CN109311151B - Calibration method and system of robot and calibration plate - Google Patents
Calibration method and system of robot and calibration plate Download PDFInfo
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- CN109311151B CN109311151B CN201780034036.3A CN201780034036A CN109311151B CN 109311151 B CN109311151 B CN 109311151B CN 201780034036 A CN201780034036 A CN 201780034036A CN 109311151 B CN109311151 B CN 109311151B
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- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
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- B25J9/00—Programme-controlled manipulators
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Abstract
The invention discloses a calibration method, a calibration system and a calibration board of a robot, wherein the calibration method comprises the steps of controlling the front end (11) of the robot to move according to a preset rule in a preset area of the calibration board (12) provided with a flexible film (10), and the preset area comprises angular points; detecting a preset area of the calibration plate in the moving process, and calculating to obtain the deformation quantity of the boundary line caused by the front end of the robot when the calibration plate moves each time; and determining the position of the calibration point according to the deformation amount to finish the calibration of the robot. The position of the relatively accurate calibration point is calculated by the method, and the accuracy of the conversion relation between the robot coordinate system and the visual coordinate is improved.
Description
Technical Field
The invention relates to the technical field of robot coordinate setting, in particular to a calibration method, a calibration system and a calibration board for a robot.
Background
Industrial robots have now played an increasingly important role in production in manufacturing industries all over the world. In order to make an industrial robot capable of more complex tasks, the robot needs to have a better control system and also needs to sense more environmental changes. Among them, the robot vision is the most important robot sensing device because of its large information amount and high information integrity. Taking the robot for precision welding of electronic components of the circuit board as an example, in the welding process, the robot can position a workpiece or a working surface by using a camera in a vision system, and calculate the relative position of a working scene relative to the robot so as to assist the robot in completing the operation.
The robot uses the vision system to calculate the transformation relationship between the vision coordinate system and the robot coordinate system, which becomes an important research subject for robot development, and obtaining a more accurate transformation relationship between the coordinate systems is a precondition for solving the problem that the robot completes high-precision operation. However, in the existing robot, the robot is usually manually moved to the calibration point of the vision system directly so that the robot calculates the conversion relationship between the vision coordinate system and the robot coordinate system by using the vision system, but the manual comparison method cannot ensure that the calibration points compared with the two are the same, which generally has a large human error, thereby causing a large error of the obtained conversion relationship.
Disclosure of Invention
The invention aims to provide a calibration method, a calibration system and a calibration plate of a robot, which can improve the accuracy of a conversion relation between a robot coordinate system and a visual coordinate.
In order to achieve the above object, the present invention provides a calibration method for a robot, including a calibration board, where the calibration board includes a checkerboard, an intersection point of a vertical line and a horizontal line on the checkerboard is an angular point on the checkerboard, and the vertical line and the horizontal line are boundary lines of the checkerboard, the calibration method including:
controlling the front end of the robot to move according to a preset rule in a preset area of a calibration plate provided with a flexible film, wherein the preset area comprises the angular points;
detecting the preset area of the calibration plate in the moving process, and calculating to obtain the deformation quantity of the boundary line caused by the front end of the robot when the calibration plate moves each time;
and determining the position of the calibration point according to the deformation quantity to finish the calibration of the robot.
Wherein the predetermined area is determined by at least four reference points, wherein determining the at least four reference points comprises:
and respectively determining at least one reference point in four directions of the boundary line by taking the initial position point of the front end of the robot as an origin to determine at least four reference points forming the predetermined area.
Wherein the determining at least one reference point in four directions of the boundary line with an initial position point of the front end of the robot as an origin to determine at least four reference points constituting the predetermined area includes:
controlling the front end of the robot to move along four directions extending along the boundary line respectively by taking the initial position point of the front end of the robot as an origin;
acquiring a reflection image of the calibration plate during each movement;
calculating the deformation amount of the boundary line caused by the front end of the robot when the robot moves every time according to the reflection image;
and extracting the deformation quantity with the minimum value from the deformation quantities, wherein the position of the front end of the robot corresponding to the deformation quantity with the minimum value is the reference point.
Wherein, control the robot front end and remove according to predetermineeing the rule on being provided with the calibration plate of flexible membrane in a predetermined area, include:
and controlling the front end of the robot to move according to the minimum moving distance of the front end of the robot in the preset area until the front end of the robot extends over the area.
Wherein the determining the position of the calibration point according to the deformation amount comprises:
extracting the deformation quantity with the minimum numerical value from the deformation quantity of the boundary line corresponding to the front end of the mobile robot obtained by calculation each time;
and determining the position of the calibration point according to the deformation quantity with the minimum numerical value.
Wherein determining the position of the index point according to the amount of deformation with the smallest value comprises:
and taking the position point corresponding to the deformation quantity with the minimum numerical value as the position of the calibration point.
In another aspect, the present invention provides a calibration system for a robot, including: a calibration board provided with a flexible film, and a vision device, a processor and a memory connected by a bus;
the memory is used for storing preset movement rules of the robot and execution instructions of the processor;
the vision device is used for detecting the calibration plate;
the processor is configured to perform the following acts:
controlling the front end of the robot to move according to a preset rule in a preset area of a calibration plate provided with a flexible film, wherein the preset area comprises the angular points;
detecting the preset area of the calibration plate in the moving process, and calculating to obtain the deformation quantity of the boundary line caused by the front end of the robot when the calibration plate moves each time;
and determining the position of the calibration point according to the deformation quantity to finish the calibration of the robot.
Wherein the predetermined area is determined by at least four reference points, wherein determining the at least four reference points comprises:
and respectively determining at least one reference point in four directions of the boundary line by taking the initial position point of the front end of the robot as an origin to determine at least four reference points forming the predetermined area.
Wherein the determining at least one reference point in four directions of the boundary line with an initial position point of the front end of the robot as an origin to determine at least four reference points constituting the predetermined area includes:
controlling the front end of the robot to move along four directions extending along the boundary line respectively by taking the initial position point of the front end of the robot as an origin;
acquiring a reflection image of the calibration plate during each movement;
calculating the deformation amount of the boundary line caused by the front end of the robot when the robot moves every time according to the reflection image;
and extracting the deformation quantity with the minimum value from the deformation quantities, wherein the position of the front end of the robot corresponding to the deformation quantity with the minimum value is the reference point.
Wherein, what the treater was carried out controls the robot front end and moves according to predetermineeing the rule in a predetermined area on the calibration board that is provided with the flexible membrane, includes:
and controlling the front end of the robot to move according to the minimum moving distance of the front end of the robot in the preset area until the front end of the robot extends over the area.
Wherein the processor-implemented determining the position of the index point from the amount of deformation comprises:
extracting the deformation quantity with the minimum numerical value from the deformation quantity of the boundary line corresponding to the front end of the mobile robot obtained by calculation each time;
and determining the position of the calibration point according to the deformation quantity with the minimum numerical value.
Wherein the determining the position of the index point according to the amount of deformation with the smallest value performed by the processor comprises:
and taking the position point corresponding to the deformation quantity with the minimum numerical value as the position of the calibration point.
In another aspect, the present invention provides a calibration plate, including:
and the calibration plate block is provided with a flexible film.
Wherein, the calibration board plate is a checkerboard.
And a plurality of identification points for positioning the front-end contact of the robot are arranged near the corner points of the checkerboard.
Wherein, the flexible film is a flexible film with a surface reflecting infrared rays.
Has the advantages that: different from the situation of the prior art, the front end of the robot is controlled to move according to the preset rule in a preset area of the calibration plate provided with the flexible film, and the preset area comprises the angular point; detecting the preset area of the calibration plate in the moving process, and calculating to obtain the deformation quantity of the boundary line caused by the front end of the robot when the calibration plate moves each time; and determining the position of the calibration point according to the deformation quantity to finish the calibration of the robot. By the method, the position of the relatively accurate calibration point can be calculated, and the accuracy of the conversion relation between the robot coordinate system and the visual coordinate is improved.
Drawings
FIG. 1 is a schematic flow chart diagram of a first embodiment of a calibration method of a robot according to the present invention;
FIG. 2 is a schematic flow chart of an embodiment of a method for determining a predetermined area in the first embodiment of the calibration method shown in FIG. 1;
FIGS. 3a-3b are schematic diagrams of the deformation of the flexible membrane on the calibration plate in the first embodiment of the calibration method shown in FIG. 1;
FIGS. 4a-4c are schematic structural views of a first embodiment of the calibration method of the robot according to the present invention;
FIG. 5 is a schematic diagram of the moving track of the front end of the robot in step S102 in the first embodiment of the calibration method shown in FIG. 1;
FIG. 6 is a schematic flow chart of step S103 in the first embodiment of the method shown in FIG. 1;
FIG. 7 is a functional block diagram of a first embodiment of a calibration system of the robot of the present invention;
FIG. 8 is a schematic structural view of one embodiment of a calibration plate of the present invention;
fig. 9a-9b are schematic views of alternate embodiments of the calibration plate of the present invention.
Detailed Description
In order to make those skilled in the art better understand the technical solution of the present invention, the following describes a calibration method, a calibration system and a calibration board of a robot provided by the present invention in further detail with reference to the accompanying drawings and the detailed description. Obviously, the described embodiments are only a part of embodiments of the calibration method, system and calibration board of the robot of the present invention, and not all embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments of the present invention without any creative effort belong to the protection scope of the present invention.
In the prior art, the robot coordinate system and the visual coordinate system are unified, the front end of the robot is moved to the corner points of the calibration plate under the visual system through manual operation, and the coordinates of the corner points of the calibration plate under the visual system are known, so that the coordinates of the corner points of the calibration plate are directly assigned to the front end of the robot to finish the calibration of the robot. However, in actual operation, there are often large errors in manually moving the front end of the robot to the corner points of the calibration plate under the vision system, and it is difficult to judge whether the front end of the robot really falls on the corner points of the calibration plate by naked eyes, which results in large errors in calibrating the front end of the robot. The calibration plate is detected, the position of the front end of the robot when the front end of the robot is closest to the corner point of the calibration plate is determined, and the accuracy of the calibration robot is improved.
Referring to fig. 1, fig. 1 is a schematic flow chart of a first embodiment of a calibration method of a robot of the present invention, the method including the steps of:
s101, controlling the front end of the robot to move according to a preset rule in a preset area of a calibration plate provided with a flexible film.
The calibration in this embodiment is a calibration plate provided with a flexible film, and the calibration plate is a checkerboard, the boundary line of the grid on the checkerboard is divided into a vertical line and a horizontal line, and the corner point of the checkerboard is the intersection point of the vertical line and the horizontal line. Taking a checkerboard with staggered black lattices and white lattices as an example, the angular point on the calibration plate is the intersection point of the black lattices and the white lattices on the checkerboard, and the intersection line of the black lattices and the white lattices is a boundary line. Because the flexible membrane is arranged on the calibration plate, when the front end of the robot contacts the calibration plate, corresponding pressure is generated on the flexible membrane on the surface of the calibration plate, and the flexible membrane is deformed. The deformed flexible membrane can amplify the reflected image of the calibration plate right below the front end of the robot. If the position of the front end of the robot in contact with the calibration plate is close to the boundary line, the deformation of the boundary line can be obtained from the obtained reflection image of the calibration plate through the deformation and amplification effect of the flexible film.
It can be understood that the checkerboards with staggered black grids and white grids are only the checkerboards in the present application in a specific real-time manner, in other embodiments, the calibration board may have checkerboards with vertical lines and horizontal lines, where the corner points are intersection points of the vertical lines and the horizontal lines on the checkerboards, where the vertical lines and the horizontal lines are boundary lines of each grid on the checkerboards, and in other embodiments, the checkerboards may also be checkerboards with black grids or checkerboards with white grids, or checkerboards with any other colors.
And controlling the front end of the robot to move according to the minimum moving distance within the preset area until the preset area is traversed so as to determine the calibration point in the preset area.
In this embodiment, the predetermined area is determined by at least four reference points. Therefore, the at least four reference points need to be determined in this embodiment.
Further, as shown in fig. 2, the step S101 of determining the predetermined area includes the steps of:
and S1011, controlling the front end of the robot to move along four directions extending along the boundary line respectively by taking the initial position point of the front end of the robot as an origin.
The front end of the robot is moved to a certain position close to the corner point of the calibration plate, the position is taken as an initial position point of the front end of the robot, the initial position point of the front end of the robot on the calibration plate is taken as an origin, and the boundary line on the calibration plate is taken as rays extending towards four different directions by taking the origin.
The robot front end is in turn controlled to move in a direction in which one of the borderlines extends. Since the obtained reference calibration point is used to finally determine the calibration point, and the determined calibration point needs to be as close as possible to the corner point on the calibration board, when the front end of the robot is controlled to move along the extending direction of the boundary line, the front end of the robot moves gradually on both sides of the boundary line along the extending direction of the boundary line. In order to improve the accuracy of the acquired reference calibration point, the robot front end is moved stepwise on both sides of the boundary line with its minimum moving step.
S1012, a reflection image of the calibration plate is acquired at each movement.
As shown in fig. 3a and 3b, s1 and s2 are black and white lattices on the checkerboard, respectively, and when the robot front end 11 contacts the calibration board, pressure is applied to the flexible film 10, which causes deformation of the flexible film 10. As shown in fig. 3a, when the position of the robot tip 10 on the calibration board 12 is close to the boundary line between the black frame s1 and the white frame s2, the boundary line is seen to be distorted in the reflected image of the calibration board 12, and specifically, the boundary line is seen to be convex toward the side of the position of the robot tip 11 on the calibration board 12 in the reflected image of the calibration board 12, and the apex of the convex corresponds to the position of the robot tip 11 on the calibration board 12. As shown in fig. 3b, if the contact position of the robot tip 11 and the calibration plate 12 falls just above the boundary line, no deformation of the boundary line is seen from the obtained reflection image of the calibration plate 12; the contact position of the robot front end 11 with the calibration plate 12 can be obtained by acquiring the reflection image of the calibration plate 12.
In the embodiment, since it is not known which movement will bring the front end of the robot closest to the boundary line in the process of moving the front end of the robot; a reflection image of the calibration plate is acquired once every time the robot front end is moved in a direction extending along the boundary line. And obtaining the deformation condition of the boundary line in the calibration plate reflection image caused by the front end of the robot after the front end of the robot is moved each time through the obtained reflection image of the calibration plate each time.
And S1013, calculating and obtaining the deformation amount of the boundary line caused by the front end of the robot in each movement according to the acquired reflection image.
And analyzing the reflection image of the calibration plate acquired each time, and calculating the deformation amount of the boundary line in the reflection image of the calibration plate caused by the fact that the front end of the robot extrudes the flexible film after the front end of the robot is moved each time.
Since the deformation of the boundary line is such that the boundary line is convex toward the side of the position of the robot front end on the calibration plate, the amount of deformation of the boundary line is the degree of the protrusion. Further, since the apex of the projection corresponds to the position of the robot tip on the calibration plate, the amount of deformation of the boundary line is the distance from the apex of the projection to the original position of the boundary line. The distance is the distance from the position of the front end of the robot on the calibration plate to the boundary line. And after the front end of the robot is moved each time, the deformation amount of the boundary line in the reflection image of the calibration plate caused by the fact that the front end of the robot extrudes the flexible film is calculated, namely, the distance between the front end of the robot and the boundary line on the calibration plate after the front end of the robot is moved each time is calculated.
And S1014, extracting the deformation quantity with the minimum value from the deformation quantities, wherein the position of the front end of the robot corresponding to the deformation quantity with the minimum value is the reference point.
And extracting the deformation quantity with the minimum numerical value from the deformation quantity obtained by calculation in the reflection image of the calibration plate acquired from the front end of the mobile robot each time. And if the position of the front end of the robot corresponding to the deformation quantity with the minimum value on the calibration board is closest to the boundary line, taking the position of the corresponding front end of the robot on the calibration board as a reference point.
Since the deformation amount is the distance from the vertex of the protrusion in the reflected image of the calibration plate to the boundary line, the deformation amount with the smallest value is the minimum value of the distances from the vertex of the protrusion in the reflected image of the calibration plate to the boundary line. From the above analysis, it can be seen that the deformation amount with the smallest value corresponds to the position of the robot tip on the calibration plate closest to the boundary line, and this position is taken as a reference point determined in this direction.
Steps S1011 to S1014 are repeated in the remaining three directions in which the boundary line extends to complete the determination of at least four reference points in the vicinity of the boundary line in the four directions in which the boundary line extends, from which the predetermined region in the present embodiment can be determined.
Since at least four reference points determined through steps S1011 to S1014 are all near the corner points and are close to the boundary line, the range of the calibration point determined through the front end of the robot can be further narrowed near the corner points through the four reference points.
Specifically, by connecting each of the at least four reference points determined in steps S1011 to S1014 with the nearest reference points on both sides thereof to determine the predetermined region, it can be understood that the corner point of the calibration board is within the region.
The determination of the reference point is exemplified: as shown in fig. 4a, the calibration plate is a checkerboard with black grids and white grids arranged alternately, the corner point a is an intersection point of the black grids and the white grids, and four boundary lines a, b, c and d of the calibration plate respectively extend in four directions along the corner point a. First, in step S1011, the robot tip is moved to a position near the corner point a, the position is used as an initial position point of the robot tip, the initial position point is used as an origin, the robot tip is controlled to move from the origin in the vicinity of the boundary line a along the direction in which the boundary line a extends, and in step S1012 to step S1014, the reference point B is determined; and repeating the steps S1011 to S1014 in the direction along which the boundary lines b, c and d extend in sequence to determine the reference points C, D and E, respectively, and connecting the reference points B, C, D, E in sequence to determine a predetermined area surrounded by the dotted lines in fig. 4b, in which the corner point a of the calibration plate is located. For convenience in indicating the reference index points and the regions determined by the reference index points, the black lattice portions are not filled in fig. 4b, and it is understood that the distribution of the black lattices and the white lattices of fig. 4b is the same as that of fig. 4 a.
S102, detecting a preset area of the calibration plate in the moving process, and calculating the deformation amount of the boundary line caused by the front end of the robot in each moving process.
And controlling the front end of the robot to move step by step in a preset area. In order to bring the resulting corrected calibration points as close as possible to the corner points of the calibration plate, the robot front end is moved stepwise with its minimum movement step, gradually from one reference calibration point to another until the full extent of the predetermined area is traversed. It is understood that since the robot front end moves a distance of its minimum moving step at a time, the robot front end moves from one reference calibration point to another reference calibration point in a matrix form within a predetermined area.
In this embodiment, the robot front end moves from one reference point to another reference point in a matrix form in the predetermined area, specifically, in at least four reference points determined in steps S1011 to S1014, a matrix is set up with the minimum moving step of the robot front end, and the robot front end is controlled to move from one point to another point in the matrix, as shown in fig. 5, the four reference points determined on the checkerboard are A, B, C and D, respectively, and in the predetermined area formed by A, B, C and D, a 3 × 3 matrix (123,456,789) may be set up with the minimum moving step of the robot front end, and then the robot front end is controlled to move stepwise in the order of digits in the matrix until all the step positions are traversed.
Further, a reflection image of the calibration plate is acquired once every time the front end of the robot moves within the predetermined area. Since it is not known which movement will bring the position of the robot front end on the calibration plate closest to the corner points of the calibration plate when the robot front end moves within the predetermined area. The reflected image of the calibration plate is acquired once for each movement of the front end of the robot. And obtaining the deformation condition of the boundary line in the calibration plate reflection image caused by the front end of the robot after the front end of the robot is moved each time through the obtained reflection image of the calibration plate each time.
Further, according to the acquired reflection image, the reflection image of the calibration plate acquired each time is analyzed, and the deformation amount of the boundary line in the reflection image of the calibration plate caused by the fact that the front end of the robot extrudes the flexible film after the front end of the robot is moved each time can be calculated.
It is worth noting that since the position of the corrected calibration point needs to be finally determined by the deformation amount of the calculated boundary line at this time, the corrected calibration point needs to be as close to the corner point of the calibration plate as possible; when the front end of the robot is close to the corner point of the calibration board, the two adjacent boundary lines may deform simultaneously in the reflected image of the calibration board, so that the deformation amount of the boundary line calculated in the step may not be only the deformation amount of one boundary line, but also the deformation amount of two adjacent boundary lines.
Here, the amount of deformation of the boundary line is the same as the amount of deformation of the boundary line in steps S1011 to S1014, and is the distance from the apex of the protrusion in the reflection image to the original position of the boundary line. Correspondingly, the deformation quantity of the boundary line caused by the front end of the robot in each movement is obtained through calculation in the step, namely, the distance from the front end of the robot to the boundary line on the calibration plate after the robot is moved each time is calculated.
S103, determining the position of the calibration point according to the deformation amount to finish the calibration of the robot.
In the process of moving the front end of the robot in step S102, the reflected image of the calibration plate is continuously acquired.
Further, as shown in fig. 6, step S103 includes the following steps:
and S1031, extracting the deformation quantity with the minimum numerical value from the deformation quantity of the boundary line corresponding to the front end of the mobile robot obtained by calculation.
The detection result in this step is the deformation amount of the boundary line in the reflection image of the calibration plate caused by the flexible film being extruded by the front end of the robot calculated in step S102, that is, the distance from the front end of the robot to the boundary line on the calibration plate after the robot is moved each time.
And extracting the deformation quantity with the minimum value from the deformation quantities obtained by calculating the front end of the mobile robot each time, namely extracting the minimum value from the distances obtained by calculating the distances between the top point of the bulge in the reflection image of the calibration plate and the boundary line. Further, the minimum value of the distances from the top point of the projection in the reflected image of the calibration plate to the two adjacent boundary lines is extracted from the plurality of calculated distances.
And S1032, determining the position of the calibration point according to the deformation quantity with the minimum numerical value.
According to the minimum value of the distances from the top point of the projection in the reflection image of the calibration plate extracted in step S1031 to the two adjacent boundary lines, it can be determined that the position of the front end of the robot on the calibration plate closest to the corner point of the calibration plate in the process of moving the front end of the robot in the region determined by the reference calibration point is the corrected calibration point.
As shown in fig. 4c, the position of the corrected calibration point H is finally calculated in the vicinity of the corner point of the calibration plate according to steps S1031 and S1032. The black lattice portion is not filled in fig. 4c, and it is understood that the distribution of the black and white lattices of fig. 4c is the same as that of fig. 4 a.
According to the embodiment, the distance between the front end of the robot and two adjacent boundary lines when the front end of the robot is closest to the corner point of the calibration plate can be obtained; because the coordinates of the corner points of the calibration plate in the visual coordinate system are known, the conversion relation between the robot coordinate system and the visual coordinate system can be directly obtained through the distance between the front end of the robot and two adjacent boundary lines.
Referring to fig. 7, fig. 7 is a functional block diagram of an embodiment of a calibration system of a robot according to the present invention. The calibration system 200 of the robot comprises a calibration board 201 provided with a flexible membrane, and a vision device 202, a processor 203 and a memory 204 which are connected through a bus;
the memory 204 is used for storing preset movement rules of the robot and execution instructions of the processor 203. The calibration board 201 is disposed within a line of sight of the vision device 202, and the vision device 204 is used to detect the calibration board 201. The processor 203 is configured to perform the following actions:
controlling the front end of the robot to move according to a preset rule in a preset area of a calibration plate 201 provided with a flexible film, wherein the preset area comprises an angular point; detecting a preset area of the calibration plate in the moving process, and calculating to obtain the deformation quantity of the boundary line caused by the front end of the robot when the calibration plate moves each time; and determining the position of the calibration point according to the deformation quantity obtained by calculation, and completing the calibration of the robot.
In this embodiment, the calibration board 201 is a checkerboard; the angular point is the intersection point of the vertical line and the horizontal line on the checkerboard, wherein the vertical line and the horizontal line are the boundary lines of the grids on the checkerboard. In a specific embodiment, a checkerboard where black and white lattices intersect may be selected as the calibration board 201.
In this embodiment, the predetermined area is determined by at least four reference points, wherein determining the at least four reference points includes: at least one reference point is determined in each of four directions of the boundary line with the initial position point of the robot as an origin to determine at least four reference points constituting the predetermined area.
Further, determining at least four reference points specifically includes: taking the initial position point of the front end of the robot as an original point, and controlling the front end of the robot to move along four directions extending along the boundary line respectively; acquiring a reflection image of the calibration plate during each movement; calculating the deformation amount of the boundary line caused by the front end of the robot when the robot moves each time according to the reflection image; and extracting the deformation quantity with the minimum value from the deformation quantities, wherein the position of the front end of the robot corresponding to the deformation quantity with the minimum value is the reference point.
Further, the processor 203 controls the robot front end to move according to a preset rule in a preset area on the calibration board provided with the flexible film, and the controller 205 gradually moves the robot front end from one reference point to another reference point according to the minimum moving distance of the robot front end in the preset area until the preset area is traversed.
Further, the processor 203 detects a predetermined area of the calibration board during the moving process, and calculates a deformation amount of the boundary line caused by the front end of the robot during each moving process, which specifically includes the following contents:
acquiring a reflection image of the calibration plate 201 by the vision device 202 each time the front end of the robot is moved by the controller 205 within a predetermined area; the reflected image is analyzed, and the amount of deformation of the boundary line caused by the front end of the robot is calculated for each movement.
Further, the processor 203 determines the position of the calibration point according to the deformation quantity, which specifically includes the following contents:
extracting the deformation quantity with the minimum numerical value from the deformation quantity of the boundary line corresponding to the front end of the mobile robot obtained by calculation each time; determining the position of the index point according to the deformation quantity with the minimum value
It can be understood that, in this embodiment, the content of the action executed by the processor 203 corresponds to the calibration method of the robot shown in fig. 1 to fig. 7, and specific reference is made to the above detailed description of the calibration method of the robot, which is not described herein again.
On the other hand, the present invention further provides an embodiment of a calibration plate, as shown in fig. 8, fig. 8 is a schematic structural diagram of the embodiment of the calibration plate of the present invention.
As shown in fig. 8, the calibration plate 800 of the present embodiment includes a calibration plate block 81, and the flexible film 82 is disposed on the calibration plate block 81. The flexible membrane 82 deforms when compressed.
Further, the calibration plate block 81 is provided with a calibration object for calibration, such as a calibration ring, calibration points, etc. coated with color.
Further, as shown in fig. 9a, the calibration plate 81 is a checkerboard, fig. 9a is a top view of the calibration plate 800 in the present embodiment, and fig. 9b is a cross-sectional view along L-L in fig. 9a, in the present embodiment, a checkerboard with black lattices and white lattices is taken as an example, a part filled with shadows in fig. 9a is a black lattice, and the left side of the black lattice represents a white lattice. It will be understood that there are several black and white boxes on the checkerboard, and only a portion of the black and white boxes are shown in fig. 9a, not the entire calibration board.
It can be understood that the checkerboards with staggered black grids and white grids are only the checkerboards in the present application in a specific real-time manner, in other embodiments, the calibration board may have checkerboards with vertical lines and horizontal lines, where the corner points are intersection points of the vertical lines and the horizontal lines on the checkerboards, where the vertical lines and the horizontal lines are boundary lines of each grid on the checkerboards, and in other embodiments, the checkerboards may also be checkerboards with black grids or checkerboards with white grids, or checkerboards with any other colors.
Furthermore, a plurality of identification points 83 for positioning the front end contact of the robot are arranged near the corner points of the checkerboard. The corner points of the checkerboard are the intersection points of the black grid and the white grid, the identification points 83 are arranged near the intersection points, and the corner points can be easily found through the reflection image of the calibration plate 800 when the calibration plate 800 is used for calibrating an object.
Further, the flexible film 82 provided on the calibration plate block 81 is a flexible film whose surface reflects infrared rays. Because through visible light irradiation, when obtaining the reflection image of calibration plate 800, probably can not see the calibration point 83 of setting on calibration plate 81 in the reflection image, then through the infrared flexible membrane of surface reflection, utilize infrared light irradiation calibration plate, and then make and observe the calibration point 83 of setting on calibration plate 81 in the reflection image of calibration plate.
The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes performed by the present specification and drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (15)
1. A calibration method of a robot, comprising a calibration board, wherein the calibration board comprises a checkerboard, an intersection point of a vertical line and a horizontal line on the checkerboard is an angular point on the checkerboard, and the vertical line and the horizontal line are boundary lines of the checkerboard, the calibration method is characterized by comprising the following steps:
controlling the front end of the robot to move according to a preset rule in a preset area of a calibration plate provided with a flexible film, wherein the preset area comprises the angular points;
detecting the preset area of the calibration plate in the moving process, and calculating to obtain the deformation quantity of the boundary line caused by the front end of the robot when the calibration plate moves each time;
and determining the position of the calibration point according to the deformation quantity to finish the calibration of the robot.
2. Calibration method according to claim 1, wherein the predetermined area is determined by at least four reference points, wherein determining at least four reference points comprises:
and respectively determining at least one reference point in four directions of the boundary line by taking the initial position point of the front end of the robot as an origin to determine at least four reference points forming the predetermined area.
3. The calibration method according to claim 2, wherein determining at least one reference point in each of four directions of the boundary line with the initial position point of the front end of the robot as an origin to determine at least four reference points constituting the predetermined area comprises:
controlling the front end of the robot to move along four directions extending along the boundary line respectively by taking the initial position point of the front end of the robot as an origin;
acquiring a reflection image of the calibration plate during each movement;
calculating the deformation amount of the boundary line caused by the front end of the robot when the robot moves every time according to the reflection image;
and extracting the deformation quantity with the minimum value from the deformation quantities, wherein the position of the front end of the robot corresponding to the deformation quantity with the minimum value is the reference point.
4. The calibration method according to claim 1, wherein the controlling the front end of the robot to move according to the preset rule in a preset area on the calibration plate provided with the flexible film comprises:
and controlling the front end of the robot to move according to the minimum moving distance of the front end of the robot in the preset area until the front end of the robot extends over the area.
5. The calibration method according to claim 1, wherein said determining the position of the calibration point according to the amount of deformation comprises:
extracting the deformation quantity with the minimum numerical value from the deformation quantity of the boundary line corresponding to the front end of the mobile robot obtained by calculation each time;
and determining the position of the calibration point according to the deformation quantity with the minimum numerical value.
6. The calibration method according to claim 5, wherein said determining the position of the calibration point according to the amount of deformation with the smallest value comprises:
and taking the position point corresponding to the deformation quantity with the minimum numerical value as the position of the calibration point.
7. A calibration system for a robot, comprising: a calibration board provided with a flexible film, and a vision device, a processor and a memory connected by a bus;
the memory is used for storing preset movement rules of the robot and execution instructions of the processor;
the vision device is used for detecting the calibration plate;
the processor is configured to perform the following acts:
controlling the front end of the robot to move according to a preset rule in a preset area of a calibration plate provided with a flexible film, wherein the preset area comprises an angular point; the calibration plate is a checkerboard, and the intersection point of the vertical line and the horizontal line on the checkerboard is the angular point;
detecting the preset area of the calibration plate in the moving process, and calculating to obtain the deformation quantity of the boundary line caused by the front end of the robot when the calibration plate moves each time; the vertical line and the horizontal line are boundary lines of grids on the checkerboard;
and determining the position of the calibration point according to the deformation quantity to finish the calibration of the robot.
8. The calibration system of claim 7, wherein the predetermined area is determined by at least four reference points, wherein determining at least four reference points comprises:
and respectively determining at least one reference point in four directions of the boundary line by taking the initial position point of the front end of the robot as an origin to determine at least four reference points forming the predetermined area.
9. The calibration system according to claim 8, wherein said determining at least one reference point in four directions of the boundary line with the initial position point of the front end of the robot as an origin to determine at least four reference points constituting the predetermined area comprises:
controlling the front end of the robot to move along four directions extending along the boundary line respectively by taking the initial position point of the front end of the robot as an origin;
acquiring a reflection image of the calibration plate during each movement;
calculating the deformation amount of the boundary line caused by the front end of the robot when the robot moves every time according to the reflection image;
and extracting the deformation quantity with the minimum value from the deformation quantities, wherein the position of the front end of the robot corresponding to the deformation quantity with the minimum value is the reference point.
10. The calibration system according to claim 7, wherein the processor executes the control of the robot front end to move according to the preset rule in a predetermined area on the calibration plate provided with the flexible film, and the control comprises:
and controlling the front end of the robot to move according to the minimum moving distance of the front end of the robot in the preset area until the front end of the robot extends over the area.
11. The calibration system of claim 7, wherein said processor-implemented determining the position of the calibration point based on said amount of deformation comprises:
extracting the deformation quantity with the minimum numerical value from the deformation quantity of the boundary line corresponding to the front end of the mobile robot obtained by calculation each time;
and determining the position of the calibration point according to the deformation quantity with the minimum numerical value.
12. The calibration system of claim 11, wherein said processor-implemented determining the position of said calibration point based on said minimum amount of deformation comprises:
and taking the position point corresponding to the deformation quantity with the minimum numerical value as the position of the calibration point.
13. A calibration plate, comprising: the calibration plate is provided with a flexible film and is a checkerboard;
the flexible film is arranged on the surface of the calibration plate and used for being stressed and deformed when the front end of the robot contacts the calibration plate so as to amplify a reflected image of the calibration plate right below the front end of the robot; the reflection image is used for acquiring the deformation quantity of the boundary line so as to determine the position of the calibration point by using the deformation quantity, and the calibration of the robot is completed; wherein, the vertical line and the horizontal line on the checkerboard are the boundary lines of the grids on the checkerboard.
14. Calibration plate according to claim 13, characterized in that near the corner points of the checkerboard a plurality of identification points are provided for positioning robot front contacts.
15. Calibration plate according to claim 14, characterized in that the flexible film is a surface infrared-reflective flexible film.
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| PCT/CN2017/085331 WO2018213980A1 (en) | 2017-05-22 | 2017-05-22 | Robot calibration method, system, and calibration board |
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| CN109311151B true CN109311151B (en) | 2021-07-09 |
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| CN109311151A (en) | 2019-02-05 |
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