CN107498558A - Full-automatic hand and eye calibrating method and device - Google Patents
Full-automatic hand and eye calibrating method and device Download PDFInfo
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- CN107498558A CN107498558A CN201710856392.5A CN201710856392A CN107498558A CN 107498558 A CN107498558 A CN 107498558A CN 201710856392 A CN201710856392 A CN 201710856392A CN 107498558 A CN107498558 A CN 107498558A
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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
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/40—Robotics, robotics mapping to robotics vision
- G05B2219/40002—Camera, robot follows direction movement of operator head, helmet, headstick
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Abstract
The invention provides a kind of full-automatic hand and eye calibrating method and device, it is related to Robot calibration technical field.The full-automatic hand and eye calibrating method includes：Obtain the current pose of mechanical arm；According to the current pose of the mechanical arm and default motion path, next pose of the mechanical arm is obtained；Obtain the scaling board data under each pose of the mechanical arm；The hand and eye calibrating result of camera and the mechanical arm is obtained according to the pose of the mechanical arm and the scaling board data.Full-automatic hand and eye calibrating method and device provided by the invention provide a kind of simpler, more accurate, collisionless automation scaling scheme for the hand and eye calibrating of robot, the calibration system does not need extra auxiliary hardware devices in addition to scaling board, moved by robotically controlled arm being centered on scaling board or camera, you can while complete the demarcation of the transformation matrix of camera internal reference, camera and mechanical arm.
Description
Technical field
The present invention relates to Robot calibration technical field, in particular to a kind of full-automatic hand and eye calibrating method and dress
Put.
Background technology
Industrial robot a pair of " insight " is assigned, the coordinate relation of robot and camera is established, is robot is moved towards intelligence
An important ring for energyization.After robot installation vision sensor, more complicated and intelligent appoint can be performed by visual information
Business, and the accurate demarcation of robot and camera is to establish the bridge of robot and vision system correlation.
In robot system, the mounting means of camera can be divided into two major classes：Eye-in-hand, i.e. camera are arranged on
Mechanical arm tail end, moved with the motion of mechanical arm；Eye-to-hand, camera are arranged on outside mechanical arm, the base with mechanical arm
Seat is relatively fixed, and is not moved with the motion of mechanical arm.The demarcation mode of both mounting means is slightly different, but general principle
It is similar：Industrial robot converts posture with the camera on arm or scaling board, and camera shooting identifies the scaling board in visual field,
By a series of calculating, draw camera it is relative with mechanical arm tail end or camera relative to mechanical arm pedestal transformation relation square
Battle array.Thus relation, it is possible to the objects such as the workpiece under camera coordinates are transformed under robot coordinate, guided robot is grabbed
The work such as take.
Three kinds of existing Robotic Hand-Eye Calibration schemes introduced below.
The first scheme, it is proposed that the eye-in-hand scaling methods of industrial six-joint robot.Robot converts two appearances
State, the coordinate value of the characteristic point and coordinate points of each posture under camera coordinates system is identified, camera is calculated to robot
Coordinate conversion relation.
Second scheme, sticks scaling board on benchmark workpiece first, then establishes visual coordinate system and calculating benchmark work
On part coordinate a little under visual coordinate system, then benchmark workpiece and scaling board are moved under robot station, by regarding
Feel the conversion of coordinate system and robot coordinate system, finally give on benchmark workpiece coordinate a little.
The third scheme, one kind are based on exponent product model hand-eye machine people's automatic calibration method.If using mirror and
Dry surveyor's beacon, the hand information outside the camera fields of view scope of end is transformed into camera coordinates system using make use of the principle of reflection of mirror
Under, complete hand and eye calibrating.
However, there is certain deficiency in three of the above scheme：
Although the first scheme only need twice robot pose conversion can calculate camera relative to robot
Transformation matrix, but the posture of manual intervention setting robot is needed in calibration process.Camera internal reference needs demarcation in advance.
Second scheme calibration process whole process needs manual intervention, and demarcation flow is complicated, and precision can not ensure.Camera internal reference
Need to demarcate in advance.
The third scheme also needs to extra mirror as auxiliary equipment in addition to scaling board.
In addition, there is no the scaling method that eye-to-hand is provided in three of the above scheme；Calibration result is not quantified to refer to
Mark；Barrier avoiding function can not be provided in calibration process.
The content of the invention
It is an object of the invention to provide a kind of full-automatic hand and eye calibrating method and device, it can be effectively improved above-mentioned ask
Topic.
What embodiments of the invention were realized in：
In a first aspect, the embodiments of the invention provide a kind of full-automatic hand and eye calibrating method, methods described includes：Acquisition machine
The current pose of tool arm；According to the current pose of the mechanical arm and default motion path, obtain under the mechanical arm
One pose；Obtain the scaling board data under each pose of the mechanical arm；According to the pose of the mechanical arm and
The scaling board data obtain the hand and eye calibrating result of camera and the mechanical arm.
Second aspect, the embodiment of the present invention additionally provide a kind of full-automatic hand and eye calibrating device, and it includes pose and obtains mould
Block, the pose current for obtaining mechanical arm；Pose computing module, for according to the current pose of the mechanical arm and default
Motion path, obtain next pose of the mechanical arm；Image collection module, for obtaining in each of the mechanical arm
Scaling board data under individual pose；As a result computing module, obtained according to the pose of the mechanical arm and the scaling board data
The hand and eye calibrating result of camera and the mechanical arm.
Full-automatic hand and eye calibrating method and device provided in an embodiment of the present invention, the pose current by obtaining mechanical arm,
Mechanical arm can be obtained and starting the original state before demarcating, to play reference to ensuing manipulator motion；Further according to described
The current pose of mechanical arm and default motion path, next pose of the mechanical arm is obtained, mechanical arm can be obtained and existed
By once according to next state after default movement path；By during manipulator motion, obtaining
Scaling board data under each pose of the mechanical arm, the phase under each pose of the mechanical arm can be obtained
The transformation matrix of machine and scaling board；Finally, camera and institute are obtained according to the pose of the mechanical arm and the scaling board data
State the hand and eye calibrating result of mechanical arm, you can the camera and the relative position relation of scaling board obtained by previous step, extrapolate
The transformation matrix of camera and mechanical arm is hand and eye calibrating result.Compared to the prior art, full-automatic trick mark provided by the invention
Determine method and device and provide a kind of simpler, more accurate, collisionless one-touch eye-in- for the hand and eye calibrating of robot
Hand and eye-to-hand Six-DOF industrial robots automate scaling scheme, and the calibration system need not in addition to scaling board
Extra auxiliary hardware devices, after starting and demarcating, can robotically controlled arm being centered on scaling board or camera according to default
Moved in path, you can while the demarcation of the transformation matrix of camera internal reference, camera and mechanical arm is completed, and can terminate in demarcation
Calculate afterwards and rush projection error, be easy to provide the quantizating index of calibration result.
Brief description of the drawings
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below by embodiment it is required use it is attached
Figure is briefly described, it will be appreciated that the following drawings illustrate only certain embodiments of the present invention, therefore be not construed as pair
The restriction of scope, for those of ordinary skill in the art, on the premise of not paying creative work, can also be according to this
A little accompanying drawings obtain other related accompanying drawings.
Fig. 1 is a kind of structured flowchart for the electronic equipment that can be applied in the embodiment of the present invention；
Fig. 2 is the FB(flow block) for the full-automatic hand and eye calibrating method that first embodiment of the invention provides；
Fig. 3 is the sub-step FB(flow block) of step S210 in first embodiment of the invention；
Fig. 4 is the FB(flow block) of step S400 in first embodiment of the invention；
Fig. 5 is the sub-step FB(flow block) of step S230 in first embodiment of the invention；
Fig. 6 is the hand and eye calibrating schematic diagram under the eye-in-hand patterns that first embodiment of the invention provides；
Fig. 7 is the hand and eye calibrating schematic diagram under the eye-to-hand patterns that first embodiment of the invention provides；
Fig. 8 is the FB(flow block) of step S600 in first embodiment of the invention；
Fig. 9 is the structural representation for the scaling board that first embodiment of the invention provides；
Figure 10 is the structured flowchart for the full-automatic hand and eye calibrating device that first embodiment of the invention provides.
Embodiment
Below in conjunction with accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Ground describes, it is clear that described embodiment is only part of the embodiment of the present invention, rather than whole embodiments.Generally exist
The component of the embodiment of the present invention described and illustrated in accompanying drawing can be configured to arrange and design with a variety of herein.Cause
This, the detailed description of the embodiments of the invention to providing in the accompanying drawings is not intended to limit claimed invention below
Scope, but it is merely representative of the selected embodiment of the present invention.Based on embodiments of the invention, those skilled in the art are not doing
The every other embodiment obtained on the premise of going out creative work, belongs to the scope of protection of the invention.
It should be noted that：Similar label and letter represents similar terms in following accompanying drawing, therefore, once a certain Xiang Yi
It is defined, then it further need not be defined and explained in subsequent accompanying drawing in individual accompanying drawing.Meanwhile the present invention's
In description, term " first ", " second " etc. are only used for distinguishing description, and it is not intended that instruction or hint relative importance.
Fig. 1 shows a kind of structured flowchart for the electronic equipment 100 that can be applied in the embodiment of the present application.As shown in figure 1,
Electronic equipment 100 can include memory 110, storage control 120, processor 130, display screen 140 and full-automatic trick
Caliberating device.For example, the electronic equipment 100 can be PC (personal computer, PC), tablet personal computer, intelligence
Mobile phone, personal digital assistant (personal digital assistant, PDA) etc..
It is directly or indirectly electric between memory 110, storage control 120, processor 130,140 each element of display screen
Connection, to realize the transmission of data or interaction.For example, one or more communication bus or signal can be passed through between these elements
Bus realizes electrical connection.The full-automatic hand and eye calibrating method include respectively it is at least one can be with software or firmware
(firmware) form is stored in the software function module in memory 110, such as the full-automatic hand and eye calibrating device bag
The software function module or computer program included.
Memory 110 can store various software programs and module, the full-automatic trick provided such as the embodiment of the present application
Programmed instruction/module corresponding to scaling method and device.Processor 130 is by running the software journey of storage in the memory 110
Sequence and module, so as to perform various function application and data processing, that is, realize the full-automatic trick in the embodiment of the present application
Scaling method.Memory 110 can include but is not limited to random access memory (Random Access Memory, RAM), only
Read memory (Read Only Memory, ROM), programmable read only memory (Programmable Read-Only
Memory, PROM), erasable read-only memory (Erasable Programmable Read-Only Memory, EPROM),
Electricallyerasable ROM (EEROM) (Electric Erasable Programmable Read-Only Memory, EEPROM) etc..
Processor 130 can be a kind of IC chip, have signal handling capacity.Above-mentioned processor can be general
Processor, including central processing unit (Central Processing Unit, abbreviation CPU), network processing unit (Network
Processor, abbreviation NP) etc.；It can also be digital signal processor (DSP), application specific integrated circuit (ASIC), ready-made programmable
Gate array (FPGA) either other PLDs, discrete gate or transistor logic, discrete hardware components.It can
To realize or perform disclosed each method, step and the logic diagram in the embodiment of the present application.General processor can be micro-
Processor or the processor can also be any conventional processors etc..
Electronic equipment 100 applied in the embodiment of the present invention should also possess from display to realize full-automatic hand and eye calibrating
Function, display screen 140 therein can be provided between the electronic equipment 100 and user an interactive interface (such as with
Family operation interface) or for display image data give user reference.For example, it can show what full-automatic hand and eye calibrating device obtained
Scaling board image and the data for calculating the hand and eye calibrating result correlation obtained.
First embodiment
Fig. 2 is refer to, present embodiments provides a kind of full-automatic hand and eye calibrating method, methods described includes：
Step S200：Obtain the current pose of mechanical arm；
In the present embodiment, the pose of the mechanical arm can be position and posture of the mechanical arm in current spatial,
Specifically, the pose can be the transformation matrix A between the pedestal that the mechanical end is installed to the mechanical arm.Pass through
Fixed mechanical arm pedestal structure space coordinates, you can the demarcation to mechanical arm pose is completed, it is each by obtaining mechanical arm
Angle between joint, you can obtain the current posture of mechanical arm, the final mechanical arm tail end that obtains is between mechanical arm pedestal
Transformation matrix A.
Step S210：According to the current pose of the mechanical arm and default motion path, the mechanical arm is obtained
Next pose；
In the present embodiment, pass through the current pose of the mechanical arm for obtaining step S200, and mechanical arm set in advance
Motion path calculated, you can automatically generate the next motion path and reach next that mechanical arm will be moved
Pose during individual destination.Specifically, the default motion path can be mechanical arm using scaling board or camera as the centre of sphere, enter
Motion of the row on Surface of Sphere, to ensure it at the pose of each fixation, between mechanical arm and scaling board or camera away from
It is constant from holding.It is understood that the default motion path can also be the shapes such as ellipsoid or cube.
Step S220：Obtain the scaling board data under each pose of the mechanical arm；
In the present embodiment, each motion of the mechanical arm can be according to current pose and default motion path
Carry out calculate obtain mechanical arm reach next destination when pose, and mechanical arm initial pose and move to afterwards
Each destination position and posture under, camera is shot to the scaling board under each position and posture, and will shooting
Scaling board image be converted to scaling board data.Specifically, the scaling board data under each mechanical arm pose, that is, represent at this
Transformation matrix B under mechanical arm pose between scaling board and camera.It is understood that the times of exercise of mechanical arm is more than or waited
In 1 time, i.e., two groups of scaling board data are at least obtained, the pose number of mechanical arm is more, and the final calibration result obtained that calculates is got over
Accurately.Particularly, in the case where needing to obtain each mechanical arm pose of scaling board data, scaling board can be made to be located at the optimal of camera
Sighting distance center, to obtain most clearly scaling board image and most accurate scaling board data.
Step S230：Camera and the mechanical arm are obtained according to the pose of the mechanical arm and the scaling board data
Hand and eye calibrating result.
In the present embodiment, the pose of the mechanical arm can be transformation matrix A of the mechanical arm tail end to mechanical arm pedestal, institute
It can be the transformation matrix B between camera and scaling board to state scaling board data, according to the pose of multigroup mechanical arm and multigroup demarcation
Plate data are calculated, you can obtain the hand and eye calibrating result i.e. camera of camera and mechanical arm and the transformation matrix T of mechanical arm.
Under eye-in-hand patterns, the camera is arranged on mechanical arm tail end, and the hand and eye calibrating result now tried to achieve is camera and machinery
The transformation matrix T of arm end；Under eye-to-hand patterns, the camera is arranged on other positions and camera and the machinery
Arm pedestal relative position is fixed, and scaling board is arranged on mechanical arm tail end, and the hand and eye calibrating result now tried to achieve is camera and machinery
The transformation matrix T of arm pedestal.
Fig. 3 is refer to, in the present embodiment, specifically, the step S210 can include following sub-step：
Step S300：Obtain the spheric motion path of the mechanical arm；
In the present embodiment, transported specifically, the spheric motion path can be mechanical arm centered on scaling board or camera
Dynamic sphere trajectory parameters equation：
Wherein, r be spheric motion radius, 0≤θ≤π,Mark timing setting θ andSize so that
Scaling board is all the time in the visual field of camera.
Step S310：According to the current pose of the mechanical arm and the spheric motion path, the mechanical arm is obtained
Next pose.
Each corresponding pose coordinate points, first set the sensing of its z-axis：Z-axis, calculate x-axis and point to：
X-axis=y-axis × z-axis
Y-axis is calculated to point to：
Y-axis=z-axis × x-axis
In the present embodiment, when manipulator motion is to each position, the current pose of mechanical arm can be calculated, is adopted in camera
After collection identification scaling board data, mechanical arm continues to move to next position, is circulated with this, until completing whole demarcation flow.
In the present embodiment, when the camera installed in the mechanical arm tail end be eye-in-hand patterns when, the machinery
Arm carries out spheric motion by the centre of sphere of the scaling board；When the scaling board installed in the mechanical arm tail end is eye-to-
During hand patterns, the mechanical arm carries out spheric motion by the centre of sphere of the camera.
Fig. 4 is refer to, in the present embodiment, specifically, may include steps of before the step S300：
Step S400：Obtain the pose number of the manipulator motion, the parameter of scaling board and mechanical arm sphere fortune
Dynamic radius value.
In the present embodiment, before being demarcated, the pose number of manipulator motion can be first set, the pose number contains machine
The pose of tool arm original state, such as set the pose number of mechanical arm as 10 times, then mechanical arm need to carry out 9 times to move and obtain
10 groups of mechanical arm poses and camera obtain 10 groups of scaling board data, you can carry out the calculating of hand and eye calibrating result.The present embodiment
In, the parameter of the scaling board can be the shape and size of the characteristic point on scaling board, and the parameter of the scaling board can be used for counting
Calculate and obtain camera internal reference.
Fig. 5 is refer to, in the present embodiment, specifically, the step S230 can include following sub-step：
Step S500：Camera internal reference matrix K, and the mechanical arm tail end are obtained to the conversion square of the mechanical arm pedestal
Battle array A；
Specifically, camera internal reference can be demarcated by multigroup scaling board data that camera obtains, you can carrying out hand
While eye demarcation, the internal reference matrix K of camera is obtained.In the present embodiment, by taking simplest pose number 2 as an example, the mechanical arm
Motion once front and rear two ends to the transformation matrix of pedestal be respectively A1And A2。
Step S510：The camera is obtained to the demarcation according to the camera internal reference matrix K and the scaling board data
The transformation matrix B of plate；
In the present embodiment, by taking pose number 2 as an example, the transformation matrix of the camera that is obtained before and after manipulator motion to scaling board
B respectively1And B2。
Step S520：Arrived according to the mechanical arm tail end to the transformation matrix A of the mechanical arm pedestal and the camera
The transformation matrix B of the scaling board, obtain the hand and eye calibrating result of the camera and the mechanical arm.
Fig. 6 is refer to, in the present embodiment, under eye-in-hand patterns, according to the mechanical arm tail end to the machinery
The transformation matrix A and the camera of arm pedestal obtain the camera to the mechanical arm to the transformation matrix B of the scaling board
The transformation matrix T of end.
Specifically, by taking pose number 2 as an example, as shown in fig. 6, structure spatial alternation loop：
(A2 -1·A1) T=T (B2 -1·B1)
It can use dual quaterion method that the transformation matrix T of camera and mechanical arm tail end is calculated.
It refer to Fig. 7,, can be first according to the mechanical arm tail end to described under eye-to-hand patterns in the present embodiment
The transformation matrix A and the camera of mechanical arm pedestal to the transformation matrix B of the scaling board, the scaling board is obtained described in
The transformation matrix C of mechanical arm tail end；The transformation matrix T=ACB for obtaining the camera to the mechanical arm pedestal is calculated again.
Specifically, by taking pose number 2 as an example, as shown in fig. 7, structure spatial alternation loop：
(A2 -1·A1) C=C (B2·B1 -1)
The transformation matrix C of scaling board and mechanical arm tail end is calculated using dual quaterion method, so obtain camera and
The transformation matrix T=ACB of mechanical arm pedestal.
Fig. 8 is refer to, in the present embodiment, specifically, may include steps of before the step S200：
Step S600：The model of mechanical arm, camera, scaling board and environment is built, to ensure the default motion road of generation
Footpath is safe and effective.
In the present embodiment, by building mechanical arm, camera, scaling board and the model of environment, it can be used for realizing automatic mark
Collision detection during fixed, to ensure that the robotic arm path of generation is safe and effective, it is ensured that mechanical arm, camera, scaling board and behaviour
Make the safety of personnel.
It refer to Fig. 9, in the present embodiment, the scaling board is the asymmetric circular array comprising filled circles and open circles
Scaling board.The present embodiment selects the circular array camera calibration plate higher compared to traditional gridiron pattern scaling board stated accuracy,
The scaling board uses filled circles and open circles asymmetric arrangement architecture, and ceramic panel processing and fabricating is used using special process,
It ensure that the flatness of scaling board.It is capable of the identification scaling board of fast accurate using the scaling board recognizer of optimization, improves mark
Fixed precision.
The full-automatic hand and eye calibrating method and device that the present embodiment provides provide one kind more for the hand and eye calibrating of robot
Simply, more accurate, collisionless one-touch eye-in-hand and eye-to-hand Six-DOF industrial robots automation mark
Determine scheme, the calibration system does not need extra auxiliary hardware devices in addition to scaling board, can robot brain after demarcation is started
Tool arm is moved centered on scaling board or camera according to preset path, you can while complete camera internal reference, camera and machinery
The demarcation of the transformation matrix of arm, and can be calculated after demarcation terminates and rush projection error, it is easy to provide the quantizating index of calibration result.
Second embodiment
Figure 10 is refer to, present embodiments provides a kind of full-automatic hand and eye calibrating device 700, it includes：
Pose acquisition module 710, the pose current for obtaining mechanical arm；
Pose computing module 720, for according to the current pose of the mechanical arm and default motion path, obtaining institute
State next pose of mechanical arm；
Image collection module 730, for obtaining the scaling board data under each pose of the mechanical arm；
As a result computing module 740, according to the pose of the mechanical arm and the scaling board data obtain camera with it is described
The hand and eye calibrating result of mechanical arm.
In summary, full-automatic hand and eye calibrating method and device provided in an embodiment of the present invention, are worked as by obtaining mechanical arm
Preceding pose, mechanical arm can be obtained and starting the original state before demarcating, to play reference to ensuing manipulator motion；Again
According to the current pose of the mechanical arm and default motion path, next pose of the mechanical arm is obtained, can be obtained
Mechanical arm is by once according to next state after default movement path；Pass through the process in manipulator motion
In, the scaling board data under each pose of the mechanical arm are obtained, can be obtained in each position of the mechanical arm
The transformation matrix of camera and scaling board under appearance；Finally, obtained according to the pose of the mechanical arm and the scaling board data
The hand and eye calibrating result of camera and the mechanical arm, you can the camera and the relative position of scaling board obtained by previous step closes
System, extrapolate the transformation matrix i.e. hand and eye calibrating result of camera and mechanical arm.Compared to the prior art, it is provided by the invention it is complete from
It is a kind of simpler, more accurate, collisionless one-touch that dynamic hand and eye calibrating method and device provide for the hand and eye calibrating of robot
Eye-in-hand and eye-to-hand Six-DOF industrial robots automate scaling scheme, and the calibration system is in addition to scaling board
Do not need extra auxiliary hardware devices, start demarcate after, can robotically controlled arm being pressed centered on scaling board or camera
Moved according to preset path, you can while the demarcation of the transformation matrix of camera internal reference, camera and mechanical arm is completed, and can mark
Calculated after terminating calmly and rush projection error, be easy to provide the quantizating index of calibration result.It the foregoing is only the preferred reality of the present invention
Example is applied, is not intended to limit the invention, for those skilled in the art, the present invention can have various changes and change
Change.Within the spirit and principles of the invention, any modification, equivalent substitution and improvements made etc., should be included in the present invention
Protection domain within.
Claims (10)
1. a kind of full-automatic hand and eye calibrating method, it is characterised in that methods described includes：
Obtain the current pose of mechanical arm；
According to the current pose of the mechanical arm and default motion path, next pose of the mechanical arm is obtained；
Obtain the scaling board data under each pose of the mechanical arm；
The hand and eye calibrating result of camera and the mechanical arm is obtained according to the pose of the mechanical arm and the scaling board data.
2. according to the method for claim 1, it is characterised in that according to the current pose of the mechanical arm and default fortune
Dynamic path, next pose of the mechanical arm is obtained, including：
Obtain the spheric motion path of the mechanical arm；
According to the current pose of the mechanical arm and the spheric motion path, next pose of the mechanical arm is obtained.
3. according to the method for claim 2, it is characterised in that before the spheric motion path of the mechanical arm is obtained,
Also include：
Obtain the radius value of the pose number of the manipulator motion, the parameter of scaling board and the mechanical arm spheric motion.
4. according to the method for claim 2, it is characterised in that when the camera is arranged on the mechanical arm tail end, institute
State mechanical arm and carry out spheric motion by the centre of sphere of the scaling board；When the scaling board is arranged on the mechanical arm tail end, institute
State mechanical arm and carry out spheric motion by the centre of sphere of the camera.
5. according to the method for claim 1, it is characterised in that according to the pose of the mechanical arm and the scaling board number
According to the hand and eye calibrating result for obtaining camera and the mechanical arm, including：
Camera internal reference matrix K, and the mechanical arm tail end are obtained to the transformation matrix A of the mechanical arm pedestal；
The camera is obtained to the transformation matrix B of the scaling board according to the camera internal reference matrix K and the scaling board data；
According to the change of the transformation matrix A of the mechanical arm tail end to the mechanical arm pedestal and the camera to the scaling board
Matrix B is changed, obtains the hand and eye calibrating result of the camera and the mechanical arm.
6. according to the method for claim 5, it is characterised in that according to the mechanical arm tail end to the mechanical arm pedestal
Transformation matrix A and the camera obtain the trick mark of the camera and the mechanical arm to the transformation matrix B of the scaling board
Determine result, including：
According to the change of the transformation matrix A of the mechanical arm tail end to the mechanical arm pedestal and the camera to the scaling board
Matrix B is changed, obtains the camera to the transformation matrix T of the mechanical arm tail end.
7. according to the method for claim 5, it is characterised in that according to the mechanical arm tail end to the mechanical arm pedestal
Transformation matrix A and the camera obtain the trick mark of the camera and the mechanical arm to the transformation matrix B of the scaling board
Determine result, including：
According to the change of the transformation matrix A of the mechanical arm tail end to the mechanical arm pedestal and the camera to the scaling board
Matrix B is changed, obtains the scaling board to the transformation matrix C of the mechanical arm tail end；
The camera is obtained to the transformation matrix T=ACB of the mechanical arm pedestal.
8. according to the method for claim 1, it is characterised in that before the current pose of mechanical arm is obtained, in addition to：
The model of mechanical arm, camera, scaling board and environment is built, to ensure that the default motion path of generation is safe and effective.
9. according to the method for claim 1, it is characterised in that the scaling board is non-right comprising filled circles and open circles
Title formula circular array scaling board.
A kind of 10. full-automatic hand and eye calibrating device, it is characterised in that including：
Pose acquisition module, the pose current for obtaining mechanical arm；
Pose computing module, for according to the current pose of the mechanical arm and default motion path, obtaining the machinery
Next pose of arm；
Image collection module, for obtaining the scaling board data under each pose of the mechanical arm；
As a result computing module, camera and the mechanical arm are obtained according to the pose of the mechanical arm and the scaling board data
Hand and eye calibrating result.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108436909A (en) * | 2018-03-13 | 2018-08-24 | 南京理工大学 | A kind of hand and eye calibrating method of camera and robot based on ROS |
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| CN108408395B (en) * | 2018-03-05 | 2023-07-11 | 江南大学 | Movable asymmetric double-arm cooperative robot |
| CN108408395A (en) * | 2018-03-05 | 2018-08-17 | 江南大学 | A kind of movable type asymmetric both arms cooperation robot |
| CN108436909A (en) * | 2018-03-13 | 2018-08-24 | 南京理工大学 | A kind of hand and eye calibrating method of camera and robot based on ROS |
| CN108748146A (en) * | 2018-05-30 | 2018-11-06 | 武汉库柏特科技有限公司 | A kind of Robotic Hand-Eye Calibration method and system |
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| CN110276799A (en) * | 2019-05-29 | 2019-09-24 | 季华实验室 | A kind of coordinate scaling method, calibration system and mechanical arm |
| CN110202573A (en) * | 2019-06-04 | 2019-09-06 | 上海知津信息科技有限公司 | Full-automatic hand and eye calibrating, working face scaling method and device |
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