CN108942934A - Determine the method and device of hand and eye calibrating - Google Patents
Determine the method and device of hand and eye calibrating Download PDFInfo
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- CN108942934A CN108942934A CN201810812687.7A CN201810812687A CN108942934A CN 108942934 A CN108942934 A CN 108942934A CN 201810812687 A CN201810812687 A CN 201810812687A CN 108942934 A CN108942934 A CN 108942934A
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- scaling board
- industrial camera
- coordinate system
- image
- robot
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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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- 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
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
Abstract
The invention discloses a kind of method and devices of determining hand and eye calibrating.Wherein, it this method comprises: pose by adjusting robot in space, controls the industrial camera that is mounted in the robot and is focused scaling board with different poses；Obtain at least scaling board image that the industrial camera is shot in different poses；Posture information based at least a scaling board image and the robot, obtain hand and eye calibrating result of the industrial camera in presumptive area, wherein, mapping relations of the hand and eye calibrating result between cartesian coordinate system and image coordinate system, the present invention solve the technical issues of hand and eye calibrating as caused by industrial lens distortion and industrial camera inner parameter deviation generates error.
Description
Technical field
The present invention relates to Robot calibration technical fields, in particular to the method and dress of a kind of determining hand and eye calibrating
It sets.
Background technique
In existing hand and eye calibrating technical field, traditional hand and eye calibrating algorithm reaches industrial phase by control robot clamp
Machine multiple points within the vision record the Relative Maps relationship between cartesian coordinate system and image coordinate system, to industrial mirror
The error that head distortion and industrial camera inner parameter deviation introduce does not fully consider but.Cause the precision of hand and eye calibrating low, machine
Device people catches automatically takes the accuracy of object and success rate low.
Hand and eye calibrating for the above-mentioned prior art is to reach industrial camera within sweep of the eye by control robot clamp
Point realize, due to the influence of the factors such as industrial lens distortion, lead to the problem of hand and eye calibrating inaccuracy, not yet propose at present
Effective solution scheme.
Summary of the invention
The embodiment of the invention provides a kind of method and devices of determining hand and eye calibrating, at least to solve the hand of the prior art
Eye calibration is to reach industrial camera point within the vision by control robot clamp to realize, due to industrial lens distortion etc.
The influence of factor leads to the technical problem of hand and eye calibrating inaccuracy.
According to an aspect of an embodiment of the present invention, a kind of method of determining hand and eye calibrating is provided, comprising: by adjusting
The pose of robot in space is controlled the industrial camera that is mounted in the robot and is focused scaling board with different poses,
At least scaling board image that the industrial camera is shot in different poses is obtained, based at least one calibration
The posture information of plate image and the robot, obtain hand and eye calibrating of the industrial camera in presumptive area as a result, its
In, mapping relations of the hand and eye calibrating result between cartesian coordinate system and image coordinate system.
Further, the posture information based at least a scaling board image and the robot, described in acquisition
Hand and eye calibrating result of the industrial camera in presumptive area, comprising: obtained from the scaling board image that the industrial camera takes
The index point information for taking the scaling board, the pose of industrial camera when according to the index point information of the scaling board and shooting
Information determines the relational model of position between the industrial camera and the scaling board, creates flute card based on the relational model
The mapping relations of your coordinate system and image coordinate system.
Further, the mapping relations based on relational model creation cartesian coordinate system and image coordinate system, comprising:
Based on the relational model, multiple shooting points of the industrial camera in predetermined coverage are obtained, wherein the predetermined bat
It takes the photograph range and covers the scaling board, record the image coordinate of each shooting point, be moved to arbitrarily controlling the industrial camera
In the case where one shooting point, the tool coordinates of the industrial camera are obtained, are based on described image coordinate and the tool coordinates,
The cartesian coordinate for obtaining each shooting point, the cartesian coordinate that the cartesian coordinate based on each shooting point is constituted
The described image coordinate system that the image coordinate of system and each shooting point is constituted, creates the cartesian coordinate system and institute
State the mapping relations of image coordinate system.
Further, the relational model of position between the industrial camera and the scaling board is determined by following formula:
Cam_H_cal=cam_H_tool (CameraPose) * tool_H_base (RobotPose) * base_H_cal
(CalibrationPose), wherein cam_H_cal is position of the coordinate system of scaling board in the image coordinate system of industrial camera
Appearance, cam_H_tool (CameraPose) are that the tool coordinates of robot tie up to the pose in the image coordinate system of industrial camera,
Tool_H_base (RobotPose) is pose of the basis coordinates system of robot in the tool coordinates system of robot, base_H_
Cal (CalibrationPose) is pose of the coordinate system of scaling board in the basis coordinates system of robot.
According to another aspect of an embodiment of the present invention, another method for determining hand and eye calibrating is additionally provided, comprising: pass through
The pose of working plate in space is adjusted, controls the scaling board being mounted on the working plate with different pose focusing works
Industry camera obtains the industrial camera when the scaling board is located at different poses, at least scaling board shot
Image obtains the industrial camera pre- based on the posture information of at least a scaling board image and the scaling board
Determine the hand and eye calibrating result in region, wherein the hand and eye calibrating result is between cartesian coordinate system and image coordinate system
Mapping relations.
Further, the posture information based at least a scaling board image and the scaling board, described in acquisition
Hand and eye calibrating result of the industrial camera in presumptive area, comprising: obtained from the scaling board image that the industrial camera takes
The index point information for taking the scaling board, the pose of the scaling board is believed when according to the index point information of the scaling board and shooting
Breath, determines the relational model of position between the industrial camera and the scaling board, creates Descartes based on the relational model
The mapping relations of coordinate system and image coordinate system.
Further, the mapping relations based on relational model creation cartesian coordinate system and image coordinate system, comprising:
Based on the relational model, multiple shooting points of the industrial camera in predetermined coverage are obtained, wherein the predetermined bat
It takes the photograph range and covers the scaling board, record the image coordinate of each shooting point, be moved to arbitrarily controlling the industrial camera
In the case where one shooting point, the tool coordinates of the industrial camera are obtained, are based on described image coordinate and the tool coordinates,
The cartesian coordinate for obtaining each shooting point, the cartesian coordinate that the cartesian coordinate based on each shooting point is constituted
The described image coordinate system that the image coordinate of system and each shooting point is constituted, creates the cartesian coordinate system and institute
State the mapping relations of image coordinate system.
Further, the relational model of position between the industrial camera and the scaling board is determined by following formula:
Cam_H_cal=cam_H_tool (CameraPose) * tool_H_base (RobotPose) * base_H_cal
(CalibrationPose), wherein cam_H_cal is position of the coordinate system of scaling board in the image coordinate system of industrial camera
Appearance, cam_H_tool (CameraPose) are that the tool coordinates of robot tie up to the pose in the image coordinate system of industrial camera,
Tool_H_base (RobotPose) is pose of the basis coordinates system of robot in the tool coordinates system of robot, base_H_
Cal (CalibrationPose) is pose of the coordinate system of scaling board in the basis coordinates system of robot.
According to another aspect of an embodiment of the present invention, a kind of device of determining hand and eye calibrating is additionally provided, comprising: the first control
Molding block controls the industrial camera being mounted in the robot for the pose by adjusting robot in space with not
With pose focus scaling board, first obtain module, for obtain the industrial camera different poses shoot to
A few scaling board image, second obtains module, for according to an at least scaling board image and the robot
Posture information obtains hand and eye calibrating result of the industrial camera in presumptive area, wherein the hand and eye calibrating result is flute
Mapping relations between karr coordinate system and image coordinate system.
Further, described device further include: the second control module, for the position by adjusting working plate in space
Appearance controls the scaling board being mounted on the working plate with different pose focusing industrial cameras, and third obtains module, is used for
The industrial camera is obtained when the scaling board is located at different poses, at least scaling board image shot, the
Four obtain module, for the posture information according at least a scaling board image and the scaling board, obtain the work
Hand and eye calibrating result of the industry camera in presumptive area, wherein the hand and eye calibrating result is that cartesian coordinate system and image are sat
Mapping relations between mark system.
According to another aspect of an embodiment of the present invention, a kind of system of determining hand and eye calibrating is additionally provided, comprising: calibration
Plate；Robot；Industrial camera is mounted in the robot, is oppositely arranged with the scaling board, for by adjusting the machine
The pose of device people in space with the different pose focusing scaling boards, and shoots to obtain at least one in different poses
Scaling board image, processing equipment are connect with the industrial camera, for according to an at least scaling board image and described
The posture information of robot obtains hand and eye calibrating result of the industrial camera in presumptive area, wherein the hand and eye calibrating
As a result the mapping relations between cartesian coordinate system and image coordinate system.
According to another aspect of an embodiment of the present invention, a kind of system of determining hand and eye calibrating is additionally provided, comprising: work is flat
Plate；Scaling board is mounted on the working plate, for the pose by adjusting working plate in space, with different positions
Appearance is focused industrial camera, robot and the industrial camera being mounted in the robot, the industrial camera with it is described
Scaling board is oppositely arranged, for shooting the scaling board image when scaling board is located at different positions and pose, processing equipment, with the work
The connection of industry camera obtains the work for the posture information according at least a scaling board image and the scaling board
Hand and eye calibrating result of the industry camera in presumptive area, wherein the hand and eye calibrating result is that cartesian coordinate system and image are sat
Mapping relations between mark system.The embodiment of the invention provides a kind of method and devices of determining hand and eye calibrating, at least to solve
The technical issues of hand and eye calibrating as caused by industrial lens distortion and industrial camera inner parameter deviation generates error.
In embodiments of the present invention, the pose by adjusting robot in space, control are mounted in the robot
Industrial camera focused scaling board with different pose, obtain the industrial camera is shot in different poses at least one
It opens scaling board image and the industry is obtained based on the posture information of at least a scaling board image and the robot
Hand and eye calibrating result of the camera in presumptive area, wherein the hand and eye calibrating result is cartesian coordinate system and image coordinate
Mapping relations between system have achieved the purpose that accurate hand and eye calibrating algorithm, to realize industrial lens distortion and industry
The technical effect of camera internal parameter error correction, and then solve since industrial lens distortion and industrial camera inner parameter are inclined
Hand and eye calibrating caused by difference generates the technical issues of error.
Detailed description of the invention
The drawings described herein are used to provide a further understanding of the present invention, constitutes part of this application, this hair
Bright illustrative embodiments and their description are used to explain the present invention, and are not constituted improper limitations of the present invention.In the accompanying drawings:
Fig. 1 is the flow chart of the method for determining hand and eye calibrating according to an embodiment of the present invention；
Fig. 2 is the signal that the different positions and pose of industrial camera according to an embodiment of the present invention focuses to the scaling board of fixed position
Figure；
Fig. 3 is the schematic diagram of the scaling board in the visual field of industrial camera according to an embodiment of the present invention；
Fig. 4 is the schematic diagram of determining hand and eye calibrating device according to an embodiment of the present invention；
Fig. 5 is the flow chart of another optional method for determining hand and eye calibrating according to an embodiment of the present invention；
Fig. 6 is another optional schematic diagram for determining hand and eye calibrating device according to an embodiment of the present invention.
Specific embodiment
In order to enable those skilled in the art to better understand the solution of the present invention, below in conjunction in the embodiment of the present invention
Attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is only
The embodiment of a part of the invention, instead of all the embodiments.Based on the embodiments of the present invention, ordinary skill people
The model that the present invention protects all should belong in member's every other embodiment obtained without making creative work
It encloses.
It should be noted that description and claims of this specification and term " first " in above-mentioned attached drawing, "
Two " etc. be to be used to distinguish similar objects, without being used to describe a particular order or precedence order.It should be understood that using in this way
Data be interchangeable under appropriate circumstances, so as to the embodiment of the present invention described herein can in addition to illustrating herein or
Sequence other than those of description is implemented.In addition, term " includes " and " having " and their any deformation, it is intended that cover
Cover it is non-exclusive include, for example, the process, method, system, product or equipment for containing a series of steps or units are not necessarily limited to
Step or unit those of is clearly listed, but may include be not clearly listed or for these process, methods, product
Or other step or units that equipment is intrinsic.
According to embodiments of the present invention, a kind of embodiment of the method for determining hand and eye calibrating is provided, it should be noted that attached
The step of process of figure illustrates can execute in a computer system such as a set of computer executable instructions, though also,
So logical order is shown in flow charts, but in some cases, it can be to be different from shown by sequence execution herein
Or the step of description.
Fig. 1 is the method for determining hand and eye calibrating according to an embodiment of the present invention, as shown in Figure 1, this method includes following step
It is rapid:
Step S102, by adjusting the pose of robot in space, control the industrial camera that is mounted in robot with
Different pose focusing scaling boards.
Above-mentionedly, scaling board is fixed on working face in the embodiment of the present application, and robot is fixed on one base
On co-ordinate system location, a ring flange is set, industrial camera is fixed on ring flange, and robot can be with difference above robot
Position, rotation angle, tilt angle adjustment industrial camera pose focus to the scaling board of fixed position, such as Fig. 2 institute
Show.
Step S104 obtains at least scaling board image that industrial camera is shot in different poses.
In above-mentioned steps, industrial camera can be controlled by robot demonstrator is focused with different poses in scaling board
On, at least a scaling board image, the field range of industrial camera shot needs to cover monolith scaling board.It is simultaneously
Confirmation result is more accurate, usually shoots a series of scaling board image by adjusting the pose of industrial camera, and scaling board needs
It to appear in different images with different positions, rotation angle, tilt angle, and need to cover whole visual field model
It encloses, is best to shoot 12 to 15 amount of images under the premise of guaranteeing arithmetic accuracy and efficiency.As shown in figure 3, scaling board
It is appeared in the visual field of industrial camera with various positions, rotation angle, tilt angle.
Step S106 obtains industrial camera pre- based on the posture information of at least a scaling board image and robot
Determine the hand and eye calibrating result in region, wherein mapping of the hand and eye calibrating result between cartesian coordinate system and image coordinate system
Relationship.
Optionally, the posture information based at least a scaling board image and robot obtains industrial camera predetermined
Hand and eye calibrating result in region, comprising: the index point letter of scaling board is obtained from the scaling board image that industrial camera takes
Breath；According to the posture information of industrial camera when the index point information of scaling board and shooting, determine between industrial camera and scaling board
The relational model of position；Mapping relations based on relational model creation cartesian coordinate system and image coordinate system.
It should be noted that above-mentioned scaling board is the precision calibration plate made of optics glass material, such scaling board
Stable chemical performance, precision are best, moreover, optical material scaling board free from admixture, bubble-free, in scaling board each marks
Point is all corrosion stamp in scaling board, therefore, in the method for determining hand and eye calibrating provided by the embodiments of the present application, is used
Above-mentioned precision calibration plate, ensure that the accuracy of hand and eye calibrating result of the industrial camera in presumptive area.
In the above scheme, industrial camera obtains the image of scaling board with space different positions and pose, and mark is obtained from image
The information of each index point on fixed board, because scaling board is fixed and each index point information is accurate and known on scaling board
, so the index point pose in scaling board can be obtained easily.And robot pose when shooting every image can also
Easily to be obtained by robot demonstrator, simultaneously as industrial camera is fixed on robot tool coordinate system, therefore
The posture information of industrial camera can also be obtained by robot demonstrator, meanwhile, because the basis coordinates system position of robot is
It is known, therefore can use a series of scaling board images taken and its corresponding robot pose derives industrial phase
The mathematical model of machine and scaling board.
Optionally, the mapping relations based on relational model creation cartesian coordinate system and image coordinate system, comprising: based on pass
It is model, obtains multiple shooting points of the industrial camera in predetermined coverage, wherein predetermined coverage covers calibration
Plate；Record the image coordinate of each shooting point；In the case where control industrial camera is moved to any one shooting point, work is obtained
The tool coordinates of industry camera；Based on image coordinate and tool coordinates, the cartesian coordinate of each shooting point is obtained；Based on each bat
The image coordinate system that the image coordinate of cartesian coordinate system and each shooting point that cartesian coordinate a little is constituted is constituted is taken the photograph,
Create the mapping relations of cartesian coordinate system and image coordinate system.
In the above scheme, according to the mathematical model of the industrial camera and scaling board derived, industrial lens distortion is realized
With the Bias Correction of industrial camera inner parameter, thus industrial lens and industrial camera combined imaging device after being corrected
Mathematical model.
Specifically, multiple shooting points of the industrial camera in predetermined coverage are obtained, generally in practical engineering applications,
In order to guarantee arithmetic accuracy and efficiency, can use 9 standardizations, i.e., respectively the industrial camera upper left corner within the vision,
The upper right corner, the lower left corner, the lower right corner, middle, middle and upper part, middle and lower part, middle left part and middle right part respectively identify a Mark point (on referring to
State shooting point), similar to the intersection position of sphere of movements for the elephants, and it is full and uniform be covered on entire industrial camera within sweep of the eye, remember
The image coordinate of each Mark point (referring to above-mentioned shooting point) under record, and pass through the center of robot demonstrator control robot clamp
Point reaches each Mark point (referring to above-mentioned shooting point), records robot tool coordinate at this time, it is hereby achieved that industrial phase
The cartesian coordinate of machine 9 Mark point (referring to above-mentioned shooting point) within the vision.
Further, according to the mathematical model of industrial lens and industrial camera combined imaging device after obtained correction,
It, can be in industrial camera sphere of movements for the elephants within the vision using matrix interpolation method in conjunction with the cartesian coordinate of this 9 Mark points
Region obtains the Precision Mapping relationship between cartesian coordinate system and image coordinate system.
Optionally, the relational model of position between industrial camera and scaling board is determined by following formula:
Cam_H_cal=cam_H_tool (CameraPose) * tool_H_base (RobotPose) * base_H_cal
(CalibrationPose),
Above-mentioned, cam_H_cal is pose of the coordinate system of scaling board in the image coordinate system of industrial camera, cam_H_
Tool (CameraPose) is that the tool coordinates of robot tie up to the pose in the image coordinate system of industrial camera, tool_H_
Base (RobotPose) is pose of the basis coordinates system of robot in the tool coordinates system of robot, base_H_cal
It (CalibrationPose) is pose of the coordinate system of scaling board in the basis coordinates system of robot.
Above-mentioned formula is explained as follows:
Calibration point pose is known: industrial camera obtains the image of scaling board, and respectively marks on scaling board from obtaining in image
The information of will point, because scaling board is fixed each index point information is accurate and known, calibration on scaling board
Index point pose in plate can be obtained easily.
Robot pose is known: robot pose when every image of shooting can also be light by robot demonstrator
It obtains.
Industrial camera pose is known: because industrial camera is fixed on robot tool coordinate system, industry
The posture information of camera can also be obtained by robot demonstrator.
The basis coordinates system pose of robot is known: because the basis coordinates system of robot is fixed on a certain position,
So robot pose is known.
Therefore, the mathematical model between industrial camera pose and robot pose is it is known that robot pose and robot
Mathematical model between basis coordinates system pose is it is known that mathematical model between the basis coordinates system pose and calibration point pose of robot
It is known that therefore can be according to formula: cam_H_cal=cam_H_tool (CameraPose) * tool_H_base
(RobotPose) * base_H_cal (CalibrationPose) can derive the coordinate system of scaling board in industrial camera
Pose in image coordinate system.
In conclusion existing in the method for the determination hand and eye calibrating provided in embodiments of the present invention by adjusting robot
Pose in space controls the industrial camera being mounted in robot with different pose focusing scaling boards, obtains industrial camera
In at least scaling board image that different poses is shot, the position based at least a scaling board image and robot
Appearance information obtains hand and eye calibrating result of the industrial camera in presumptive area, wherein hand and eye calibrating result is cartesian coordinate system
Mapping relations between image coordinate system have achieved the purpose that accurate hand and eye calibrating algorithm, to realize industrial lens
The technical effect of distortion and industrial camera inner parameter Bias Correction, and then solve due to industrial lens distortion and industrial camera
Hand and eye calibrating caused by inner parameter deviation generates the technical issues of error.
It should be noted that step shown in the flowchart of the accompanying drawings can be in such as a group of computer-executable instructions
It is executed in computer system, although also, logical order is shown in flow charts, and it in some cases, can be with not
The sequence being same as herein executes shown or described step.
The embodiment of the present application also provides a kind of devices of determining hand and eye calibrating, it should be noted that the embodiment of the present application
Hand and eye calibrating device can be used for executing provided by the embodiment of the present application determine hand and eye calibrating method.Below to this Shen
Please the device of determination hand and eye calibrating that provides of embodiment be introduced.
Fig. 4 is the schematic diagram according to the device of the determination hand and eye calibrating of the embodiment of the present application.As shown in figure 4, the device packet
Include: the first control module 401, first obtains module 402 and second and obtains module 403.
Specifically, the first control module 401, for the pose by adjusting robot in space, control is mounted on machine
Industrial camera on device people is with different pose focusing scaling boards；
First obtains module 402, at least scaling board shot for obtaining industrial camera in different poses
Image；
Second obtains module 403, for the posture information according at least a scaling board image and robot, obtains work
Hand and eye calibrating result of the industry camera in presumptive area, wherein hand and eye calibrating result is cartesian coordinate system and image coordinate system
Between mapping relations.
In the device of the determination hand and eye calibrating of the embodiment of the present application, robot is adjusted by the first control module 401 and is existed
Pose in space controls the industrial camera being mounted in robot with different pose focusing scaling boards；First obtains module
At least scaling board image that 402 acquisition industrial cameras are shot in different poses；Second, which obtains module 403, is based on extremely
The posture information of a few scaling board image and robot, obtain hand and eye calibrating of the industrial camera in presumptive area as a result,
Wherein, mapping relations of the hand and eye calibrating result between cartesian coordinate system and image coordinate system have reached accurate trick mark
The purpose of algorithm is determined, to realize the technical effect of industrial lens distortion and industrial camera inner parameter Bias Correction, in turn
Solves the technical issues of hand and eye calibrating as caused by industrial lens distortion and industrial camera inner parameter deviation generates error.
Optionally, in the device of the determination hand and eye calibrating of the embodiment of the present application, second obtains module 403 further include: the
One acquisition submodule, for obtaining the index point information of scaling board from the scaling board image that industrial camera takes；First really
Stator modules, for the posture information according to industrial camera when the index point information of scaling board and shooting, determine industrial camera and
The relational model of position between scaling board；First setting up submodule, for creating cartesian coordinate system and figure according to relational model
As the mapping relations of coordinate system.
Optionally, in the device of the determination hand and eye calibrating of the embodiment of the present application, the first setting up submodule includes: first to obtain
Subelement is taken, for obtaining multiple shooting points of the industrial camera in predetermined coverage, wherein predetermined according to relational model
Coverage covers scaling board；First record subelement, for recording the image coordinate of each shooting point；Second obtains son list
Member, for obtaining the tool coordinates of industrial camera in the case where control industrial camera is moved to any one shooting point；Third
Subelement is obtained, for obtaining the cartesian coordinate of each shooting point according to image coordinate and tool coordinates；First creation is single
Member, the image coordinate of cartesian coordinate system and each shooting point for being constituted according to the cartesian coordinate of each shooting point
The image coordinate system of composition creates the mapping relations of cartesian coordinate system and image coordinate system.
Optionally, in the device of the determination hand and eye calibrating of the embodiment of the present application, industrial camera is determined by following formula
The relational model of position between scaling board: cam_H_cal=cam_H_tool (CameraPose) * tool_H_base
(RobotPose) * base_H_cal (CalibrationPose),
Above-mentioned, cam_H_cal is pose of the coordinate system of scaling board in the image coordinate system of industrial camera, cam_H_
Tool (CameraPose) is that the tool coordinates of robot tie up to the pose in the image coordinate system of industrial camera, tool_H_
Base (RobotPose) is pose of the basis coordinates system of robot in the tool coordinates system of robot, base_H_cal
It (CalibrationPose) is pose of the coordinate system of scaling board in the basis coordinates system of robot.
Fig. 5 is another optional method for determining hand and eye calibrating according to an embodiment of the present invention, as shown in figure 5, the party
Method includes the following steps:
Step S502 controls the scaling board being mounted on working plate by adjusting the pose of working plate in space
With different pose focusing industrial cameras.
Above-mentionedly, industrial camera is fixed on working face in the embodiment of the present application, and robot is integrally attached to one
On a basis coordinates system position, a ring flange is set, scaling board is fixed on ring flange, and robot can be with above robot
Different position, rotation angle, tilt angle adjustment scaling board pose focus to the industrial camera of fixed position.
Step S504 obtains industrial camera when scaling board is located at different poses, at least one calibration shot
Plate image.
In above-mentioned steps, scaling board can be focused with different poses in industrial phase by the control of robot demonstrator
On machine, at least a scaling board image, the field range of industrial camera shot needs to cover monolith scaling board.Simultaneously
In order to confirm that result is more accurate, the pose by adjusting scaling board shoots a series of scaling board image, scaling board need with
Different position, rotation angle, tilt angle appear in different images, and need to cover whole visual field range,
Under the premise of guaranteeing arithmetic accuracy and efficiency, with shoot 12 to 15 amount of images be it is best, scaling board with various positions, rotate
Angle, tilt angle appear in the industrial camera visual field.
Step S506 obtains industrial camera pre- based on the posture information of at least a scaling board image and scaling board
Determine the hand and eye calibrating result in region, wherein mapping of the hand and eye calibrating result between cartesian coordinate system and image coordinate system
Relationship.
Optionally, the posture information based at least a scaling board image and scaling board obtains industrial camera predetermined
Hand and eye calibrating result in region, comprising: the index point letter of scaling board is obtained from the scaling board image that industrial camera takes
Breath determines the meta position of industrial camera and scaling board according to the posture information of scaling board when the index point information of scaling board and shooting
The relational model set, the mapping relations based on relational model creation cartesian coordinate system and image coordinate system.
It should be noted that above-mentioned scaling board is the precision calibration plate made of optics glass material, such scaling board
Stable chemical performance, precision are best, moreover, optical material scaling board free from admixture, bubble-free, in scaling board each marks
Point is all corrosion stamp in scaling board, therefore, in the method for determining hand and eye calibrating provided by the embodiments of the present application, is used
Above-mentioned precision calibration plate, ensure that the accuracy of hand and eye calibrating result of the industrial camera in presumptive area.
In the above scheme, different positions and pose acquisition scaling board image of the industrial camera by scaling board in space, and from
The information of each index point on scaling board is obtained in image, while the pose of industrial camera is fixed and known.And it shoots every
Robot pose when opening image can also easily be obtained by robot demonstrator, simultaneously as scaling board is to be fixed on machine
In people's tool coordinates system, therefore the posture information of scaling board can also be obtained by robot demonstrator, meanwhile, because of machine
The basis coordinates system position of people is known, therefore can use a series of scaling board images and its corresponding machine taken
People's pose derives the mathematical model of industrial camera and scaling board.
Optionally, the mapping relations based on relational model creation cartesian coordinate system and image coordinate system, comprising: based on pass
It is model, obtains multiple shooting points of the industrial camera in predetermined coverage, wherein predetermined coverage covers calibration
Plate records the image coordinate of each shooting point, in the feelings of the pose of control working plate in space to any one shooting point
Under condition, the tool coordinates of scaling board are obtained, image coordinate and tool coordinates is based on, obtains the cartesian coordinate of each shooting point,
The figure that the image coordinate of cartesian coordinate system and each shooting point that cartesian coordinate based on each shooting point is constituted is constituted
As coordinate system, the mapping relations of cartesian coordinate system and image coordinate system are created.
In the above scheme, according to the mathematical model of the industrial camera and scaling board derived, industrial lens distortion is realized
With the Bias Correction of industrial camera inner parameter, thus industrial lens and industrial camera combined imaging device after being corrected
Mathematical model.
Specifically, multiple shooting points of the industrial camera in predetermined coverage are obtained, generally in practical engineering applications,
In order to guarantee arithmetic accuracy and efficiency, can use 9 standardizations, i.e., respectively the industrial camera upper left corner within the vision,
The upper right corner, the lower left corner, the lower right corner, middle, middle and upper part, middle and lower part, middle left part and middle right part respectively identify a Mark point (on referring to
State shooting point), similar to the intersection position of sphere of movements for the elephants, and it is full and uniform be covered on entire industrial camera within sweep of the eye, remember
The image coordinate of each Mark point (referring to above-mentioned shooting point) under record, and pass through the center of robot demonstrator control robot clamp
Point reaches each Mark point (referring to above-mentioned shooting point), records robot tool coordinate at this time, it is hereby achieved that industrial phase
The cartesian coordinate of machine 9 Mark point (referring to above-mentioned shooting point) within the vision.
Further, according to the mathematical model of industrial lens and industrial camera combined imaging device after obtained correction,
It, can be in industrial camera sphere of movements for the elephants within the vision using matrix interpolation method in conjunction with the cartesian coordinate of this 9 Mark points
Region obtains the Precision Mapping relationship between cartesian coordinate system and image coordinate system.
Optionally, the relational model of position between industrial camera and scaling board is determined by following formula:
Cam_H_cal=cam_H_tool (CameraPose) * tool_H_base (RobotPose) * base_H_cal
(CalibrationPose)。
Above-mentionedly, wherein cam_H_cal is pose of the coordinate system of scaling board in the image coordinate system of industrial camera,
Cam_H_tool (CameraPose) is that the tool coordinates of robot tie up to the pose in the image coordinate system of industrial camera,
Tool_H_base (RobotPose) is pose of the basis coordinates system of robot in the tool coordinates system of robot, base_H_
Cal (CalibrationPose) is pose of the coordinate system of scaling board in the basis coordinates system of robot.
Above-mentioned formula is explained as follows:
Calibration point pose is known: industrial camera obtains the image of scaling board, and respectively marks on scaling board from obtaining in image
The information of will point, because scaling board, in the coordinate system of robot, the pose of scaling board can pass through robot demonstrator
It obtains.
Robot pose is known: robot pose when every image of shooting can also be light by robot demonstrator
It obtains.
Industrial camera pose is known: because industrial camera is fixed on working plate, the position of industrial camera
Known to appearance.
The basis coordinates system pose of robot is known: because the basis coordinates system of robot is fixed on a certain position,
So robot pose is known.
Therefore, the mathematical model between industrial camera pose and robot pose is it is known that robot pose and robot
Mathematical model between basis coordinates system pose is it is known that mathematical model between the basis coordinates system pose and calibration point pose of robot
It is known that therefore can be according to formula: cam_H_cal=cam_H_tool (CameraPose) * tool_H_base
(RobotPose) * base_H_cal (CalibrationPose) can derive the coordinate system of scaling board in industrial camera
Pose in image coordinate system.
To sum up, in the method for the determination hand and eye calibrating provided in embodiments of the present invention, by adjusting working plate in sky
Between in pose, control the scaling board that is mounted on working plate and focused industrial camera with different poses, obtain industrial camera
When scaling board is located at different poses, at least scaling board image shot is based on an at least scaling board image
And the posture information of scaling board, obtain hand and eye calibrating result of the industrial camera in presumptive area, wherein hand and eye calibrating result
Mapping relations between cartesian coordinate system and image coordinate system have achieved the purpose that accurate hand and eye calibrating algorithm, thus
The technical effect of industrial lens distortion and industrial camera inner parameter Bias Correction is realized, and then is solved due to industrial lens
Hand and eye calibrating caused by distortion and industrial camera inner parameter deviation generates the technical issues of error.
It should be noted that step shown in the flowchart of the accompanying drawings can be in such as a group of computer-executable instructions
It is executed in computer system, although also, logical order is shown in flow charts, and it in some cases, can be with not
The sequence being same as herein executes shown or described step.
The embodiment of the present application also provides another devices for determining hand and eye calibrating, it should be noted that the application is implemented
The device of the hand and eye calibrating of example can be used for executing the method that hand and eye calibrating is determined provided by the embodiment of the present application.Below to this
The another kind that application embodiment provides determines that the device of hand and eye calibrating is introduced.
Fig. 6 is the schematic diagram according to the optional device for determining hand and eye calibrating of another kind of the embodiment of the present application.Such as Fig. 6 institute
Show, which includes: the second control module 601, third acquisition module 602 and the 4th acquisition module 603.
Specifically, the second control module 601, for the pose by adjusting working plate in space, control is mounted on
Scaling board on working plate is with different pose focusing industrial cameras；
Third obtains module 602, for obtaining industrial camera when scaling board is located at different poses, shoot to
A few scaling board image；
4th obtains module 603, for the posture information according at least a scaling board image and scaling board, obtains work
Hand and eye calibrating result of the industry camera in presumptive area, wherein hand and eye calibrating result is cartesian coordinate system and image coordinate system
Between mapping relations.
In the optional device for determining hand and eye calibrating of another kind of the embodiment of the present application, pass through the second control module 601
By adjusting the pose of working plate in space, the scaling board being mounted on working plate is controlled with different pose focusing works
Industry camera；Third obtains module 602 and obtains industrial camera when scaling board is located at different poses, at least one shot
Scaling board image；4th obtains posture information of the module 603 based at least a scaling board image and scaling board, obtains industry
Hand and eye calibrating result of the camera in presumptive area, wherein hand and eye calibrating result be cartesian coordinate system and image coordinate system it
Between mapping relations, achieved the purpose that accurate hand and eye calibrating algorithm, to realize industrial lens distortion and industrial camera
The technical effect of inner parameter Bias Correction, and then solve since industrial lens distortion and industrial camera inner parameter deviation are led
The hand and eye calibrating of cause generates the technical issues of error.
Optionally, in the optional device for determining hand and eye calibrating of the another kind of the embodiment of the present application, the 4th obtains module
603 include: the second acquisition submodule, for obtaining the index point letter of scaling board from the scaling board image that industrial camera takes
Breath, second determines submodule, for the index point information and the posture information of scaling board when shooting according to scaling board, determines industry
The relational model of position between camera and scaling board, the second setting up submodule, for creating cartesian coordinate according to relational model
The mapping relations of system and image coordinate system.
Optionally, in the optional device for determining hand and eye calibrating of the another kind of the embodiment of the present application, second establishes submodule
Block includes: the 4th acquisition subelement, for obtaining multiple shootings of the industrial camera in predetermined coverage according to relational model
Point, wherein predetermined coverage covers scaling board, and second records subelement, for recording the image coordinate of each shooting point,
5th obtains subelement, for obtaining industrial camera in the case where control industrial camera is moved to any one shooting point
Tool coordinates, the 6th obtains subelement, for according to image coordinate and tool coordinates, the Descartes for obtaining each shooting point to be sat
Mark, the second creation subelement, cartesian coordinate system and each bat for being constituted according to the cartesian coordinate of each shooting point
The image coordinate system that image coordinate a little is constituted is taken the photograph, the mapping relations of cartesian coordinate system and image coordinate system are created.
Optionally, in the optional device for determining hand and eye calibrating of the another kind of the embodiment of the present application, pass through following formula
Determine the relational model of position between industrial camera and scaling board: cam_H_cal=cam_H_tool (CameraPose) *
Tool_H_base (RobotPose) * base_H_cal (CalibrationPose), wherein cam_H_cal is the seat of scaling board
Mark ties up to the pose in the image coordinate system of industrial camera, and cam_H_tool (CameraPose) is the tool coordinates system of robot
Pose in the image coordinate system of industrial camera, tool_H_base (RobotPose) are the basis coordinates systems of robot in machine
Pose in the tool coordinates system of people, base_H_cal (CalibrationPose) are the coordinate systems of scaling board in robot
Pose in basis coordinates system.
A kind of system of determining hand and eye calibrating is additionally provided according to the embodiment of the present application, system is applicable in and aforementioned present invention
The method of the determination hand and eye calibrating of embodiment, specifically includes: scaling board；Robot；Industrial camera is mounted in robot, with
Scaling board is oppositely arranged, for the pose by adjusting robot in space, with different pose focusing scaling boards, and not
Same pose shoots to obtain an at least scaling board image；Processing equipment is connect with industrial camera, for according at least one mark
The posture information of fixed board image and robot obtains hand and eye calibrating result of the industrial camera in presumptive area, wherein trick
Mapping relations of the calibration result between cartesian coordinate system and image coordinate system.
In the above scheme, it by the system of determining hand and eye calibrating provided by the present application, realizes accurate hand and eye calibrating and calculates
Method effectively increases robot and catches the accuracy and success rate for taking object automatically.
Another system for determining hand and eye calibrating is provided according to the embodiment of the present application, system is applicable in and aforementioned present invention
The optional method for determining hand and eye calibrating of the another kind of embodiment, specifically includes: working plate；It is flat to be mounted on work for scaling board
On plate, for the pose by adjusting working plate in space, with different pose focusing industrial cameras；Robot and peace
Industrial camera in robot, industrial camera are oppositely arranged with scaling board, when being located at different positions and pose for shooting scaling board
Scaling board image；Processing equipment is connect with industrial camera, for the position according at least a scaling board image and scaling board
Appearance information obtains hand and eye calibrating result of the industrial camera in presumptive area, wherein hand and eye calibrating result is cartesian coordinate system
Mapping relations between image coordinate system.
In the above scheme, it by the system of determining hand and eye calibrating provided by the present application, realizes accurate hand and eye calibrating and calculates
Method effectively increases robot and catches the accuracy and success rate for taking object automatically.
The serial number of the above embodiments of the invention is only for description, does not represent the advantages or disadvantages of the embodiments.
In the above embodiment of the invention, it all emphasizes particularly on different fields to the description of each embodiment, does not have in some embodiment
The part of detailed description, reference can be made to the related descriptions of other embodiments.
In several embodiments provided herein, it should be understood that disclosed technology contents can pass through others
Mode is realized.Wherein, the apparatus embodiments described above are merely exemplary, such as the division of the unit, Ke Yiwei
A kind of logical function partition, there may be another division manner in actual implementation, for example, multiple units or components can combine or
Person is desirably integrated into another system, or some features can be ignored or not executed.Another point, shown or discussed is mutual
Between coupling, direct-coupling or communication connection can be through some interfaces, the INDIRECT COUPLING or communication link of unit or module
It connects, can be electrical or other forms.
The unit as illustrated by the separation member may or may not be physically separated, aobvious as unit
The component shown may or may not be physical unit, it can and it is in one place, or may be distributed over multiple
On unit.It can some or all of the units may be selected to achieve the purpose of the solution of this embodiment according to the actual needs.
It, can also be in addition, the functional units in various embodiments of the present invention may be integrated into one processing unit
It is that each unit physically exists alone, can also be integrated in one unit with two or more units.Above-mentioned integrated list
Member both can take the form of hardware realization, can also realize in the form of software functional units.
If the integrated unit is realized in the form of SFU software functional unit and sells or use as independent product
When, it can store in a computer readable storage medium.Based on this understanding, technical solution of the present invention is substantially
The all or part of the part that contributes to existing technology or the technical solution can be in the form of software products in other words
It embodies, which is stored in a storage medium, including some instructions are used so that a computer
Equipment (can for personal computer, server or network equipment etc.) execute each embodiment the method for the present invention whole or
Part steps.And storage medium above-mentioned includes: that USB flash disk, read-only memory (ROM, Read-Only Memory), arbitrary access are deposited
Reservoir (RAM, Random Access Memory), mobile hard disk, magnetic or disk etc. be various to can store program code
Medium.
The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications are also answered
It is considered as protection scope of the present invention.
Claims (12)
1. a kind of method of determining hand and eye calibrating characterized by comprising
By adjusting the pose of robot in space, the industrial camera being mounted in the robot is controlled with different poses
Focusing scaling board；
Obtain at least scaling board image that the industrial camera is shot in different poses；
Based on the posture information of at least a scaling board image and the robot, the industrial camera is obtained predetermined
Hand and eye calibrating result in region, wherein hand and eye calibrating result the reflecting between cartesian coordinate system and image coordinate system
Penetrate relationship.
2. the method according to claim 1, wherein based at least a scaling board image and the machine
The posture information of device people obtains hand and eye calibrating result of the industrial camera in presumptive area, comprising:
The index point information of the scaling board is obtained from the scaling board image that the industrial camera takes；
The posture information of the industrial camera, determines the industrial camera when according to the index point information of the scaling board and shooting
The relational model of position between the scaling board；
Mapping relations based on relational model creation cartesian coordinate system and image coordinate system.
3. according to the method described in claim 2, it is characterized in that, based on relational model creation cartesian coordinate system and figure
As the mapping relations of coordinate system, comprising:
Based on the relational model, multiple shooting points of the industrial camera in predetermined coverage are obtained, wherein described pre-
Determine coverage and covers the scaling board；
Record the image coordinate of each shooting point；
In the case where the control industrial camera is moved to any one shooting point, the tool for obtaining the industrial camera is sat
Mark；
Based on described image coordinate and the tool coordinates, the cartesian coordinate of each shooting point is obtained；
The image of cartesian coordinate system and each shooting point that cartesian coordinate based on each shooting point is constituted
The described image coordinate system that coordinate is constituted, creates the mapping relations of the cartesian coordinate system and described image coordinate system.
4. according to the method described in claim 2, it is characterized in that, determining the industrial camera and the mark by following formula
The relational model of position between fixed board:
Cam_H_cal=cam_H_tool (CameraPose) * tool_H_base (RobotPose) * base_H_cal
(CalibrationPose),
Wherein, cam_H_cal is pose of the coordinate system of scaling board in the image coordinate system of industrial camera, cam_H_tool
It (CameraPose) is that the tool coordinates of robot tie up to the pose in the image coordinate system of industrial camera, tool_H_base
It (RobotPose) is pose of the basis coordinates system of robot in the tool coordinates system of robot, base_H_cal
It (CalibrationPose) is pose of the coordinate system of scaling board in the basis coordinates system of robot.
5. a kind of method of determining hand and eye calibrating characterized by comprising
By adjusting the pose of working plate in space, the scaling board being mounted on the working plate is controlled with different positions
Appearance focusing industrial camera；
The industrial camera is obtained when the scaling board is located at different poses, at least scaling board figure shot
Picture；
Based on the posture information of at least a scaling board image and the scaling board, the industrial camera is obtained predetermined
Hand and eye calibrating result in region, wherein hand and eye calibrating result the reflecting between cartesian coordinate system and image coordinate system
Penetrate relationship.
6. according to the method described in claim 5, it is characterized in that, based at least a scaling board image and the mark
The posture information of fixed board obtains hand and eye calibrating result of the industrial camera in presumptive area, comprising:
The index point information of the scaling board is obtained from the scaling board image that the industrial camera takes；
According to the posture information of the scaling board when index point information of the scaling board and shooting, determine the industrial camera and
The relational model of position between the scaling board；
Mapping relations based on relational model creation cartesian coordinate system and image coordinate system.
7. according to the method described in claim 6, it is characterized in that, based on relational model creation cartesian coordinate system and figure
As the mapping relations of coordinate system, comprising:
Based on the relational model, multiple shooting points of the industrial camera in predetermined coverage are obtained, wherein described pre-
Determine coverage and covers the scaling board；
Record the image coordinate of each shooting point；
In the case where controlling pose to any one shooting point of the working plate in space, the scaling board is obtained
Tool coordinates；
Based on described image coordinate and the tool coordinates, the cartesian coordinate of each shooting point is obtained；
The image of cartesian coordinate system and each shooting point that cartesian coordinate based on each shooting point is constituted
The described image coordinate system that coordinate is constituted, creates the mapping relations of the cartesian coordinate system and described image coordinate system.
8. according to the method described in claim 6, it is characterized in that, determining the industrial camera and the mark by following formula
The relational model of position between fixed board:
Cam_H_cal=cam_H_tool (CameraPose) * tool_H_base (RobotPose) * base_H_cal
(CalibrationPose),
Wherein, cam_H_cal is pose of the coordinate system of scaling board in the image coordinate system of industrial camera, cam_H_tool
It (CameraPose) is that the tool coordinates of robot tie up to the pose in the image coordinate system of industrial camera, tool_H_base
It (RobotPose) is pose of the basis coordinates system of robot in the tool coordinates system of robot, base_H_cal
It (CalibrationPose) is pose of the coordinate system of scaling board in the basis coordinates system of robot.
9. a kind of device of determining hand and eye calibrating characterized by comprising
First control module controls the work being mounted in the robot for the pose by adjusting robot in space
Industry camera is with different pose focusing scaling boards；
First obtains module, at least scaling board figure shot for obtaining the industrial camera in different poses
Picture；
Second obtains module, for the posture information according at least a scaling board image and the robot, obtains
Hand and eye calibrating result of the industrial camera in presumptive area, wherein the hand and eye calibrating result be cartesian coordinate system with
Mapping relations between image coordinate system.
10. a kind of device of determining hand and eye calibrating characterized by comprising
Second control module, for the pose by adjusting working plate in space, control is mounted on the working plate
Scaling board focused industrial camera with different pose；
Third obtains module and shoots for obtaining the industrial camera when the scaling board is located at different poses
An at least scaling board image；
4th obtains module, for the posture information according at least a scaling board image and the scaling board, obtains
Hand and eye calibrating result of the industrial camera in presumptive area, wherein the hand and eye calibrating result be cartesian coordinate system with
Mapping relations between image coordinate system.
11. a kind of system of determining hand and eye calibrating characterized by comprising
Scaling board；
Robot；
Industrial camera is mounted in the robot, is oppositely arranged with the scaling board, for existing by adjusting the robot
Pose in space with the different pose focusing scaling boards, and shoots to obtain an at least scaling board in different poses
Image；
Processing equipment is connect with the industrial camera, for according at least a scaling board image and the robot
Posture information, obtain hand and eye calibrating result of the industrial camera in presumptive area, wherein the hand and eye calibrating result is
Mapping relations between cartesian coordinate system and image coordinate system.
12. a kind of system of determining hand and eye calibrating characterized by comprising
Working plate；
Scaling board is mounted on the working plate, for the pose by adjusting working plate in space, with different positions
Appearance focusing industrial camera；
Robot and the industrial camera being mounted in the robot, the industrial camera is opposite with the scaling board to be set
It sets, for shooting the scaling board image when scaling board is located at different positions and pose；
Processing equipment is connect with the industrial camera, for the position according at least a scaling board image and the scaling board
Appearance information obtains hand and eye calibrating result of the industrial camera in presumptive area, wherein the hand and eye calibrating result is flute card
Mapping relations between that coordinate system and image coordinate system.
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