CN110370272A - It is a kind of based on the robot TCP calibration system vertically reflected - Google Patents
It is a kind of based on the robot TCP calibration system vertically reflected Download PDFInfo
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- CN110370272A CN110370272A CN201910539099.5A CN201910539099A CN110370272A CN 110370272 A CN110370272 A CN 110370272A CN 201910539099 A CN201910539099 A CN 201910539099A CN 110370272 A CN110370272 A CN 110370272A
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- binocular vision
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0095—Means or methods for testing manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1692—Calibration of manipulator
Abstract
The invention discloses a kind of based on the robot TCP calibration system vertically reflected, with binocular vision system, robot and power tool combination operation, using plane mirror as auxiliary tool, utilize the relationship of robot kinematics and space coordinate transformation, space fixed point is taken multiple measurements, establishes trick relationship, is detected in the end circular point to power tool, the characteristics of by coordinate conversion relation and plane mirror imaging symmetry, to complete the calibration of TCP.TCP calibration system of the invention, this system are different from contact calibration system, collisionless risk, safety coefficient height.
Description
Technical field
The present invention relates to intelligence manufacture fields, more particularly to a kind of based on the robot TCP calibration system vertically reflected.
Background technique
Under the background of industry 4.0, binocular vision system auxiliary robot AUTONOMOUS TASK is had become the norm.By taking welding as an example,
Binocular vision system can carry out real-time tracing identification to weld seam, help to improve welding quality and welding efficiency.Power tool
The stated accuracy of setting (TCP) directly affect actual operation quality.And traditional teaching contact TCP scaling method is deposited
The inefficient, collision the problems such as, have been unable to meet current work demand, low cost, efficiently, the scaling method of safety is to industrial production
It is of great significance.
Therefore it is high based on the robot TCP vertically reflected mark to be dedicated to developing a kind of safety coefficient by those skilled in the art
Determine system.
Summary of the invention
In view of the above drawbacks of the prior art, it is high that technical problem to be solved by the invention is to provide a kind of safety coefficients
Based on the robot TCP system vertically reflected.
To achieve the above object, the present invention provides a kind of based on the robot TCP calibration system vertically reflected, including
Robot, plane mirror and binocular vision system, the binocular vision system include two video cameras, two video camera difference
The end two sides of the robot are set, and the plane mirror is arranged in the image pickup scope of the binocular vision system.
Preferably, two video cameras are fixed on power tool by connecting bracket, two video camera difference
It is fixed at the both ends of the connecting bracket.
Preferably, further including logical operation module and data acquisition module, the data acquisition module setting is patrolled described
It collects between computing module and binocular vision system, the data acquisition module is used to acquire the measurement of binocular vision system measurement
Value, the data acquisition module give collected data transmission to the logical operation module.
Preferably, the logical operation module includes that human eye logic of relations computing module and TCP demarcate logical operation module,
The human eye logic of relations computing module determines binocular vision system coordinate by robot kinematics and space coordinate transformation
It is the transformation matrix of { C } relative to robot end's coordinate system { E }For Robot Hand-eye relationship；The TCP mark
Determine logical operation module and passes through the Robot Hand-eye relationship acquiredCome the calibration for the tool tip TCP that fulfils assignment.
Preferably, determining the Robot Hand-eye relationshipProcess is as follows:
(S101) establishing Robot Hand-eye relationship isWherein, RCFor robot end's coordinate system
Spin matrix that { E } and binocular vision system coordinate system { C } are converted and into definite value；TCFor robot end's coordinate system { E } and double
Feel the translation vector that system coordinate system { C } is converted and visually into definite value；
(S102) the round target spot of setting first on workbench, the first round target spot is fixed point, the robot end
End posture remains unchanged, and the robot does linear movement, and the robot end successively moves to multiple positions and to described
First circular point measures；
(S103) successively control the robot do displacement appearance move to multiple positions and in binocular vision system coordinate system
The first circular point is measured under { C }；
(S104) step (S102) and step (S103) transport the measured value of the described first round target spot by robot
R is calculated with the relationship of space coordinate transformation in dynamic learnCAnd TC, that is, calibrate Robot Hand-eye relationship
Preferably, robot kinematics and space coordinate transformation logical operation in the human eye logic of relations computing module
Include:
(B1) transformation matrix of the robot end's coordinate system { E } relative to robot basis coordinates { B } is established
Wherein, R is the spin matrix that robot basis coordinates { B } and robot end's coordinate system { E } are converted, since the robot is done
During linear movement, robot end's posture is to maintain constant, i.e., R is constant, and R is definite value；T is robot basis coordinates { B }
With the translation vector of robot end's coordinate system { E } conversion；
It can be obtained by Formula of Coordinate System Transformation:
Expansion obtains:
PcCoordinate value can be obtained by binocular vision system measurement；
Wherein, PcFor coordinate of the described first round target spot at binocular vision system coordinate system { C }；
PbFor coordinate of the described first round target spot at robot basis coordinates { B }, PbFor definite value；
WithRespectively PcAnd PbThe transposed matrix of conversion；
(B2) since in step (S102), robot end's posture is remained unchanged, and the robot end is successively
Multiple positions are moved to, two positions are chosen, the measured value of the first round target spot is obtained at binocular vision system coordinate system { C }WithFormula (a1) is substituted into respectively, can establish following equation:
Two formulas, which are subtracted each other, to be obtained:
Because R is orthogonal matrix, above formula is variable are as follows:
Successively carry out the round target spot of four measurements described first position different at binocular vision system coordinate system { C }
Parameter obtains the measured value of the first round target spotWithAnd in formula (a2), can obtain:
That is RcA=b；
It can obtain,
B=RT[T1-T2 T2-T3 T3-T4]；
R can be obtained using Singular Value Decomposition Using solutionC；
Wherein,WithRespectively first round target spot is at binocular vision system coordinate system { C }
Coordinate；WithRespectivelyWithTransposed matrix；
T1、T2、T3And T4Respectively the robot motion when different location under robot basis coordinates { B } and robot end
Hold the translation vector of coordinate system { E } conversion；
(B3) due in step (S103), seat of the described first round target spot at binocular vision system coordinate system { C }
Scale value changes as robot does displacement appearance motion change, chooses two shift positions, obtains the measurement of the first round target spot
ValueWithEstablish following equation:
Two formulas are subtracted each other, and can be obtained:
Value can be measured by binocular vision system, by the above-mentioned R acquiredCIn substitution formula, acquire
TC, calibrate trick relationship
Wherein, R11And R22Respectively the movement of the robot displacement appearance when different location under robot basis coordinates { B } and machine
The spin matrix of device people's ending coordinates system { E } conversion；
T11And T22Respectively the movement of the robot displacement appearance when different location under robot basis coordinates { B } and robot
The translation vector of ending coordinates system { E } conversion；
WithCoordinate of the respectively first round target spot at binocular vision system coordinate system { C }；With
RespectivelyWithTransposed matrix.
Preferably, the process that the TCP of power tool end is demarcated includes:
Plane mirror is placed on workbench, the second circular point is pasted on to the power tool of the robot end
End controls the robot and the described second round target spot is set to above the plane mirror, robot end is kept to hang down
Directly in the plane mirror.
Preferably, the logical operation of the TCP calibration logical operation module includes:
Point of the second round target spot in the plane mirror on the power tool end is subpoint, passes through binocular vision
Feel system measures value of the subpoint in binocular vision system coordinate system { C }, passes throughSubpoint can be acquired in robot end
The value (x', y', z') of coordinate system { E }；Assuming that the second round target spot is (x, y, z) in the value of robot end's coordinate system { E }；By
Vertical relation can obtain x=x', y=y'；Symmetric points are chosen on the working platform, are first acquired symmetric points and are sat in robot end
Z axis coordinate value z under mark system { E }m, z=z'-2 × (z'-z can be obtained according to symmetrym), it finally acquires the second round target spot and exists
Value under robot end's coordinate system { E }, completes the calibration of TCP.
Preferably, further include control device, the robot, the logical operation module, the data acquisition module, institute
It states robot and the binocular vision system is connect with the control device.
The beneficial effects of the present invention are: it is of the invention based on the robot TCP calibration system vertically reflected, without additional
Auxiliary calibration equipment, it is only necessary to mirror, it is low in cost, it is easy to operate；This system is different from contact calibration system, and nothing is touched
Risk is hit, safety coefficient is high；Only need to control robot do four times movement can be completed TCP calibration, realize to the quick of TCP
Accurate Calibration can meet the calibration demand of robot end's tool parameters in actual industrial production.
Detailed description of the invention
Fig. 1 is structural schematic diagram of the embodiment of the invention based on the robot TCP calibration system vertically reflected.
Fig. 2 is the module map of Fig. 1.
Specific embodiment
Present invention will be further explained below with reference to the attached drawings and examples:
As shown in Figure 1, the embodiment of the invention discloses a kind of based on the robot TCP scaling method vertically reflected, including
Following steps:
(S1) binocular vision system coordinate system { C } is established on binocular vision system；Robot is established in robot end 6
Ending coordinates system { E } determines transformation matrix of the binocular vision system coordinate system { C } relative to robot end's coordinate system { E }For Robot Hand-eye relationship.
In the present embodiment, in step (S1), specific steps are as follows:
(S101) establishing Robot Hand-eye relationship isWherein, RCFor robot end's coordinate system
Spin matrix that { E } and binocular vision system coordinate system { C } are converted and into definite value；TCFor robot end's coordinate system { E } and double
Feel the translation vector that system coordinate system { C } is converted and visually into definite value；In other embodiments, binocular vision system coordinate system
{ C } is established with a video camera 2 in binocular vision system.
(S102) the round target spot P of setting first, the first circle target spot P are fixed point on workbench, and robot end 6
Posture remains unchanged, and robot 1 does linear movement, and robot end 6 successively moves to multiple positions and in binocular vision system
The first circle target spot P is measured under coordinate system { C }；In the present embodiment, the first circle target spot P is solid on workbench
Fixed motionless, control robot carries out displacement appearance movement, and binocular vision system coordinate system { C } is also variation, on different location
Binocular vision system coordinate system { C } be different, and then the coordinate value of the first round target spot P is also different.
(S103) successively control robot 1 does displacement appearance and moves to multiple positions and at binocular vision system coordinate system { C }
Under the first circle target spot P is measured.In the present embodiment, changes will occur for the posture of robot 1 and position.
(S104) step (S102) and step (S103) are passed through into robot kinematics to the measured value of the first round target spot P
R is calculated with the relationship of space coordinate transformationCAnd TC, calibrate trick relationship
In the present embodiment, in step (S104), specifically includes the following steps:
(B1) it can be obtained by Formula of Coordinate System Transformation:
Expansion obtains:
PcCoordinate value can be obtained by binocular vision system measurement；
Wherein, PcFor coordinate of the first circle target spot P at binocular vision system coordinate system { C }；
PbFor coordinate of the first circle target spot P at robot basis coordinates { B }, PbFor definite value；
WithRespectively PcAnd PbThe transposed matrix of conversion.
Establish transformation matrix of the robot end's coordinate system { E } relative to robot basis coordinates { B }Its
In, R is the spin matrix that robot basis coordinates { B } and robot end's coordinate system { E } are converted, since robot 1 does linear fortune
During dynamic, 6 posture of robot end is to maintain constant, i.e., R is constant, and R is definite value；T is robot basis coordinates { B } and machine
The translation vector of people's ending coordinates system { E } conversion.
(B2) since in step (S102), 6 posture of robot end is remained unchanged, the robot end 6 according to
It is secondary to move to multiple positions, two positions are chosen, the first round target spot (P) is obtained at binocular vision system coordinate system { C }
Measured valueWithFormula (a1) is substituted into respectively, can establish following equation:
Two formulas, which are subtracted each other, to be obtained:
Because R is orthogonal matrix, above formula is variable are as follows:
Successively carry out four measurement first circle positions target spot P different at binocular vision system coordinate system { C }
Parameter obtains the measured value of the first round target spot PWithAnd in formula (a2), can obtain:
That is RcA=b；
It can obtain,
B=RT[T1-T2 T2-T3 T3-T4]；
R can be obtained using Singular Value Decomposition Using solutionC；
Wherein,WithRespectively first circle target spot P is at binocular vision system coordinate system { C }
Coordinate；WithRespectivelyWithTransposed matrix；
T1、T2、T3And T4Robot basis coordinates { B } and robot are last under different location when respectively the robot 1 moves
Hold the translation vector of coordinate system { E } conversion.T1、T2、T3And T4Respectively measuringWithCoordinate value
When robot locating under motion state robot basis coordinates { B } and robot end's coordinate system { E } conversion translation vector.
(B3) due in step (S103), coordinate value of the first circle target spot P at binocular vision system coordinate system { C }
Change as robot does displacement appearance motion change, choose two shift positions, obtains the measured value of the first round target spot (P)WithEstablish following equation:
Two formulas are subtracted each other, and can be obtained:
Value can be measured by binocular vision system, by the above-mentioned R acquiredCIn substitution formula, acquire
TC, calibrate trick relationship:
Wherein, R11And R22Respectively the movement of the robot displacement appearance when different location under robot basis coordinates { B } and machine
The spin matrix of device people's ending coordinates system { E } conversion；R11And R22Respectively measuringWithInstitute, robot when coordinate value
Locate the spin matrix of robot basis coordinates { B } and robot end's coordinate system { E } conversion under motion state；
T11And T22Respectively the movement of the robot displacement appearance when different location under robot basis coordinates { B } and robot
The translation vector of ending coordinates system { E } conversion；T11And T22Respectively measuringWithWhen coordinate value locating for robot
The translation vector of robot basis coordinates { B } and robot end's coordinate system { E } conversion under motion state；
WithCoordinate of the respectively first circle target spot P at binocular vision system coordinate system { C }；With
RespectivelyWithTransposed matrix.
In the present embodiment, become due to binocular vision system coordinate system { C } as robot does displacement appearance motion change
Change, therefore choose and measure binocular vision system coordinate system { C } difference of the first round target spot P twice, due to the first circular
Point P is fixed, therefore the first circle target spot P coordinate value under different binocular vision system coordinate systems { C } is also different.
(S2) plane mirror 3 is placed on workbench, by the second round target spot PaIt is pasted on the operation of robot end 6
5 end of tool controls robot 1 for the second round target spot PaIt is set to 3 top of plane mirror, keeps robot end 6 vertical
In the second round target spot P on plane mirror 3,5 end of power toolaPoint in plane mirror 3 is subpoint P'a, pass through binocular vision
Feel system measures subpoint P'aValue in binocular vision system coordinate system { C }, passes throughSubpoint P' can be acquiredaIn machine
The value (x', y', z') of people's ending coordinates system { E }；Then the second round target spot P is symmetrically calculated according to the mirror surface of plane mirror 3a?
Value under robot end's coordinate system { E }, completes the calibration of TCP.
In the present embodiment, in step (S2), the second circle is symmetrically then calculated according to the mirror surface of the plane mirror 3
Target spot PaValue at robot end's coordinate system { E }, specific steps include:
Assuming that the second round target spot PaIt is (x, y, z) in the value of robot end's coordinate system { E }；X can be obtained by vertical relation
=x', y=y'；Symmetric points P is chosen on the working platformm, first acquire symmetric points PmAt robot end's coordinate system { E }
Z axis coordinate value zm, z=z'-2 × (z'-z can be obtained according to symmetrym), finally acquire point PaAt robot end's coordinate system { E }
Under value.In certain embodiments, symmetric points PmSetting is at the first round target spot P, symmetric points PmAs first round target spot P,
In other embodiments, symmetric points PmIt is also possible to the point on workbench except the first round target spot P.
In certain embodiments, power tool 5 is, for example, welding gun or other tools, is not limited thereto.
As depicted in figs. 1 and 2, the embodiment of the invention also discloses the embodiment of the invention discloses one kind based on vertical reflection
Robot TCP calibration system, including robot 1, plane mirror 3 and binocular vision system, binocular vision system includes two and takes the photograph
Camera 2, two video cameras 2 are separately positioned on the end two sides of robot 1, and the camera shooting of binocular vision system is arranged in plane mirror 3
In range.
In the present embodiment, two video cameras 2 are fixed on power tool 5 by connecting bracket 4, and two video cameras 2 divide
It is not fixed at the both ends of connecting bracket 4.In the present embodiment, power tool 5 is mounted on robot end 6.In this reality
Apply in example, connecting bracket 4 be it is discoid, video camera 2 be embedded in connecting bracket 4 on mounting groove in so that video camera 2 can be consolidated
It is scheduled in connecting bracket 4.In certain embodiments, connecting bracket 4 is made into integration with power tool 5.In other embodiments, two
Platform video camera 2 is fixed in robot 1 by connecting bracket 4, and two video cameras 2 are respectively fixedly disposed at the two of connecting bracket 4
End.
It in the present embodiment, further include logical operation module and data acquisition module, data acquisition module is arranged in logic
Between computing module and binocular vision system, data acquisition module is used to acquire the measured value of binocular vision system measurement, data
Acquisition module is by collected data transmission to logical operation module.Data acquisition module is used to acquire the survey of binocular vision system
Magnitude signal, and measured value signal is transmitted to logical operation module and is calculated.
In the present embodiment, logical operation module includes human eye logic of relations computing module and TCP calibration logical operation mould
Block, human eye logic of relations computing module determine binocular vision system coordinate system by robot kinematics and space coordinate transformation
The transformation matrix of { C } relative to robot end's coordinate system { E }For Robot Hand-eye relationship；TCP demarcates logic
Computing module passes through the Robot Hand-eye relationship acquiredCome the calibration of 5 end TCP of the tool of fulfiling assignment.
It in the present embodiment, further include control device, robot 1, logical operation module, data acquisition module, robot 1
It is connect with control device with binocular vision system.Control module is for driving the movement of robot, number in each operating procedure
According to the starting of acquisition module, the operation of the devices such as binocular vision system measurement and the operation of logical operation module.
In the present embodiment, Robot Hand-eye relationship is determinedProcess is as follows:
(S1) binocular vision system coordinate system { C } is established on binocular vision system；Robot is established in robot end 6
Ending coordinates system { E } determines transformation matrix of the binocular vision system coordinate system { C } relative to robot end's coordinate system { E }For Robot Hand-eye relationship.
In step (S1), specifically comprise the following steps:
(S101) establishing Robot Hand-eye relationship isWherein, RCFor robot end's coordinate system { E }
The spin matrix converted with binocular vision system coordinate system { C } and into definite value；TCFor robot end's coordinate system { E } and binocular vision
Feel the translation vector that system coordinate system { C } is converted and into definite value；In other embodiments, binocular vision system coordinate system { C } is
It is established with a video camera 2 in binocular vision system.
(S102) the round target spot P of setting first on workbench, the first round target spot is fixed point, and robot end 6
Posture remains unchanged, and robot 1 does linear movement, and robot end 6 successively moves to multiple positions and to the first round target spot P
It measures；In the present embodiment, the first circle target spot P is fixed on workbench, and control robot is become
Pose movement, binocular vision system coordinate system { C } are also variation, and the binocular vision system coordinate system { C } on different location is
Different, and then the coordinate value of the first round target spot P is also different.
(S103) successively control robot 1 does displacement appearance and moves to multiple positions and at binocular vision system coordinate system { C }
Under the first circle target spot P is measured；In the present embodiment, changes will occur for the posture of robot 1 and position.
(S104) step (S102) and step (S103) are passed through into robot kinematics to the measured value of the first round target spot P
R is calculated with the relationship of space coordinate transformationCAnd TC, that is, calibrate Robot Hand-eye relationship
In the present embodiment, the robot kinematics in human eye logic of relations computing module and space coordinate transformation logic fortune
Include:
(B1) transformation matrix of the robot end's coordinate system { E } relative to robot basis coordinates { B } is established
Wherein, R is the spin matrix that robot basis coordinates { B } and robot end's coordinate system { E } are converted, since robot 1 is done linearly
In motion process, 6 posture of robot end is to maintain constant, i.e., R is constant, and R is definite value；T be robot basis coordinates { B } and
The translation vector of robot end's coordinate system { E } conversion；
It can be obtained by Formula of Coordinate System Transformation:
Expansion obtains:
PcCoordinate value can be obtained by binocular vision system measurement；
Wherein, PcFor coordinate of the first circle target spot P at binocular vision system coordinate system { C }；
PbFor coordinate of the first circle target spot P at robot basis coordinates { B }, PbFor definite value；
WithRespectively PcAnd PbThe transposed matrix of conversion；
(B2) since in step (S102), 6 posture of robot end is remained unchanged, and robot end 6 successively moves to
Two positions are chosen in multiple positions, and the measured value of the first round target spot P is obtained at binocular vision system coordinate system { C }WithFormula (a1) is substituted into respectively, can establish following equation:
Two formulas, which are subtracted each other, to be obtained:
Because R is orthogonal matrix, above formula is variable are as follows:
Four the first circle of measurement location parameters target spot P different at binocular vision system coordinate system { C } are successively carried out,
Obtain the measured value of the first round target spot PWithAnd in formula (a2), can obtain:
That is RcA=b；
It can obtain,
B=RT[T1-T2 T2-T3 T3-T4]；
R can be obtained using Singular Value Decomposition Using solutionC。
(B3) due in step (S103), coordinate of the first round target spot (P) at binocular vision system coordinate system { C }
Value changes as robot does displacement appearance motion change, chooses two shift positions, obtains the measured value of the first round target spot PWithEstablish following equation:
Two formulas are subtracted each other, and can be obtained:
Value can be measured by binocular vision system, by the above-mentioned R acquiredCIn substitution formula, acquire
TC, calibrate trick relationship
In the present embodiment, the process of the TCP calibration of 5 end of power tool includes:
Plane mirror 3 is placed on workbench, by the second round target spot PaIt is pasted on the power tool of robot end 6
5 ends control robot 1 for the second round target spot PaIt is set to 3 top of plane mirror, keeps robot end 6 perpendicular to flat
Face mirror 3.
In the present embodiment, TCP demarcate logical operation module logical operation include:
The second round target spot P on 5 end of power toolaPoint in plane mirror 3 is subpoint P'a, pass through binocular vision
System measures subpoint P'aValue in binocular vision system coordinate system { C }, passes throughSubpoint P' can be acquiredaIn robot
The value (x', y', z') of ending coordinates system { E }；Then the second round target spot P is symmetrically calculated according to the mirror surface of plane mirror 3aIn machine
Value under device people's ending coordinates system { E }, completes the calibration of TCP.
In the present embodiment, during the logical operation of TCP calibration logical operation module, then according to the plane
The mirror surface of mirror 3 symmetrically calculates the second round target spot PaValue at robot end's coordinate system { E }, specific steps include:
Assuming that the second round target spot PaIt is (x, y, z) in the value of robot end's coordinate system { E }；X can be obtained by vertical relation
=x', y=y'；Symmetric points P is chosen on workbenchm, first acquire symmetric points PmZ axis at robot end's coordinate system { E }
Coordinate value zm, z=z'-2 × (z'-z can be obtained according to symmetrym), finally acquire the second round target spot PaIn robot end's coordinate
It is the value under { E }, completes the calibration of TCP.In certain embodiments, symmetric points PmSetting is at the first round target spot P, symmetrically
Point PmAs first round target spot P, in other embodiments, symmetric points PmIt is also possible to the first round target spot P on workbench
Except point.
Of the invention is one kind based on trick relationship based on the robot TCP scaling method vertically reflected and system,
Based on the TCP scaling method vertically reflected and system.By acquiring robot end's coordinate system { E } and camera coordinate system { C }
Between coordinate transformation relationRealize the quick and precisely calibration of TCP.As shown in Figure 1, set robot basis coordinates system as { B },
Robot end's coordinate system is { E }, and binocular vision system coordinate system is { C }, fixed on levelling bench within the scope of camera vision
First round target spot P, the coordinate at coordinate system { C } are Pc, the coordinate at basis coordinates system { B } is Pb, and PbFor definite value.For the transformational relation between robot end's coordinate system { E } and basis coordinates system { B }；For binocular vision system coordinate system
Transformational relation between { C } and robot end's coordinate system { E }, i.e. trick relationship.Control robot carry video camera to point P into
The multiple measure of the change of row, is constrained using fixed point, that is, can determine thatPlane mirror is placed on platform, and by circular
Point is pasted on 5 end of power tool, and then control robot, which is moved linearly to mirror surface, (keeps robot end 6 vertical
In mirror surface), subpoint P can be measured by binocular vision systema' in the value of binocular vision system coordinate system { C }, byIt can acquire a little
Pa' in the value (x', y', z') of robot end's coordinate system { E }.P can be calculated according to Symmetry RelationsaIt is sat in robot end
Value under mark system { E } completes TCP calibration.
It is of the invention based on the robot TCP scaling method vertically reflected and system, without additional auxiliary calibration equipment,
Mirror is only needed, it is low in cost, it is easy to operate；It only needs to control robot and does four movements and TCP calibration can be completed, it is real
Quick Accurate Calibration is showed, the calibration demand of robot end's tool parameters in actual industrial production can be met；This method difference
In contact scaling method, collisionless risk, safety coefficient is high.
The preferred embodiment of the present invention has been described in detail above.It should be appreciated that those skilled in the art without
It needs creative work according to the present invention can conceive and makes many modifications and variations.Therefore, all technologies in the art
Personnel are available by logical analysis, reasoning, or a limited experiment on the basis of existing technology under this invention's idea
Technical solution, all should be within the scope of protection determined by the claims.
Claims (9)
1. a kind of based on the robot TCP calibration system vertically reflected, it is characterized in that: include robot (1), plane mirror (3) and
Binocular vision system, the binocular vision system include two video cameras (2), and two video cameras (2) are separately positioned on institute
Robot end (6) two sides are stated, the plane mirror (3) is arranged in the image pickup scope of the binocular vision system.
2. as described in claim 1 based on the robot TCP calibration system vertically reflected, it is characterized in that: two camera shootings
Machine (2) is fixed on power tool (5) by connecting bracket (4), and two video cameras (2) are respectively fixedly disposed at the company
Connect the both ends of bracket (4).
3. as described in claim 1 based on the robot TCP calibration system vertically reflected, it is characterized in that: further including logic fortune
Calculate module and data acquisition module, the data acquisition module setting the logical operation module and binocular vision system it
Between, the data acquisition module is used to acquire the measured value of binocular vision system measurement, and the data acquisition module will collect
Data transmission give the logical operation module.
4. as claimed in claim 3 based on the robot TCP calibration system vertically reflected, it is characterized in that: the logical operation
Module includes human eye logic of relations computing module and TCP calibration logical operation module, and the human eye logic of relations computing module is logical
Robot kinematics and space coordinate transformation are crossed to determine binocular vision system coordinate system { C } relative to robot end's coordinate system
The transformation matrix of { E }For Robot Hand-eye relationship；The TCP calibration logical operation module passes through the machine acquired
Manpower eye relationshipCome the calibration of the tool of fulfiling assignment (5) end TCP.
5. as claimed in claim 4 based on the robot TCP calibration system vertically reflected, it is characterized in that: determining the machine
Manpower eye relationshipProcess is as follows:
(S101) establishing Robot Hand-eye relationship isWherein, RCFor robot end's coordinate system { E } and
Spin matrix that binocular vision system coordinate system { C } is converted and into definite value；TCFor robot end's coordinate system { E } and binocular vision
Translation vector that system coordinate system { C } is converted and into definite value；
(S102) the round target spot (P) of setting first on workbench, the first round target spot is fixed point, the robot end
(6) posture remains unchanged, and the robot (1) does linear movement, and the robot end (6) successively moves to multiple positions simultaneously
Described first round target spot (P) is measured；
(S103) successively control the robot (1) do displacement appearance move to multiple positions and in binocular vision system coordinate system
The first circle target spot P is measured under { C }；
(S104) step (S102) and step (S103) are passed through into robot motion to the measured value of the described first round target spot (P)
It learns and R is calculated in the relationship of space coordinate transformationCAnd TC, that is, calibrate Robot Hand-eye relationship
6. as claimed in claim 5 based on the robot TCP scaling method vertically reflected, it is characterized in that: the human eye relationship
Robot kinematics and space coordinate transformation logical operation in logical operation module include:
(B1) transformation matrix of the robot end's coordinate system { E } relative to robot basis coordinates { B } is establishedIts
In, R is the spin matrix that robot basis coordinates { B } and robot end's coordinate system { E } are converted, since the robot (1) is done
During linear movement, robot end (6) posture is to maintain constant, i.e., R is constant, and R is definite value；T is robot basis coordinates
The translation vector of { B } and robot end's coordinate system { E } conversion；
It can be obtained by Formula of Coordinate System Transformation:
Expansion obtains:
PcCoordinate value can be obtained by binocular vision system measurement；
Wherein, PcFor coordinate of the first circle target spot P at binocular vision system coordinate system { C }；
PbFor coordinate of the first circle target spot P at robot basis coordinates { B }, PbFor definite value；
WithRespectively PcAnd PbThe transposed matrix of conversion；
(B2) since in step (S102), robot end (6) posture is remained unchanged, the robot end (6) according to
It is secondary to move to multiple positions, two positions are chosen, the first round target spot (P) is obtained at binocular vision system coordinate system { C }
Measured valueWithFormula (a1) is substituted into respectively, can establish following equation:
Two formulas, which are subtracted each other, to be obtained:
Because R is orthogonal matrix, above formula is variable are as follows:
Successively carry out the round target spot (P) of four measurements described first position ginseng different at binocular vision system coordinate system { C }
Number obtains the measured value of the first round target spot (P) WithAnd in formula (a2), can obtain:
That is RcA=b；
It can obtain,
B=RT[T1-T2 T2-T3 T3-T4]；
R can be obtained using Singular Value Decomposition Using solutionC；
Wherein,WithRespectively first round target spot (P) is at binocular vision system coordinate system { C }
Coordinate；WithRespectively WithTransposed matrix；
T1、T2、T3And T4Respectively the robot (1) move when different location under robot basis coordinates { B } and robot end
The translation vector of coordinate system { E } conversion；
(B3) due in step (S103), coordinate of the described first round target spot (P) at binocular vision system coordinate system { C }
Value changes as robot does displacement appearance motion change, chooses two shift positions, obtains the measurement of the first round target spot (P)
ValueWithEstablish following equation:
Two formulas are subtracted each other, and can be obtained:
Value can be measured by binocular vision system, by the above-mentioned R acquiredCIn substitution formula, T is acquiredC, mark
Make trick relationship
Wherein, R11And R22Respectively the movement of the robot displacement appearance when different location under robot basis coordinates { B } and robot
The spin matrix of ending coordinates system { E } conversion；
T11And T22Robot basis coordinates { B } and robot end sit under different location when the respectively described robot displacement appearance moves
The translation vector of mark system { E } conversion；
WithCoordinate of the respectively first round target spot (P) at binocular vision system coordinate system { C }；WithPoint
It is notWithTransposed matrix.
7. as claimed in claim 4 based on the robot TCP calibration system vertically reflected, it is characterized in that:
Power tool (5) end TCP calibration process include:
Plane mirror (3) is placed on workbench, by the second round target spot (Pa) it is pasted on the work of the robot end (6)
Industry tool (5) end controls the robot (1) for the described second round target spot (Pa) be set on the plane mirror (3)
Side keeps robot end (6) perpendicular to the plane mirror (3).
8. as claimed in claim 7 based on the robot TCP calibration system vertically reflected, it is characterized in that:
The logical operation of TCP calibration logical operation module includes:
The second round target spot (P on power tool (5) enda) the inner point of the plane mirror (3) be subpoint (P'a),
Subpoint (P' is measured by binocular vision systema) value in binocular vision system coordinate system { C }, pass throughThrowing can be acquired
Shadow point (P'a) in the value (x', y', z') of robot end's coordinate system { E }；Assuming that the second round target spot (Pa) in robot end
The value of coordinate system { E } is (x, y, z)；X=x', y=y' can be obtained by vertical relation；Symmetric points are chosen on the working platform
(Pm), first acquire symmetric points (Pm) Z axis coordinate value z at robot end's coordinate system { E }m, z=z'- can be obtained according to symmetry
2×(z'-zm), finally acquire the second round target spot (Pa) value at robot end's coordinate system { E }, complete the calibration of TCP.
9. as described in claim 3 to 8 is any based on the robot TCP calibration system vertically reflected, it is characterized in that: further including
Control device, the robot (1), the logical operation module, the data acquisition module, the robot (1) and described
Binocular vision system is connect with the control device.
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