CN109129445A - Hand and eye calibrating method, scaling board, device, equipment and the storage medium of mechanical arm - Google Patents
Hand and eye calibrating method, scaling board, device, equipment and the storage medium of mechanical arm Download PDFInfo
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- CN109129445A CN109129445A CN201811148692.9A CN201811148692A CN109129445A CN 109129445 A CN109129445 A CN 109129445A CN 201811148692 A CN201811148692 A CN 201811148692A CN 109129445 A CN109129445 A CN 109129445A
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- China
- Prior art keywords
- center
- mechanical arm
- tool
- scaling board
- coordinates system
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
- B25J9/046—Revolute coordinate type
-
- 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
- B25J9/1605—Simulation of manipulator lay-out, design, modelling of manipulator
-
- 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
Abstract
This application involves a kind of hand and eye calibrating method of mechanical arm, scaling board, device, equipment and storage mediums.The described method includes: being sequentially placed scaling board in the different location in the scanner visual field, the tool center point position of mechanical arm tail end tool is overlapped under world coordinates with the geometrical center on scaling board, simultaneously acquisition under mechanical arm basis coordinates system tool center point position and scanner camera coordinates system under geometrical center position, according to the geometrical center position of the tool center point position of all acquisitions and all acquisitions, calculate and export the trick relational matrix and the corresponding calibrated error of trick relational matrix of mechanical arm, calibrated error can be used for judging whether trick relational matrix is accurate.The convenient degree, efficiency and accuracy that can be improved mechanical arm hand and eye calibrating using this method, reduce the cost of mechanical arm hand and eye calibrating.
Description
Technical field
This application involves mechanical arm calibration technique fields, hand and eye calibrating method, calibration more particularly to a kind of mechanical arm
Plate, device, equipment and storage medium.
Background technique
With the development of the relevant technologies such as artificial intelligence technology, computer technology, mechanical arm has obtained extensively in multiple industries
General application.In industrial application, mechanical arm usually requires to execute the tasks such as machining and installation by hand-eye system.Its
In, hand-eye system is the mechanical arm vision system being made of video camera and manipulator, and video camera is suitable in mechanical arm vision system
In the eyes of people, robot end-effector is equivalent to the hand of people.
Video camera collects spatial position of the space object in visual coordinate system, and end effector is needed in mechanical arm
Space object is grabbed in basis coordinates system, needs to convert spatial position of the space object in visual coordinate system to mechanical arm base
In mark system.Determination, that is, mechanical arm hand and eye calibrating mistake of relationship between the visual coordinate system and mechanical arm basis coordinates system of video camera
Journey.Currently, the hand and eye calibrating process of mechanical arm needs to rely on some special mechanical devices or set dependent on light source
It sets, calibration process is complex and higher cost.And traditional hand and eye calibrating method is inefficient, and error checking is inconvenient.
Summary of the invention
Based on this, it is necessary to which in view of the above technical problems, providing a kind of can be improved hand and eye calibrating efficiency and accuracy
Hand and eye calibrating method, device, scaling board, equipment and the storage medium of mechanical arm.
A kind of hand and eye calibrating method of mechanical arm, which comprises
Tool center point position of the collection machinery arm end-of-arm tooling under mechanical arm basis coordinates system acquires geometry on scaling board
Position of the centre of figure under scanner camera coordinates system, the scaling board are sequentially placed in the difference in the scanner visual field
At position, the tool center point position is overlapped under world coordinate system with the geometrical center；
According to the geometrical center position of the tool center point position of all acquisitions and all acquisitions, calculate
And export the trick relational matrix and the corresponding calibrated error of the trick relational matrix of mechanical arm.
Tool focus point of the collection machinery arm end-of-arm tooling under mechanical arm basis coordinates system in one of the embodiments,
The step of setting, comprising:
When the mechanical arm tail end tool is pilot pin, the end of the pilot pin is moved to the cone of the scaling board
In shape hole, obtains the positioning needle end part and be located at the position under the mechanical arm basis coordinates system, the end of the pilot pin is institute
The tool center point of mechanical arm tail end tool is stated, the bellmouth is located at the scaling board geometrical center.
Tool focus point of the collection machinery arm end-of-arm tooling under mechanical arm basis coordinates system in one of the embodiments,
The step of setting, comprising:
When the mechanical arm tail end tool is the scaling board, obtains the geometrical center and be located at the mechanical arm
Position under basis coordinates system, the geometrical center are the tool center point of the mechanical arm tail end tool.
Position of the geometrical center of scaling board under scanner camera coordinates system is acquired in one of the embodiments,
The step of, comprising:
When the scanner is binocular scanner, the image pair of the scaling board is obtained by the scanner, it is described
Image is to including left image and right image；
To the geometrical center difference on the geometrical center and the right image in the left image
It extracts；
It is right according to the geometrical center on the geometrical center and the right image in the left image
Position of the geometrical center under the scanner camera coordinates system carries out three-dimensional reconstruction.
In one of the embodiments, to the institute on the geometrical center and the right image in the left image
State the step of geometrical center extracts respectively, comprising:
Noise reduction and edge detection are filtered to the left image and the right image, obtain the edge in the left image
Edge contour in profile and the right image；
According to the edge contour in the edge contour and the right image in the left image, the left image is extracted respectively
On the geometrical center and the right image on the geometrical center.
The geometric figure on the scaling board is annulus in one of the embodiments, and the geometrical center is institute
The center of circle for stating annulus, to the geometrical center on the geometrical center and the right image in the left image
The step of extracting respectively, including
Noise reduction and edge detection are filtered to the left image and the right image, obtain the edge in the left image
Edge contour in profile and the right image；
The edge contour of edge contour and the right image to the left image carries out ellipse fitting respectively, described in acquisition
The annulus on annulus and the right image in left image；
Extract the center of circle of annulus on the center of circle of annulus and the right image in the left image.
The trick relational matrix and the trick relational matrix of mechanical arm are calculated and exported in one of the embodiments,
The step of corresponding calibrated error, comprising:
Construct center position pair, the center position is to including the tool center point position and corresponding described several
What centre of figure position；
According to the center position pair, the camera coordinates system is calculated to the rotation between the mechanical arm basis coordinates system
Translation transformation matrix and the corresponding calibrated error of the rotation translation transformation matrix, the rotation translation transformation matrix are the hand
Eye relational matrix.
The camera coordinates system is calculated in one of the embodiments, to the rotary flat between the mechanical arm basis coordinates system
The step of moving transformation matrix and the rotation translation transformation matrix corresponding calibrated error, comprising:
By all center positions to being divided into the first nodal point position for being used for the rotational translation matrix and calculating
To with the second center position pair for being calculated for the calibrated error；
According to the first nodal point position to the calculating rotation translation transformation matrix；
By the rotation translation transformation matrix to geometrical center position described in second center position pair
It is converted, acquisition is shifted one's position accordingly；
The Euclidean shifted one's position between tool center point position described in second center position pair described in calculating
Distance difference determines the calibrated error according to the Euclidean distance difference.
In one of the embodiments, by all center positions to being divided into based on the rotational translation matrix
The first nodal point position of calculation is to the step with the second center position pair calculated for the calibrated error, comprising:
In all center positions pair, the geometrical center position is not located along the same line any
Three center positions are to being set as the first nodal point position pair.
A kind of scaling board of the hand and eye calibrating method for above-mentioned mechanical arm is formed with geometric figure on the scaling board,
The center of the geometric figure with the tool center point of mechanical arm tail end tool for being aligned during the calibration process.
In one embodiment, when the mechanical arm tail end tool is pilot pin, the center setting of the geometric figure
There is the bellmouth being aligned with the pilot pin.
A kind of hand and eye calibrating device of mechanical arm, described device include:
Data acquisition module, for tool focus point of the collection machinery arm end-of-arm tooling under mechanical arm basis coordinates system
It sets, acquires position of the geometrical center under scanner camera coordinates system on scaling board, the scaling board is sequentially placed in institute
It states at the different location in the scanner visual field, the tool center point position and the geometrical center are under world coordinate system
It is overlapped；And
Trick relationship computing module, for according to the tool center point position of all acquisitions and all acquisitions
Geometrical center position calculates and exports trick relational matrix and the corresponding calibration of the trick relational matrix of mechanical arm
Error.
A kind of computer equipment, including memory and processor, the memory are stored with computer program, the processing
Device performs the steps of when executing the computer program
Tool center point position of the collection machinery arm end-of-arm tooling under mechanical arm basis coordinates system acquires geometry on scaling board
Position of the centre of figure under scanner camera coordinates system, the scaling board are sequentially placed in the difference in the scanner visual field
At position, the tool center point position is overlapped under world coordinates with the geometrical center；
According to the geometrical center position of the tool center point position of all acquisitions and all acquisitions, calculate
And export the trick relational matrix and the corresponding calibrated error of the trick relational matrix of mechanical arm.
A kind of computer readable storage medium, is stored thereon with computer program, and the computer program is held by processor
It is performed the steps of when row
Tool center point position of the collection machinery arm end-of-arm tooling under mechanical arm basis coordinates system acquires geometry on scaling board
Position of the centre of figure under scanner camera coordinates system, the scaling board are sequentially placed in the difference in the scanner visual field
At position, the tool center point position is overlapped under world coordinate system with the geometrical center；
According to the geometrical center position of the tool center point position of all acquisitions and all acquisitions, calculate
And export the trick relational matrix and the corresponding calibrated error of the trick relational matrix of mechanical arm.
Above-mentioned hand and eye calibrating method, device, scaling board, equipment and storage medium, scaling board is sequentially placed in scanner
Different location in the visual field, the tool center point position of mechanical arm tail end tool and the geometrical center on scaling board is alive
It is overlapped, while is acquired under the tool center point position and scanner camera coordinates system under mechanical arm basis coordinates system under boundary's coordinate system
Geometrical center position, according to the geometrical center position of the tool center point position of all acquisitions and all acquisitions, meter
Calculating and exporting the trick relational matrix of mechanical arm and the corresponding calibrated error of trick relational matrix, calibrated error can be used for judging
Whether trick relational matrix is accurate, to realize the hand and eye calibrating of mechanical arm by scaling board, improves mechanical arm hand and eye calibrating
Convenient degree, efficiency and accuracy, reduce the cost of mechanical arm hand and eye calibrating.
Detailed description of the invention
Fig. 1 is the flow diagram of the hand and eye calibrating method of mechanical arm in one embodiment；
Fig. 2 is the flow diagram of the hand and eye calibrating method of mechanical arm in another embodiment；
Fig. 3 is the flow diagram of the hand and eye calibrating method of mechanical arm in another embodiment；
Fig. 4 is the scaling board structural schematic diagram in one embodiment for the hand and eye calibrating method of mechanical arm；
Fig. 5 is the structural block diagram of the hand and eye calibrating device of mechanical arm in one embodiment；And
Fig. 6 is the internal structure chart of computer equipment in one embodiment.
Specific embodiment
It is with reference to the accompanying drawings and embodiments, right in order to which the objects, technical solutions and advantages of the application are more clearly understood
The application is further elaborated.It should be appreciated that specific embodiment described herein is only used to explain the application, not
For limiting the application.
In one embodiment, as shown in Figure 1, providing a kind of hand and eye calibrating method of mechanical arm, comprising the following steps:
Step 102, tool center point position of the collection machinery arm end-of-arm tooling under mechanical arm basis coordinates system, acquisition calibration
Position of the geometrical center under scanner camera coordinates system on plate, scaling board are sequentially placed in the difference in the scanner visual field
At position, tool center point position is overlapped under world coordinate system with geometrical center.
Wherein, tool center point position be mechanical arm tail end tool tool center point (Tool Center Position,
Abbreviation TCP) position, be provided with geometric figure, the geometrical center i.e. central point of the geometric figure on scaling board.
Specifically, TCP teaching is carried out to mechanical arm tail end tool, to calibrate the position of mechanical arm end-of-arm tooling.Then, will
Scaling board is placed in the scanner visual field, by the geometrical center pair of the tool center point of mechanical arm tail end tool and scaling board
Standard obtains tool center point position of the mechanical arm tail end tool under mechanical arm basis coordinates system at this time, keeps the position of scaling board
It is motionless, mechanical arm is removed into the scanner visual field, position of the acquisition geometry centre of figure point under scanner camera coordinates system is completed
Data acquisition obtains tool center point position and geometrical center position in correspondence with each other.It is carrying out next time
When data acquisition, acquisition is continued in correspondence with each other after scaling board is mobile in position of the mobile scaling board in the scanner visual field
Tool center point position and geometrical center position.
In one embodiment, in order to guarantee trick relational matrix calculate accuracy and efficiency, in the data of not homogeneous
Collection process, scaling board any three positions in the position difference in the scanner visual field and these positions be not conllinear.
Step 104, it according to the geometrical center position of the tool center point position of all acquisitions and all acquisitions, calculates
And export the trick relational matrix and the corresponding calibrated error of trick relational matrix of mechanical arm.
Specifically, after obtaining multipair tool center point position and geometrical center position in correspondence with each other, center is constructed
Point position pair, each center position is to including a tool center point position and geometry corresponding with the tool center point position
Centre of figure position.According to these center positions pair, camera coordinates system is calculated to the rotary flat between mechanical arm basis coordinates system
Move matrix calibrated error corresponding with the rotational translation matrix.Wherein, rotational translation matrix, that is, trick relational matrix.
In one embodiment, the rotational translation matrix T of camera coordinates system to mechanical arm basis coordinates system may be expressed as:
Wherein, R is camera coordinates system to mechanical arm basis coordinates system
Under rotational transformation matrix, t be camera coordinates system to mechanical arm basis coordinates system under translation transformation matrix.According to Eulerian angles and rotation
The relationship of torque battle array can obtain following equation:
Wherein:
WithRz(γ) indicates that camera coordinates system is transformed into mechanical arm basis coordinates system and needs
Angle γ, R are rotated around the z-axis of world coordinate systemy(β) indicates that camera coordinates system is transformed into mechanical arm basis coordinates system and needs around generation
The y-axis of boundary's coordinate system rotates angle beta, Rx(α) indicates that camera coordinates system is transformed into mechanical arm basis coordinates system and needs around world coordinates
The x-axis of system rotates angle [alpha].Therefore, rotational translation matrix can be expressed as T (γ, β, α, t1,t2,t3)。
In one embodiment, camera coordinates system is being calculated to the rotational translation matrix between mechanical arm basis coordinates system and is being somebody's turn to do
When the corresponding calibrated error of rotational translation matrix, by all center positions to be divided into first nodal point position to and second in
Heart point position pair, first nodal point position is to for calculating rotational translation matrix, and the second center position is to for calculating rotation
The corresponding calibrated error of translation matrix.Specifically, first nodal point position is first passed through to calculating rotational translation matrix, then passes through rotation
Turn translation transformation matrix to convert the geometrical center position of the second center position centering, obtains converting position accordingly
It sets, the Euclidean distance difference shifted one's position between the second center position alignment tool key store position is calculated, according to this
Euclidean distance difference determines calibrated error, to improve the accuracy and convenient degree of hand and eye calibrating relationship calculating and error judgment.
Wherein, the second center position is to any center point for all center position centerings except first nodal point position in addition to
It sets pair.
Specifically, the calculation formula of rotational translation matrix is T*pS=pR, wherein pS is the centering of first nodal point position
Geometrical center position, pR are the tool center point position of first nodal point position centering.Calibrated error calculation formula is
Error=| R*pS '+t-pR ' |, wherein pS ' is the geometrical center position of the second center position centering, pR' second
The tool center point position of center position centering.
In one embodiment, after obtaining calibrated error, calibrated error is compared with preset error threshold, works as mark
When determining error more than the error threshold, operator is reminded to check and adjust trick calibration process, to understand in time
Whether there is large error to trick calibration process, effectively improves hand and eye calibrating efficiency and accuracy.
In one embodiment, since rotational translation matrix can be expressed as T (γ, β, α, t1,t2,t3), that is, solve this
Six independent variables can solve rotational translation matrix, so by all center positions to being divided into first nodal point position
Set to and the second center position clock synchronization, choose any three center positions pair, the center position that these are chosen is to setting
It is set to first nodal point position pair, wherein the geometrical center position of three first nodal point position centerings is not conllinear, thus
Only by three first nodal point positions to rotational translation matrix can be solved, the efficiency of trick relationship calculating is improved.
In the hand and eye calibrating method of above-mentioned mechanical arm, scaling board is sequentially placed in the different location in the scanner visual field,
The tool center point position of mechanical arm tail end tool is overlapped under world coordinate system with the geometrical center on scaling board, together
When acquisition under mechanical arm basis coordinates system tool center point position and scanner camera coordinates system under geometrical center position,
According to the geometrical center position of the tool center point position of all acquisitions and all acquisitions, the hand of mechanical arm is calculated and exported
Eye relational matrix and the corresponding calibrated error of trick relational matrix, calibrated error can be used for judging whether trick relational matrix is quasi-
Really, to realize the hand and eye calibrating of mechanical arm by scaling board, the convenient degree of mechanical arm hand and eye calibrating, efficiency and accurate are improved
Degree, reduces the cost of mechanical arm hand and eye calibrating.
In one embodiment, when scanner is binocular scanner, the position of geometrical center on acquisition scaling board
When setting, by the left camera and right camera in binocular scanner, the image pair of scaling board is obtained, image is to including left image and the right side
Image extracts the geometrical center on the geometrical center and right image in left image, respectively according to left image
On geometrical center and right image on geometrical center, to the geometrical center under scanner camera coordinates system
Three-dimensional reconstruction is carried out, several picture center is obtained, to extract the geometric figure on scaling board under binocular scanner
Center.
In one embodiment, to the geometrical center on the geometrical center and right image in left image respectively into
When row extracts, noise reduction and edge detection are filtered to left image and right image, obtain edge contour and right figure in left image
Edge contour as in extracts in left image respectively according to the edge contour in the edge contour and right image in left image
Geometrical center on geometrical center and right image, to improve geometric figure by filtering noise reduction, edge detection
The accuracy of center extraction.
In one embodiment, the geometric figure on scaling board is annulus, and the geometrical center on scaling board is the circle
The circle of ring effectively improves in geometric figure to determine the geometrical center on scaling board by the center of circle of annulus
The uniqueness and accuracy of the heart, and then improve the accuracy of hand and eye calibrating.Specifically, it is filtered to left image and right image
After noise reduction and edge detection, the edge contour of edge contour and right image to left image carries out ellipse fitting respectively, detects
The annulus on annulus and right image in left image, then extract the center of circle of annulus on the center of circle of annulus and right image in left image.
In one embodiment, as shown in Fig. 2, providing a kind of hand and eye calibrating method of mechanical arm, comprising the following steps:
Step 202, when mechanical arm tail end tool be pilot pin when, by scaling board be sequentially placed in the scanner visual field not
At position, positioning needle end part is moved in the bellmouth of scaling board, obtains positioning needle end part position in mechanical arm basis coordinates system
Under position, obtain position of the upper conical hole of scaling board under scanner camera coordinates system, the end of pilot pin is mechanical arm end
The tool center point of ending tool, bellmouth are located at the geometrical center of scaling board.
Specifically, when mechanical arm tail end tool is pilot pin, TCP teaching is carried out to mechanical arm tail end tool, with calibration
The position of mechanical arm tail end tool.Then, scaling board is placed in the scanner visual field, mobile mechanical arm to position needle end part
In the bellmouth on scaling board, the position for positioning needle end part at this time is obtained under mechanical arm basis coordinates system, positions needle end part
That is the tool center point of mechanical arm tail end tool.It keeps the position of scaling board motionless, mechanical arm is removed into the scanner visual field, acquisition
Position of the upper conical hole of scaling board under scanner camera coordinates system, bellmouth are located at the geometrical center of scaling board, complete
Data acquisition obtains tool center point position and geometrical center position in correspondence with each other.It is carrying out next time
When data acquisition, acquisition is continued in correspondence with each other after scaling board is mobile in position of the mobile scaling board in the scanner visual field
Tool center point position and geometrical center position.
Step 204, it according to the geometrical center position of the tool center point position of all acquisitions and all acquisitions, calculates
And export the trick relational matrix and the corresponding calibrated error of trick relational matrix of mechanical arm.
Specifically, the implementation of step 204 can refer to the detailed description in step 104, and details are not described herein.
In the hand and eye calibrating method of above-mentioned mechanical arm, pass through bellmouth mechanical arm tail end needle point being moved on scaling board
It is interior, the alignment of geometrical center on the tool center point and scaling board of mechanical arm tail end tool is completed, while acquiring in machinery
Geometrical center position under tool center point position and scanner camera coordinates system under arm basis coordinates system, according to these acquisitions
Data calculate and export the trick relational matrix and the corresponding calibrated error of trick relational matrix of mechanical arm, thus by mark
Fixed board and pilot pin realize the hand and eye calibrating of mechanical arm, improve the convenient degree, efficiency and accuracy of mechanical arm hand and eye calibrating, drop
The low cost of mechanical arm hand and eye calibrating.
In one embodiment, as shown in figure 3, providing a kind of hand and eye calibrating method of mechanical arm, comprising the following steps:
Step 302, when mechanical arm tail end tool is scaling board, mobile mechanical arm makes scaling board be located at the scanner visual field
At interior different location, obtains geometrical center on scaling board and be located at the position under mechanical arm basis coordinates system, acquire scaling board
Position of the upper geometrical center under scanner camera coordinates system, geometrical center are in the tool of mechanical arm tail end tool
Heart point.
Wherein, scaling board is installed on mechanical arm tail end, and geometrical center is mechanical arm tail end tool on scaling board
Tool center point.
Specifically, when mechanical arm tail end tool is scaling board, TCP teaching is carried out to scaling board, is existed with calibrating scaling board
The position of mechanical arm tail end.Then, scaling board is placed in the scanner visual field, obtains geometrical center on scaling board at this time
A data acquisition is completed in position under mechanical arm basis coordinates system and under scanner camera coordinates system respectively, obtains mutual
Corresponding tool center point position and geometrical center position, geometrical center on tool center point position, that is, scaling board
Position under mechanical arm basis coordinates system.When carrying out data acquisition next time, mobile scaling board is in the scanner visual field
Position continue to acquire tool center point position and geometrical center position in correspondence with each other after scaling board is mobile.
Step 304, it according to the geometrical center position of the tool center point position of all acquisitions and all acquisitions, calculates
And export the trick relational matrix and the corresponding calibrated error of trick relational matrix of mechanical arm.
Specifically, the implementation of step 304 can refer to the detailed description in step 104, and details are not described herein.
In the hand and eye calibrating method of above-mentioned mechanical arm, using scaling board as mechanical arm tail end tool, scaling board is acquired respectively
Position of the upper geometrical center under mechanical arm basis coordinates system and under scanner camera coordinates system, the data acquired according to these
The trick relational matrix and the corresponding calibrated error of trick relational matrix for calculating and exporting mechanical arm, thus only by scaling board
The hand and eye calibrating for realizing mechanical arm, improves the convenient degree, efficiency and accuracy of mechanical arm hand and eye calibrating, reduces mechanical arm hand
The cost of eye calibration.
It should be understood that although each step in the flow chart of Fig. 1-3 is successively shown according to the instruction of arrow,
These steps are not that the inevitable sequence according to arrow instruction successively executes.Unless expressly stating otherwise herein, these steps
Execution there is no stringent sequences to limit, these steps can execute in other order.Moreover, at least one in Fig. 1-3
Part steps may include that perhaps these sub-steps of multiple stages or stage are not necessarily in synchronization to multiple sub-steps
Completion is executed, but can be executed at different times, the execution sequence in these sub-steps or stage is also not necessarily successively
It carries out, but can be at least part of the sub-step or stage of other steps or other steps in turn or alternately
It executes.
In one embodiment, as shown in figure 4, providing a kind of scaling board of the hand and eye calibrating method of above-mentioned mechanical arm
400, be formed with geometric figure 402 on scaling board 400, the center of geometric figure 402 for during the calibration process with mechanical arm end
The tool center point of ending tool is aligned.
Specifically, geometric figure 402 can be square, the shapes such as rectangle, be not limited herein.Work as geometric figure
402 when being annulus, and the center of circle of annulus is the center of geometric figure 402, and the accuracy at 402 center of geometric figure can be improved.
In one embodiment, when mechanical arm tail end tool is pilot pin, on scaling board 400 in geometric figure 402
The bellmouth 404 for being aligned with pilot pin is arranged in the heart, to improve the standard of hand and eye calibrating by the combination of pilot pin and scaling board
Exactness.
In one embodiment, as shown in figure 5, providing a kind of hand and eye calibrating device 500 of mechanical arm, comprising: data
Acquisition module 502 and trick relationship computing module 504, in which:
Data acquisition module 502, for tool center point of the collection machinery arm end-of-arm tooling under mechanical arm basis coordinates system
Position, acquires position of the geometrical center under scanner camera coordinates system on scaling board, and scaling board is sequentially placed in scanning
At different location in the instrument visual field, tool center point position is overlapped under world coordinates with geometrical center.
Specifically, TCP teaching is carried out to mechanical arm tail end tool, to calibrate the position of mechanical arm end-of-arm tooling.Then, will
Scaling board is placed in the scanner visual field, by the geometrical center pair of the tool center point of mechanical arm tail end tool and scaling board
Standard obtains tool center point position of the mechanical arm tail end tool under mechanical arm basis coordinates system at this time, keeps the position of scaling board
It is motionless, mechanical arm is removed into the scanner visual field, position of the acquisition geometry centre of figure point under scanner camera coordinates system is completed
Data acquisition obtains tool center point position and geometrical center position in correspondence with each other.It is carrying out next time
When data acquisition, acquisition is continued in correspondence with each other after scaling board is mobile in position of the mobile scaling board in the scanner visual field
Tool center point position and geometrical center position.
In one embodiment, in order to guarantee trick relational matrix calculate accuracy and efficiency, in the data of not homogeneous
Collection process, scaling board any three positions in the position difference in the scanner visual field and these positions be not conllinear.
In one embodiment, mechanical arm tail end tool is pilot pin, and mobile mechanical arm makes pilot pin be located at scaling board
On bellmouth in, tool center point position is obtained by position of the acquisition positioning needle end part under mechanical arm basis coordinates system, is led to
Position of the acquisition upper conical hole of scaling board under scanner camera coordinates system is crossed, geometrical center position is obtained, to pass through
Pilot pin and scaling board combine, and effectively improve hand and eye calibrating efficiency and accuracy.Wherein, the bellmouth on scaling board is located at
The geometrical center of scaling board, positioning needle end part are the tool center point of mechanical arm tail end tool.
In one embodiment, mechanical arm tail end tool is scaling board, and the geometrical center of scaling board is after TCP teaching
The tool center point of mechanical arm tail end tool, position of the geometrical center under mechanical arm basis coordinates system are tool focus point
It sets, position of the geometrical center under scanner camera coordinates system is geometrical center position, to rely only on a mark
Fixed board effectively improves hand and eye calibrating efficiency with regard to achievable mechanical arm hand and eye calibrating, reduces hand and eye calibrating cost.
Trick relationship computing module 504, for according to the tool center point position of all acquisitions and the geometry of all acquisitions
Centre of figure position calculates and exports the trick relational matrix and the corresponding calibrated error of trick relational matrix of mechanical arm.
Specifically, after obtaining multipair tool center point position and geometrical center position in correspondence with each other, center is constructed
Point position pair, each center position is to including a tool center point position and geometry corresponding with the tool center point position
Centre of figure position.According to these center positions pair, camera coordinates system is calculated to the rotary flat between mechanical arm basis coordinates system
Move matrix calibrated error corresponding with the rotational translation matrix.Wherein, rotational translation matrix, that is, trick relational matrix.
In one embodiment, the rotational translation matrix T of camera coordinates system to mechanical arm basis coordinates system may be expressed as:
Wherein, R is camera coordinates system to mechanical arm basis coordinates system
Under rotational transformation matrix, t be camera coordinates system to mechanical arm basis coordinates system under translation transformation matrix.According to Eulerian angles and rotation
The relationship of torque battle array can obtain following equation:
Wherein:
WithRz(γ) indicates that camera coordinates system is transformed into mechanical arm basis coordinates system and needs
Angle γ, R are rotated around the z-axis of world coordinate systemy(β) indicates that camera coordinates system is transformed into mechanical arm basis coordinates system and needs around generation
The y-axis of boundary's coordinate system rotates angle beta, Rx(α) indicates that camera coordinates system is transformed into mechanical arm basis coordinates system and needs around world coordinates
The x-axis of system rotates angle [alpha].Therefore, rotational translation matrix can be expressed as T (γ, β, α, t1,t2,t3)。
In one embodiment, camera coordinates system is being calculated to the rotational translation matrix between mechanical arm basis coordinates system and is being somebody's turn to do
When the corresponding calibrated error of rotational translation matrix, by all center positions to be divided into first nodal point position to and second in
Heart point position pair, first nodal point position is to for calculating rotational translation matrix, and the second center position is to for calculating rotation
The corresponding calibrated error of translation matrix.Specifically, first nodal point position is first passed through to calculating rotational translation matrix, then passes through rotation
Turn translation transformation matrix to convert the geometrical center position of the second center position centering, obtains converting position accordingly
It sets, the Euclidean distance difference shifted one's position between the second center position alignment tool key store position is calculated, according to this
Euclidean distance difference determines calibrated error, to improve the accuracy and convenient degree of hand and eye calibrating relationship calculating and error judgment.
Wherein, the second center position is to any center point for all center position centerings except first nodal point position in addition to
It sets pair.
Specifically, the calculation formula of rotational translation matrix is T*pS=pR, wherein pS is the centering of first nodal point position
Geometrical center position, pR are the tool center point position of first nodal point position centering.Calibrated error calculation formula is
Error=| R*pS '+t-pR ' |, wherein pS ' is the geometrical center position of the second center position centering, pR' second
The tool center point position of center position centering.
In one embodiment, after obtaining calibrated error, calibrated error is compared with preset error threshold, works as mark
When determining error more than the error threshold, operator is reminded to check and adjust trick calibration process, to understand in time
Whether there is large error to trick calibration process, effectively improves hand and eye calibrating efficiency and accuracy.
In one embodiment, since rotational translation matrix can be expressed as T (γ, β, α, t1,t2,t3), that is, solve this
Six independent variables can solve rotational translation matrix, so by all center positions to being divided into first nodal point position
Set to and the second center position clock synchronization, choose any three center positions pair, the center position that these are chosen is to setting
It is set to first nodal point position pair, wherein the geometrical center position of three first nodal point position centerings is not conllinear, thus
Only by three first nodal point positions to rotational translation matrix can be solved, the efficiency of trick relationship calculating is improved.
The specific of hand and eye calibrating device about mechanical arm limits the hand and eye calibrating that may refer to above for mechanical arm
The restriction of method, details are not described herein.Modules in the hand and eye calibrating device of above-mentioned mechanical arm can be fully or partially through
Software, hardware and combinations thereof are realized.Above-mentioned each module can be embedded in the form of hardware or independently of the place in computer equipment
It manages in device, can also be stored in a software form in the memory in computer equipment, in order to which processor calls execution or more
The corresponding operation of modules.
In one embodiment, a kind of computer equipment is provided, which can be server, internal junction
Composition can be as shown in Figure 6.The computer equipment include by system bus connect processor, memory, network interface and
Database.Wherein, the processor of the computer equipment is for providing calculating and control ability.The memory packet of the computer equipment
Include non-volatile memory medium, built-in storage.The non-volatile memory medium is stored with operating system, computer program and data
Library.The built-in storage provides environment for the operation of operating system and computer program in non-volatile memory medium.The calculating
The database of machine equipment is for storing the data such as tool center point position and geometrical center position.The net of the computer equipment
Network interface is used to communicate with external terminal by network connection.To realize a kind of machine when the computer program is executed by processor
The hand and eye calibrating method of tool arm.
It will be understood by those skilled in the art that structure shown in Fig. 6, only part relevant to application scheme is tied
The block diagram of structure does not constitute the restriction for the computer equipment being applied thereon to application scheme, specific computer equipment
It may include perhaps combining certain components or with different component layouts than more or fewer components as shown in the figure.
In one embodiment, a kind of computer equipment, including memory and processor are provided, is stored in memory
Computer program, the processor perform the steps of when executing computer program
Tool center point position of the collection machinery arm end-of-arm tooling under mechanical arm basis coordinates system acquires geometry on scaling board
Position of the figure under scanner camera coordinates system, scaling board are sequentially placed at the different location in the scanner visual field, tool
Center position is overlapped under world coordinate system with geometrical center；
According to the geometrical center position of the tool center point position of all acquisitions and all acquisitions, calculates and export machine
The trick relational matrix and the corresponding calibrated error of trick relational matrix of tool arm.
In one embodiment, it is also performed the steps of when processor executes computer program
When mechanical arm tail end tool is pilot pin, the end of pilot pin is moved in the bellmouth of scaling board, is obtained
Positioning needle end part is located at the position under mechanical arm basis coordinates system, and the end of pilot pin is the tool focus of mechanical arm tail end tool
Point, bellmouth are located at geometrical center.
In one embodiment, it is also performed the steps of when processor executes computer program
When mechanical arm tail end tool is scaling board, obtains geometrical center and be located at the position under mechanical arm basis coordinates system
It sets, geometrical center is the tool center point of mechanical arm tail end tool.
In one embodiment, it is also performed the steps of when processor executes computer program
When scanner is binocular scanner, the image pair of scaling board is obtained by scanner, image is to including left image
And right image；
Geometrical center on geometrical center and right image in left image is extracted respectively；
According to the geometrical center on the geometrical center and right image in left image, geometrical center is being swept
The position retouched under instrument camera coordinates system carries out three-dimensional reconstruction.
In one embodiment, it is also performed the steps of when processor executes computer program
Noise reduction and edge detection are filtered to left image and right image, obtain edge contour and right image in left image
In edge contour；
According to the edge contour in the edge contour and right image in left image, the geometric figure in left image is extracted respectively
Geometrical center on center and right image.
In one embodiment, it is also performed the steps of when processor executes computer program
Noise reduction and edge detection are filtered to left image and right image, obtain edge contour and right image in left image
In edge contour；
The edge contour of edge contour and right image to left image carries out ellipse fitting respectively, obtains the circle in left image
Annulus on ring and right image；
Extract the center of circle in the center of circle of annulus and annulus in right image in left image.
In one embodiment, it is also performed the steps of when processor executes computer program
Center position pair is constructed, center position is to including tool center point position and corresponding geometrical center position
It sets；
According to center position pair, camera coordinates system is calculated to the rotation translation transformation matrix between mechanical arm basis coordinates system
Calibrated error corresponding with rotation translation transformation matrix, rotation translation transformation matrix are trick relational matrix.
In one embodiment, it is also performed the steps of when processor executes computer program
By all center positions to be divided into be used for rotational translation matrix calculating first nodal point position to be used for
The second center position pair that calibrated error calculates；
Translation transformation matrix is rotated to calculating according to first nodal point position；
The second center position centering geometrical center position is converted by rotating translation transformation matrix, is obtained
It shifts one's position accordingly；
The Euclidean distance difference shifted one's position between the second center position alignment tool center position is calculated, according to
Euclidean distance difference determines calibrated error.
In one embodiment, a kind of computer readable storage medium is provided, computer program is stored thereon with, is calculated
Machine program performs the steps of when being executed by processor
Tool center point position of the collection machinery arm end-of-arm tooling under mechanical arm basis coordinates system acquires geometry on scaling board
Position of the figure under scanner camera coordinates system, scaling board are sequentially placed at the different location in the scanner visual field, tool
Center position is overlapped under world coordinate system with geometrical center；
According to the geometrical center position of the tool center point position of all acquisitions and all acquisitions, calculates and export machine
The trick relational matrix and the corresponding calibrated error of trick relational matrix of tool arm.
In one embodiment, it is also performed the steps of when computer program is executed by processor
When mechanical arm tail end tool is pilot pin, the end of pilot pin is moved in the bellmouth of scaling board, is obtained
Positioning needle end part is located at the position under mechanical arm basis coordinates system, and the end of pilot pin is the tool focus of mechanical arm tail end tool
Point, bellmouth are located at geometrical center.
In one embodiment, it is also performed the steps of when computer program is executed by processor
When mechanical arm tail end tool is scaling board, obtains geometrical center and be located at the position under mechanical arm basis coordinates system
It sets, geometrical center is the tool center point of mechanical arm tail end tool.
In one embodiment, it is also performed the steps of when computer program is executed by processor
When scanner is binocular scanner, the image pair of scaling board is obtained by scanner, image is to including left image
And right image；
Geometrical center on geometrical center and right image in left image is extracted respectively；
According to the geometrical center on the geometrical center and right image in left image, geometrical center is being swept
The position retouched under instrument camera coordinates system is rebuild.
In one embodiment, it is also performed the steps of when computer program is executed by processor
Noise reduction and edge detection are filtered to left image and right image, obtain edge contour and right image in left image
In edge contour；
According to the edge contour in the edge contour and right image in left image, the geometric figure in left image is extracted respectively
Geometrical center on center and right image.
In one embodiment, it is also performed the steps of when computer program is executed by processor
Noise reduction and edge detection are filtered to left image and right image, obtain edge contour and right image in left image
In edge contour；
The edge contour of edge contour and right image to left image carries out ellipse fitting respectively, obtains the circle in left image
Annulus on ring and right image；
Extract the center of circle in the center of circle of annulus and annulus in right image in left image.
In one embodiment, it is also performed the steps of when processor executes computer program
Center position pair is constructed, center position is to including tool center point position and corresponding geometrical center position
It sets；
According to center position pair, camera coordinates system is calculated to the rotation translation transformation matrix between mechanical arm basis coordinates system
Calibrated error corresponding with rotation translation transformation matrix, rotation translation transformation matrix are trick relational matrix.
In one embodiment, it is also performed the steps of when processor executes computer program
By all center positions to be divided into be used for rotational translation matrix calculating first nodal point position to be used for
The second center position pair that calibrated error calculates；
Translation transformation matrix is rotated to calculating according to first nodal point position；
The second center position centering geometrical center position is converted by rotating translation transformation matrix, is obtained
It shifts one's position accordingly；
The Euclidean distance difference shifted one's position between the second center position alignment tool center position is calculated, according to
Euclidean distance difference determines calibrated error.
Those of ordinary skill in the art will appreciate that realizing all or part of the process in above-described embodiment method, being can be with
Relevant hardware is instructed to complete by computer program, the computer program can be stored in a non-volatile computer
In read/write memory medium, the computer program is when being executed, it may include such as the process of the embodiment of above-mentioned each method.Wherein,
To any reference of memory, storage, database or other media used in each embodiment provided herein,
Including non-volatile and/or volatile memory.Nonvolatile memory may include read-only memory (ROM), programming ROM
(PROM), electrically programmable ROM (EPROM), electrically erasable ROM (EEPROM) or flash memory.Volatile memory may include
Random access memory (RAM) or external cache.By way of illustration and not limitation, RAM is available in many forms,
Such as static state RAM (SRAM), dynamic ram (DRAM), synchronous dram (SDRAM), double data rate sdram (DDRSDRAM), enhancing
Type SDRAM (ESDRAM), synchronization link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM
(RDRAM), direct memory bus dynamic ram (DRDRAM) and memory bus dynamic ram (RDRAM) etc..
Each technical characteristic of above embodiments can be combined arbitrarily, for simplicity of description, not to above-described embodiment
In each technical characteristic it is all possible combination be all described, as long as however, the combination of these technical characteristics be not present lance
Shield all should be considered as described in this specification.
The several embodiments of the application above described embodiment only expresses, the description thereof is more specific and detailed, but simultaneously
It cannot therefore be construed as limiting the scope of the patent.It should be pointed out that coming for those of ordinary skill in the art
It says, without departing from the concept of this application, various modifications and improvements can be made, these belong to the protection of the application
Range.Therefore, the scope of protection shall be subject to the appended claims for the application patent.
Claims (14)
1. a kind of hand and eye calibrating method of mechanical arm, which is characterized in that the described method includes:
Tool center point position of the collection machinery arm end-of-arm tooling under mechanical arm basis coordinates system acquires geometric figure on scaling board
Position of the center under scanner camera coordinates system, the scaling board are sequentially placed in the different location in the scanner visual field
Place, the tool center point position is overlapped under world coordinate system with the geometrical center；
According to the geometrical center position of the tool center point position of all acquisitions and all acquisitions, calculate and defeated
The trick relational matrix of mechanical arm and the corresponding calibrated error of the trick relational matrix out.
2. the method as described in claim 1, which is characterized in that collection machinery arm end-of-arm tooling is under mechanical arm basis coordinates system
The step of tool center point position, comprising:
When the mechanical arm tail end tool is pilot pin, the end of the pilot pin is moved to the bellmouth of the scaling board
In, it obtains the positioning needle end part and is located at the position under the mechanical arm basis coordinates system, the end of the pilot pin is the machine
The tool center point of tool arm end-of-arm tooling, the bellmouth are located at the geometrical center.
3. the method as described in claim 1, which is characterized in that collection machinery arm end-of-arm tooling is under mechanical arm basis coordinates system
The step of tool center point position, comprising:
When the mechanical arm tail end tool is the scaling board, obtains the geometrical center and be located at the mechanical arm base
Position under mark system, the geometrical center are the tool center point of the mechanical arm tail end tool.
4. the method as described in claim 1, which is characterized in that the geometrical center for acquiring scaling board is sat in scanner camera
The step of marking the position under system, comprising:
When the scanner is binocular scanner, the image pair of the scaling board, described image are obtained by the scanner
To including left image and right image；
The geometrical center on the geometrical center and the right image in the left image is carried out respectively
It extracts；
According to the geometrical center on the geometrical center and the right image in the left image, to described
Position of the geometrical center under the scanner camera coordinates system carries out three-dimensional reconstruction.
5. method as claimed in claim 4, which is characterized in that the geometrical center in the left image and described
The step of geometrical center in right image extracts respectively, comprising:
Noise reduction and edge detection are filtered to the left image and the right image, obtain the edge contour in the left image
With the edge contour in the right image；
According to the edge contour in the edge contour and the right image in the left image, extracted in the left image respectively
The geometrical center on the geometrical center and the right image.
6. method as claimed in claim 4, which is characterized in that the geometric figure on the scaling board is annulus, the geometry
Centre of figure be the annulus the center of circle, in the left image the geometrical center and the right image on described in
The step of geometrical center extracts respectively, including
Noise reduction and edge detection are filtered to the left image and the right image, obtain the edge contour in the left image
With the edge contour in the right image；
The edge contour of edge contour and the right image to the left image carries out ellipse fitting respectively, obtains the left figure
As the annulus on upper annulus and the right image；
Extract the center of circle of annulus on the center of circle of annulus and the right image in the left image.
7. the method as described in claim 1, which is characterized in that calculate and export the trick relational matrix of mechanical arm and described
The step of trick relational matrix corresponding calibrated error, comprising:
Center position pair is constructed, the center position is to including the tool center point position and the corresponding geometric graph
Shape center；
According to the center position pair, the camera coordinates system is calculated to the rotation translation between the mechanical arm basis coordinates system
Transformation matrix and the corresponding calibrated error of the rotation translation transformation matrix, the rotation translation transformation matrix are trick pass
It is matrix.
8. the method as described in claim 1, which is characterized in that calculate the camera coordinates system to the mechanical arm basis coordinates system
Between rotation translation transformation matrix and the rotation translation transformation matrix corresponding calibrated error the step of, comprising:
By all center positions to be divided into be used for first nodal point position that the rotational translation matrix calculates to
The second center position pair calculated for the calibrated error；
According to the first nodal point position to the calculating rotation translation transformation matrix；
Geometrical center position described in second center position pair is carried out by the rotation translation transformation matrix
Transformation, acquisition are shifted one's position accordingly；
The Euclidean distance shifted one's position between tool center point position described in second center position pair described in calculating
Difference determines the calibrated error according to the Euclidean distance difference.
9. method according to claim 8, which is characterized in that all center positions are used for the rotation to being divided into
Turn the first nodal point position of translation matrix calculating to the step with the second center position pair calculated for the calibrated error
Suddenly, comprising:
In all center positions pair, the geometrical center position is not located along the same line any three
The center position is to being set as the first nodal point position pair.
10. a kind of scaling board of the hand and eye calibrating method for mechanical arm described in any one of claim 1 to 9, feature
It is, geometric figure is formed on the scaling board, the center of the geometric figure is for last with mechanical arm during the calibration process
The tool center point of ending tool is aligned.
11. scaling board as claimed in claim 10, which is characterized in that when the mechanical arm tail end tool is pilot pin, institute
That states geometric figure is provided centrally with the bellmouth being aligned with the pilot pin.
12. a kind of hand and eye calibrating device of mechanical arm, which is characterized in that described device includes:
Data acquisition module is adopted for tool center point position of the collection machinery arm end-of-arm tooling under mechanical arm basis coordinates system
Collect position of the geometrical center under scanner camera coordinates system on scaling board, the scaling board is sequentially placed in the scanning
At different location in the instrument visual field, the tool center point position is overlapped under world coordinate system with the geometrical center；
And
Trick relationship computing module, for according to the tool center point position of all acquisitions and the geometry of all acquisitions
Centre of figure position calculates and exports the trick relational matrix and the corresponding calibration mistake of the trick relational matrix of mechanical arm
Difference.
13. a kind of computer equipment, including memory and processor, the memory are stored with computer program, feature exists
In the step of processor realizes any one of claims 1 to 9 the method when executing the computer program.
14. a kind of computer readable storage medium, is stored thereon with computer program, which is characterized in that the computer program
The step of method described in any one of claims 1 to 9 is realized when being executed by processor.
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