used.
S3, make any joint of mechanical arm around W shaft rotary random angle A2, mobile mechanical arm end makes circle marker patch M's
The center of circle is imaged on the same point in above-mentioned viewing field of camera, mobile mechanical arm end to space coordinate P3(X3, Y3, Z3) at make to indicate
The long axis length of object is equal to the imaging radius R of circle marker patch M, according to the space coordinate P of mechanical arm tail end twice2(X2, Y2,
Z2) and P3(X3, Y3, Z3) and the component of horizontal direction the space vector of tool center point relative mechanical arm end is calculated
The component c of vertical direction1, the W axis is parallel to plane H.In any joint of mechanical arm around W shaft rotary random angle A2Afterwards, flange
Face F and camera imaging plane H are no longer parallel, and circle marker patch M is oval in camera imaging plane.Since rotary shaft W axis is flat
For row in camera imaging plane H, the radius along W axis of circle marker patch is but remote due to rotating it still in parallel with camera imaging plane H
The length being imaged on the image from camera imaging plane becomes smaller.Circle marker, which pastes M, will rotate angle A along the radius of V axis2And it is remote
The size being thus imaged from camera imaging plane on the image will become smaller than the re-imaging length of the radius along W axis.Therefore circle
The re-imaging length of the radius along W axis of shape sign pasting M is that elliptical long axis is imaged, and the re-imaging length along the radius of V axis is imaging
Elliptical short axle.Opposite plane H is first moved in parallel vertically moves mechanical arm end again, or sequence is in turn, makes circle marker
The center of circle of patch M is imaged on the same point in viewing field of camera, and the elliptical long axis length of imaging of circle marker patch M is made to be equal to circle
The imaging radius R of sign pasting M.Circle of the same point at above-mentioned space coordinate point P (X, Y, Z), with above-mentioned circle marker patch M
Heart pixel coordinate p (u, v) is corresponding.Read the space coordinate P of mechanical arm tail end at this time3(X3, Y3, Z3), due to P3(X3, Y3, Z3)
It is in P2(X2, Y2, Z2) on the basis of around W axis rotate A2, the space coordinate P of the P that sets up an office (X, Y, Z) relative mechanical arm end3(X3,
Y3, Z3) space vector be r3(a3, b3, c3), then have:
r2(a2, b2, c2)=P (X, Y, Z)-P2(X2, Y2, Z2)
r3(a3, b3, c3)=P (X, Y, Z)-P3(X3, Y3, Z3)
R is indicated with matrix2With r3Between relationship are as follows:
And due to space vector r1、r2With r3Mould is equal and cross stream component a1=a2, then have:
r2-r3=P3-P2
I.e.
From the foregoing, it will be observed that passing through the space coordinate P for reading mechanical arm tail end rotation front and back in mechanical arm system2(X2, Y2, Z2)、
P3(X3, Y3, Z3) and rotation angle A2, it can solve r2Vertical component c2Value.As described in step S2, r2It is vertical
Component c2Value be equal to r1Vertical component c1Value, i.e., by it is above-mentioned it is various can simultaneous solution obtain tool center point relative mechanical arm
The component c of the vertical direction of the space vector of end1.As long as above-mentioned steps method is identical, it is possible to use other types of calculating
Method.
As the further improvement of above-described embodiment, in viewing field of camera described in step S1 is a little preferably viewing field of camera
In the central pixel point of image that shoots of midpoint or camera, then greatly reduce and cause because of the distortion of camera lens
Calibrated error.
As the further improvement of above-described embodiment, the step S2 as shown in Figure 5 includes the following steps:
S21, make the ring flange of mechanical arm tail end around U axis multi-step rotation any angle A1, the U axis is perpendicular to plane H, institute
It is A that multi-step rotation, which is stated, to be divided into two steps or more than two step rotations, the angle summation of multi-step rotation1。
Moving in parallel mechanical arm tail end with respect to plane H after S22, every step multi-step rotation keeps the center of circle of circle marker patch M unlimited
Same point close in above-mentioned viewing field of camera, and record the Circle in Digital Images shape sign pasting that camera after every step multi-step rotation is shot
The pixel coordinate p ' (u ', v ') in the center of circle M, if circle marker pastes the pixel coordinate p (u, v) in the center of circle M in p ' (u ', v ') and step S1
Absolute position difference be no more than 0.5 pixel, then it is assumed that circle marker patch M the center of circle be imaged on it is same in above-mentioned viewing field of camera
Point.
S23, the mechanical arm tail end when the center of circle of circle marker patch M is imaged on the same point in above-mentioned viewing field of camera is read
Space coordinate P2(X2, Y2, Z2)；
S24, the space coordinate P according to mechanical arm tail end twice1(X1, Y1, Z1) and P2(X2, Y2, Z2) alternate position spike according to upper
State calculating process be calculated tool center point relative mechanical arm end space vector horizontal direction component (a, b).
As the further improvement of above-described embodiment, the angle A 1 is preferably 180 °, then it is opposite to obtain tool center point
The process of the component (a, b) of the horizontal direction of the space vector of mechanical arm tail end will greatly simplify.At this point, circle marker patch M circle
The space coordinate point P (X, Y, Z) of the heart rotate after the space before and after movement space coordinate point P and mechanical arm tail end
Coordinate P1(X1, Y1, Z1) and P2(X2, Y2, Z2) positional relationship it is as shown in Figure 6.At this point, having:
And r is indicated with matrix1With r2Between relationship are as follows:
I.e.
Simultaneous above formula obtains:
That is horizontal component (a1, b1) be tool center point relative mechanical arm end space vector horizontal direction component
(a, b).As long as above-mentioned steps method is identical, it is possible to use other types of calculation method.
As the further improvement of above-described embodiment, the step S3 as shown in Figure 7 includes the following steps:
S31, make any joint of mechanical arm around W axis multi-step rotation any angle A2, the W axis is parallel to camera imaging plane
H, the multi-step rotation are A2 to be divided into two steps or more than two step rotations, the angle summation of multi-step rotation.
Mobile mechanical arm end must be moved in parallel with respect to camera imaging plane H after S32, every step multi-step rotation, and recorded
The pixel coordinate p " (u " in the center of circle Circle in Digital Images shape sign pasting M that camera is shot after every step multi-step rotation, v "), if p " (u ",
V ") with step S1 in circle marker patch the center of circle M pixel coordinate p (u, v) absolute position difference be no more than 0.5 pixel, then recognize
The center of circle for pasting M for circle marker is imaged at above-mentioned pixel coordinate p (u, v).After the completion of multi-step rotation, circle marker paste M at
As the imaging in plane becomes oval from circle.
S33, vertically move mechanical arm tail end with respect to camera imaging plane H, when the Circle in Digital Images shape that camera is shot
The imaging elliptical long axis length of sign pasting M stops mobile mechanical arm when being equal to the imaging radius R of circle marker patch M, recognizes at this time
It is imaged on the same point in above-mentioned viewing field of camera for the center of circle that circle marker pastes M, space coordinate is above-mentioned point P (X, Y, Z).
S34, the space coordinate P for reading mechanical arm tail end3(X3, Y3, Z3)；
S35, the space coordinate P according to mechanical arm tail end twice2(X2, Y2, Z2) and P3(X3, Y3, Z3) and step S2 in
The space vector of tool center point relative mechanical arm end is calculated according to aforementioned calculation method for the component (a, b) of horizontal direction
Vertical direction component c1。
As the further improvement of above-described embodiment, the angle A2Preferably 60 °, then tool center point is obtained with respect to machine
The component c of the vertical direction of the space vector of tool arm end1Process will greatly simplify.As shown in figure 8, due to P3(X3, Y3, Z3)
It is in P2(X2, Y2, Z2) on the basis of rotate 60 ° around W axis and get, therefore P2(X2, Y2, Z2) and P3(X3, Y3, Z3) opposite P (X, Y, Z)
Space vector r2With r3X-coordinate it is identical, i.e. a2=a3, and the length for rotating front-rear center point relative mechanical arm end is constant,
Then have:
R is indicated with matrix1With r2Between relationship are as follows:
And step S2 is when mechanical arm tail end is around U axis rotation angle A1At preferably 180 °, there is a2=-a1, b2=-b1, c2=
c1, simultaneous above formula has:
Therefore:
That is:
By the horizontal component b being previously obtained1The perpendicular of the space vector of tool center point relative mechanical arm end can be obtained
Histogram to component c1。
There is step S4 after the step S3 as the further improvement of above-described embodiment, specifically: make machinery
Arm end is returned to the state of step S2 completion, and makes any joint of mechanical arm around V shaft rotary random angle A3, the V axis is flat
For row in plane H and perpendicular to W axis, the rotation can be multi-step rotation, must mobile mechanical arm end after the completion of every step multi-step rotation
End, can first move in parallel with respect to plane H and vertically move mechanical arm end again, or sequence is in turn, make the circle of circle marker patch M
The heart is imaged on the same point in above-mentioned viewing field of camera, if its space coordinate is P4(X4, Y4, Z4), and make circle marker patch M at
As elliptical long axis length is equal to the imaging radius R of circle marker patch M.According to the space coordinate P of mechanical arm tail end twice2(X2,
Y2, Z2) and P4(X4, Y4, Z4) and the component (a, b) of horizontal direction tool center point can be calculated according to above-mentioned calculation method
The component c of the vertical direction of the space vector of relative mechanical arm end2Are as follows:
By the component c of vertical direction twice1With c2Average value c as final tool center point relative mechanical arm end
The precision demarcated on vertical direction can be improved in the component of the vertical direction of space vector.
As the further improvement of above-described embodiment, there is a step before the step S3, specifically: make machinery
Any joint of arm is around V shaft rotary random angle A3, the V axis is parallel to plane H and perpendicular to W axis, and the rotation can be substep
Rotation, after the completion of every step multi-step rotation must mobile mechanical arm end, can first be moved in parallel with respect to plane H and vertically move machinery again
Arm end, or sequence is in turn, so that the center of circle of circle marker patch M is imaged on the same point in above-mentioned viewing field of camera, if it is empty
Between coordinate be P4(X4, Y4, Z4), and the imaging for making the elliptical long axis length of imaging of circle marker patch M be equal to circle marker patch M
Radius R.According to the space coordinate P of mechanical arm tail end twice2(X2, Y2, Z2) and P4(X4, Y4, Z4) and horizontal direction component
(a, b) vertical direction of the space vector of tool center point relative mechanical arm end can be calculated according to above-mentioned calculation method
Component c2, so that mechanical arm tail end is returned to the state of step S2 completion, it, will vertical direction twice then after the completion of step S3
Component c1With c2Average value c as final tool center point relative mechanical arm end space vector vertical direction point
Amount, can be improved the precision demarcated on vertical direction.
Another embodiment according to the present invention, a kind of calibration system of industrial robot tool coordinates system, as shown in Figure 9 this are
System includes:
Acquisition module is set as the image of collection machinery arm end；
Memory module is set as storing data, the number of each joint movement of image, mechanical arm of the acquisition module acquisition
According to the intermediate data and final calibration result of processing；
Display module is set as the image of the acquisition of acquisition module described in real-time display and shows calibration result；
Control module is set as the movement of control mechanical arm or rotation；
Processing module is set as processing image and therefrom extracts index point, sends corresponding instruction according to the result of processing
To control module.
According to another embodiment of the present invention, a kind of calibration system of industrial robot tool coordinates system, as shown in Figure 10
The system includes:
Industrial robot, the industrial robot include pedestal and mechanical arm, and the pedestal is fixed on industrial robot
Application places at one, mechanical arm tool there are two and more than two joints and there is a flange that can be rotated in end
Disk, the ring flange have the protrusion or groove for setting tool, and the joint can be rotated such that mechanical arm reaches target
At object；
Tool, one end of the tool and ring flange fixed-link, the other end of tool is for completing different applications；
Marker, the marker is pasted on the center of tool and the flange face relative to ring flange is placed in parallel,
Point that the central point of the tool is demarcated as needed and determine；
Camera, the camera are fixed on the lower section of mechanical arm tail end, and the imaging plane of the camera is in industrial robot
Opposite flange face is parallel under original state, and the original state of the industrial robot is in the spherical coordinate O '-where pedestal
Mechanical arm tail end is placed along U axis in UWV and the rotation angle of ring flange is 0 °；
Memory, it is mobile that the memory is used to store each joint of picture, mechanical arm that camera is shot in calibration process
Data, data processing intermediate data and final calibration result；
Display, the display is for the picture of real-time display camera shooting and the result of displaying calibration；
Controller, the controller is for controlling mechanical arm movement or rotation；
Processor, the processor are sent corresponding for handling image and therefrom extracting index point according to the result of processing
Instruction to controller.
According to another embodiment of the present invention, a kind of calibration system of industrial robot tool coordinates system, the system include
Following device:
First device is set as the flange face of circle marker object relative mechanical arm end being fixed on tool focus in parallel
Point, make the center of circle of marker be imaged in viewing field of camera a little and make the flange face of mechanical arm tail end with respect to camera imaging plane
H is parallel, in record camera is shot at this time image the imaging radius R of marker, the pixel coordinate p in the marker center of circle and
The space coordinate P of mechanical arm tail end1；
Second device is set as making the ring flange of mechanical arm tail end around U shaft rotary random angle A1, mobile mechanical arm end
To space coordinate P2Place makes the center of circle of marker be imaged on the same point in above-mentioned viewing field of camera, according to mechanical arm tail end twice
Space coordinate P1And P2The component (a, b) of the horizontal direction of the space vector of tool center point relative mechanical arm end is calculated,
The U axis is perpendicular to plane H；
3rd device is set as making any joint of mechanical arm around W shaft rotary random angle A2, mobile mechanical arm end to sky
Between coordinate P3Place makes the center of circle of marker be imaged on the same point in above-mentioned viewing field of camera, and make marker on plane H
The imaging radius R that long axis length is equal to marker is imaged, according to the space coordinate P of mechanical arm tail end twice2And P3And level side
To component (a, b) be calculated tool center point relative mechanical arm end space vector vertical direction component c1, institute
It states W axis and is parallel to plane H.
The present invention a kind of scaling method and system of industrial robot tool coordinates system, are calibration tool central points with respect to machine
The space vector of tool arm end, thus can also be further used as calibration mechanical arm clamped by tool whether deviate predetermined angular with
The calibration method and system of position, to improve the precision in industrial operations.
It is required that those skilled in the art can be understood that the technology in the embodiment of the present application can add by software
The mode of general hardware platform realize, and optionally can also by special hardware circuit, as large scale integrated circuit,
CPLD etc..Based on this understanding, the technical solution in the embodiment of the present application substantially in other words contributes to the prior art
Part can be embodied in the form of software product and/or hardware product, wherein the computer software product can store
In storage medium, such as ROM/RAM, magnetic disk, CD, including some instructions use is so that a computer equipment (can be
Personal computer, server or network equipment etc.) it executes described in certain parts of each embodiment of the application or embodiment
Method.
All the embodiments in this specification are described in a progressive manner, same and similar portion between each embodiment
Dividing may refer to each other, and each embodiment focuses on the differences from other embodiments.Especially for system reality
For applying example, since it is substantially similar to the method embodiment, so being described relatively simple, related place is referring to embodiment of the method
Part explanation.
The above, only presently preferred embodiments of the present invention, the invention is not limited to above embodiment, as long as
It reaches technical effect of the invention with identical means, all should belong to protection scope of the present invention.In protection model of the invention
Its technical solution and/or embodiment can have a variety of different modifications and variations in enclosing.Even if a other technical characteristic is not
It is quoted in same claim, the present invention also may include sharing the embodiment of these features.
Above-mentioned, although the foregoing specific embodiments of the present invention is described with reference to the accompanying drawings, not protects model to the present invention
The limitation enclosed, those skilled in the art should understand that, based on the technical solutions of the present invention, those skilled in the art are not
Need to make the creative labor the various modifications or changes that can be made still within protection scope of the present invention.
Claims (11)
1. a kind of scaling method of industrial robot tool coordinates system, the industrial robot includes pedestal and mechanical arm, described
Tool is fixed on mechanical arm tail end, and the mechanical arm has more than two joints, which is characterized in that this method includes following step
It is rapid:
S1, the flange face of circle marker object relative mechanical arm end is fixed on tool center point in parallel, makes the center of circle of marker
Be imaged in viewing field of camera a little and keep the flange face of mechanical arm tail end parallel with respect to camera imaging plane H, record this phase
Imaging radius R, the pixel coordinate p in the marker center of circle and the space of mechanical arm tail end of marker in the image that machine is shot
Coordinate P1；
S2, make the ring flange of mechanical arm tail end around U shaft rotary random angle A1, mobile mechanical arm end to space coordinate P2Place makes
The center of circle of marker is imaged on the same point in above-mentioned viewing field of camera, according to the space coordinate P of mechanical arm tail end twice1And P2Meter
It calculates and obtains the component (a, b) of the horizontal direction of space vector of tool center point relative mechanical arm end, the U axis is perpendicular to flat
Face H；
S3, make any joint of mechanical arm around W shaft rotary random angle A2, mobile mechanical arm end to space coordinate P3Place makes to indicate
The center of circle of object is imaged on the same point in above-mentioned viewing field of camera, and is equal to the imaging long axis length on plane H of marker
The imaging radius R of marker, according to the space coordinate P of mechanical arm tail end twice2And P3And component (a, the b) meter of horizontal direction
It calculates and obtains the component c of the vertical direction of space vector of tool center point relative mechanical arm end1, the W axis is parallel to plane
H。
2. a kind of scaling method of industrial robot tool coordinates system according to claim 1, which is characterized in that step S1
Described in viewing field of camera a little in viewing field of camera midpoint or the central pixel point of image that shoots of camera.
3. a kind of scaling method of industrial robot tool coordinates system according to claim 1, it is characterised in that: the step
Rapid S2 includes the following steps:
S21, make the ring flange of mechanical arm tail end around U axis multi-step rotation any angle A1, the U axis is perpendicular to plane H, and described point
Step, which rotates to be, is divided into more than two step rotations, and the angle summation of multi-step rotation is A1；
Moving in parallel mechanical arm tail end with respect to plane H after S22, every step multi-step rotation makes the above-mentioned phase of center of circle infinite approach of marker
Same point in machine visual field, and record the pixel coordinate in the marker center of circle in the image that camera after every step multi-step rotation is shot
When the absolute position difference of the pixel coordinate p in the marker center of circle is no more than 0.5 pixel in p ', p ' and step S1, then marker
The center of circle is imaged on the same point in above-mentioned viewing field of camera；
S23, the space coordinate for reading the mechanical arm tail end when the center of circle of marker is imaged on the same point in above-mentioned viewing field of camera
P2；
S24, the space coordinate P according to mechanical arm tail end twice1And P2Alternate position spike tool center point relative mechanical arm is calculated
The component (a, b) of the horizontal direction of the space vector of end.
4. a kind of scaling method of industrial robot tool coordinates system according to claim 3, which is characterized in that the angle
Spend A1It is 180 °.
5. a kind of scaling method of industrial robot tool coordinates system according to claim 1, which is characterized in that the step
Rapid S3 includes the following steps:
S31, make any joint of mechanical arm around W axis multi-step rotation any angle A2, the W axis is parallel to plane H, the substep rotation
Switch to be divided into more than two step rotations, the angle summation of multi-step rotation is A2；
The imaging infinite approach that mechanical arm tail end makes the center of circle of marker is moved in parallel with respect to plane H after S32, every step multi-step rotation
At the original pixel coordinate p in the center of circle, and record the pixel in the marker center of circle in the image that camera after every step multi-step rotation is shot
When coordinate p ", p " and the absolute position difference of the pixel coordinate p in the marker center of circle in step S1 are no more than 0.5 pixel, then indicate
The center of circle of object is imaged at pixel coordinate p；
S33, vertically move mechanical arm tail end with respect to plane H, when the imaging long axis of marker in the image that camera is shot
Length stops mobile mechanical arm when being equal to the imaging radius R of marker, and the center of circle of marker is imaged on above-mentioned viewing field of camera at this time
In same point；
S34, the space coordinate P for reading above-mentioned mechanical arm tail end3；
S35, the space coordinate P according to mechanical arm tail end twice2And P3And component (a, the b) meter of the horizontal direction in step S2
It calculates and obtains the component c of the vertical direction of space vector of tool center point relative mechanical arm end1。
6. a kind of scaling method of industrial robot tool coordinates system according to claim 5, which is characterized in that the angle
Spend A2It is 60 °.
7. a kind of scaling method of industrial robot tool coordinates system according to claim 1 or 5, which is characterized in that
After the step S3, including step S4, specifically: so that mechanical arm tail end is returned to the state of step S2 completion, and makes machine
Any joint of tool arm is around V shaft rotary random angle A3, mobile mechanical arm end to space coordinate P4The center of circle of marker is imaged in place
Same point in above-mentioned viewing field of camera, and make the imaging long axis length of marker equal to the imaging radius R of marker, according to two
The space coordinate P of secondary mechanical arm tail end2And P4And tool center point relative mechanical is calculated in the component (a, b) of horizontal direction
The component c of the vertical direction of the space vector of arm end2, by the component c of vertical direction twice1With c2Average value c as final
The component of the vertical direction of the space vector of tool center point relative mechanical arm end, the V axis be parallel to plane H and perpendicular to
W axis.
8. a kind of scaling method of industrial robot tool coordinates system according to claim 1 or 5, which is characterized in that
There are also a steps before the step S3: making any joint of mechanical arm around V shaft rotary random angle A3, mobile mechanical arm end is arrived
Space coordinate P4Place makes the center of circle of marker be imaged on the same point in above-mentioned viewing field of camera, and makes the long axial length of the imaging of marker
Degree is equal to the imaging radius R of marker, according to the space coordinate P of mechanical arm tail end twice2And P4And the component of horizontal direction
The component c of the vertical direction of the space vector of tool center point relative mechanical arm end is calculated in (a, b)2, then make machinery
Arm end is returned to the state of step S2 completion, then after the completion of step S3, by the component c of vertical direction twice1With c2Be averaged
Component of the value c as the vertical direction of the space vector of final tool center point relative mechanical arm end, the V axis is parallel to flat
Face H and perpendicular to W axis.
9. a kind of calibration system of industrial robot tool coordinates system characterized by comprising
Acquisition module is set as the image of collection machinery arm end；
Memory module is set as storing the mobile data in each joint of image, mechanical arm of the acquisition module acquisition, at data
The intermediate data of reason and final calibration result；
Display module is set as the image of the acquisition of acquisition module described in real-time display and shows calibration result；
Control module is set as the movement of control mechanical arm or rotation；
Processing module is set as processing image and therefrom extracts index point, sends corresponding instruction to control according to the result of processing
Molding block；
Wherein,
The industrial robot includes pedestal and mechanical arm, and the tool is fixed on mechanical arm tail end, and the mechanical arm has two
It is a with upper joint；
The flange face of circle marker object relative mechanical arm end is fixed on tool center point in parallel, control module controls mechanical arm
Make the center of circle of marker be imaged in acquisition module visual field a little and make the flange face of mechanical arm tail end with respect to acquisition module
Imaging plane H is parallel, imaging radius R, the mark of marker in the memory module storage image that acquisition module is shot at this time
The pixel coordinate p in the object center of circle and space coordinate P of mechanical arm tail end1；
Control module control mechanical arm makes the ring flange of mechanical arm tail end around U shaft rotary random angle A1, and control mobile mechanical arm
End is to space coordinate P2Place makes the center of circle of marker be imaged on the same point in above-mentioned acquisition module visual field, processing module according to
The space coordinate P of mechanical arm tail end twice1And P2The level of the space vector of tool center point relative mechanical arm end is calculated
The component (a, b) in direction, the U axis is perpendicular to plane H；
Control module control mechanical arm makes any joint of mechanical arm around W shaft rotary random angle A2, and control mobile mechanical arm end
To space coordinate P3Place makes the center of circle of marker be imaged on the same point in above-mentioned acquisition module visual field, and makes putting down for marker
Imaging long axis length on the H of face is equal to the imaging radius R of marker, and processing module is according to the space coordinate of mechanical arm tail end twice
P2And P3And the vertical of the space vector of tool center point relative mechanical arm end is calculated in the component (a, b) of horizontal direction
The component c in direction1, the W axis is parallel to plane H.
10. a kind of calibration system of industrial robot tool coordinates system characterized by comprising
Industrial robot, the industrial robot include pedestal and mechanical arm, and the pedestal is fixed at the one of industrial robot
Application places, the mechanical arm have a ring flange that can be rotated, the method with more than two joints and in end
Blue disk has the protrusion or groove for setting tool, and the joint can be rotated such that mechanical arm reaches at object；
Tool, one end of the tool and ring flange fixed-link, the other end of tool is for completing different applications；
Marker, the marker is pasted on the center of tool and the flange face relative to ring flange is placed in parallel, described
Point that the central point of tool is demarcated as needed and determine；
Camera, the camera are fixed on the lower section of mechanical arm tail end, and the imaging plane of the camera is in the initial of industrial robot
Opposite flange face is parallel under state, and the original state of the industrial robot is in the spherical coordinate O '-UWV where pedestal
Mechanical arm tail end is placed along U axis and the rotation angle of ring flange is 0 °；
Memory, the memory are used to store the number for each joint movement of picture, mechanical arm that camera is shot in calibration process
According to the intermediate data and final calibration result of, data processing；
Display, the display is for the picture of real-time display camera shooting and the result of displaying calibration；
Controller, the controller is for controlling mechanical arm movement or rotation；
Processor, the processor send according to the result of processing and refer to accordingly for handling image and therefrom extracting index point
It enables to controller；
Wherein,
The flange face of circle marker object relative mechanical arm end is fixed on tool center point in parallel, controller control mechanical arm makes
The center of circle of marker be imaged in viewing field of camera a little and make the flange face of mechanical arm tail end with respect to camera imaging plane H put down
Row, memory store the pixel coordinate p of the imaging radius R of marker in the image that camera is shot at this time, the marker center of circle
And the space coordinate P of mechanical arm tail end1；
Controller control mechanical arm makes the ring flange of mechanical arm tail end around U shaft rotary random angle A1, and control mobile mechanical arm end
Hold space coordinate P2Place makes the center of circle of marker be imaged on the same point in above-mentioned viewing field of camera, and processor is according to mechanical twice
The space coordinate P of arm end1And P2Point of the horizontal direction of the space vector of tool center point relative mechanical arm end is calculated
It measures (a, b), the U axis is perpendicular to plane H；
Controller control mechanical arm makes any joint of mechanical arm around W shaft rotary random angle A2, and control mobile mechanical arm end and arrive
Space coordinate P3Place makes the center of circle of marker be imaged on the same point in above-mentioned viewing field of camera, and make marker on plane H
Imaging long axis length be equal to the imaging radius R of marker, processor is according to the space coordinate P of mechanical arm tail end twice2And P3With
And point of the vertical direction of the space vector of tool center point relative mechanical arm end is calculated in the component (a, b) of horizontal direction
Measure c1, the W axis is parallel to plane H.
11. a kind of calibration system of industrial robot tool coordinates system, the industrial robot includes pedestal and mechanical arm, described
Tool is fixed on mechanical arm tail end, and the mechanical arm has more than two joints, which is characterized in that the system includes following dress
It sets:
First device is set as the flange face of circle marker object relative mechanical arm end being fixed on tool center point in parallel, make
The center of circle of marker be imaged in viewing field of camera a little and make the flange face of mechanical arm tail end with respect to camera imaging plane H put down
Row records the imaging radius R of marker in the image that camera is shot at this time, the pixel coordinate p and machine in the marker center of circle
The space coordinate P of tool arm end1；
Second device is set as making the ring flange of mechanical arm tail end around U shaft rotary random angle A1, mobile mechanical arm end to sky
Between coordinate P2Place makes the center of circle of marker be imaged on the same point in above-mentioned viewing field of camera, according to the space of mechanical arm tail end twice
Coordinate P1And P2The component (a, b) of the horizontal direction of the space vector of tool center point relative mechanical arm end is calculated, it is described
U axis is perpendicular to plane H；
3rd device is set as making any joint of mechanical arm around W shaft rotary random angle A2, mobile mechanical arm end is sat to space
Mark P3Place makes the center of circle of marker be imaged on the same point in above-mentioned viewing field of camera, and makes the imaging on plane H of marker
Long axis length is equal to the imaging radius R of marker, according to the space coordinate P of mechanical arm tail end twice2And P3And horizontal direction
The component c of the vertical direction of the space vector of tool center point relative mechanical arm end is calculated in component (a, b)1, the W axis
It is parallel to plane H.
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