CN110465944A - Calculation method based on the industrial robot coordinate under plane visual - Google Patents
Calculation method based on the industrial robot coordinate under plane visual Download PDFInfo
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- CN110465944A CN110465944A CN201910732148.7A CN201910732148A CN110465944A CN 110465944 A CN110465944 A CN 110465944A CN 201910732148 A CN201910732148 A CN 201910732148A CN 110465944 A CN110465944 A CN 110465944A
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- coordinate system
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- industrial robot
- robot coordinate
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10004—Still image; Photographic image
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Abstract
This application involves industrial robot manufacturing technology fields, specific to propose the calculation method based on the industrial robot coordinate under plane visual.After drawing industrial robot to work point, Image Acquisition is carried out by vision software, visual coordinate system is established according to acquired image information, being defined as visual coordinate system is O-XYZ；According to the determination of above-mentioned visual coordinate system, industrial robot coordinate system is established, definition industrial robot coordinate system is O-X ' Y ' Z '.The industrial robot coordinate system established only is translated relative to visual coordinate system, do not rotate, only need coordinates computed compensating parameter X0, Y0, Z0 determines industrial robot coordinate without carrying out complicated matrix calculating, can realize that visual coordinate is transformed into industrial robot coordinate by simple basic calculating, simplify the calculation method based on the industrial robot coordinate under plane visual, is easy to non-programmed personnel operation.
Description
Technical field
It is specific to propose to sit based on the industrial robot under plane visual this application involves industrial robot manufacturing technology field
Target calculation method.
Background technique
During actually determining the coordinate setting under view-based access control model, calculating robot's coordinate system and visual coordinate system are needed
Between complicated transformational relation, it is upper relatively complicated in programming, need to carry out complicated matrix operation, for commonly without this
It is relatively difficult in understanding for the technical staff of knowledge, also there are many obstacles in actual operation.National patent notification number
A kind of robot localization method based on infrared lamp solid array is disclosed for CN108444454A, is a kind of based on infrared
The robot localization method of line lamp solid array arranges the mutually different several infrared lamp three-dimensional arrays of arrangement mode in the environment
Column, in robot traveling process, the IR imaging device being mounted in the robot shoots robot travelling route
The image of the infrared lamp solid array of upper process determines infrared lamp solid based on the infrared lamp solid array image
Region locating for array and the absolute position and absolute direction angle for obtaining the robot, utilize the coding being arranged in robot
Device and inertial sensor determine relative angular orientation, verify the absolute position and absolute direction angle of robot, the invention need by
Complicated matrix operation is just able to achieve the robot localization method based on infrared lamp solid array, and there are non-programmed ordinary skills
The unworkable defect of personnel.
Summary of the invention
For the deficiency during the coordinate setting under vision in the prior art, the application technical problems to be solved are
Non-programmed those of ordinary skill is set to be easy to be converted to visual coordinate into the robot coordinate of practical operation, the application is regarded based on plane
The calculation method of industrial robot coordinate under feeling is carried out after drawing industrial robot to work point by vision software
Image Acquisition establishes visual coordinate system according to acquired image information, and being defined as visual coordinate system is O-XYZ；According to above-mentioned
The determination of visual coordinate system, establishes industrial robot coordinate system, and definition industrial robot coordinate system is O-X ' Y ' Z '.
The calculation method based on the industrial robot coordinate under plane visual of the application, which is characterized in that including following
Step:
Step 1 establishes visual coordinate system: traction industrial robot to operating point carries out Image Acquisition and obtains image, root
According to obtained image information, visual coordinate system is established, being defined as visual coordinate system is O-XYZ；
Step 2 establishes industrial robot coordinate system: according to the obtained visual coordinate system of step 1, establishing an industry
Robot coordinate system, definition industrial robot coordinate system are O-X ' Y ' Z ', and the industrial robot coordinate system established is relative to view
Feel that coordinate system is only translated, do not rotate, defining P point is a bit on industrial robot coordinate system.
Step 3 determines visual coordinate system and work after above-mentioned visual coordinate system and industrial robot establishment of coordinate system
Conversion opening relationships between industry robot coordinate system: from visual coordinate system to industrial robot coordinate system, above-mentioned visual coordinate
System rotates different angles from the spaced winding difference reference axis of industrial robot coordinate system to realize.
Specifically, P (X ', Y ', Z ') is that it is as follows then to obtain corresponding spin matrix in robot coordinate system's next point:
θ is rotated about the z axis
It can similarly obtain around x-axis and y-axis rotation β and ω, can obtain:
Obtain the spin matrix R=R1R2R3 that visual coordinate system is transformed into robot coordinate system
It since robot coordinate system only translates relative to visual coordinate system, does not rotate, therefore angle, θ, ω, β=0 °,
It can obtainIt can then show that transformational relation isX0, Y0, Z0 are to sit
Compensating parameter is marked,
It is obtained by above-mentioned, it is only necessary to calculate coordinate compensating parameter, so that it may show that robot coordinate and vision are sat
Target transformational relation, so that it is determined that robot coordinate.
The calculation method based on the industrial robot coordinate under plane visual of the application, it is only necessary to coordinates computed compensation ginseng
Number X0, Y0, Z0 determine industrial robot coordinate without carrying out complicated matrix calculating, can be real by simple basic calculating
Existing visual coordinate is transformed into industrial robot coordinate, keeps the calculation method based on the industrial robot coordinate under plane visual simple
Change, is easy to non-programmed personnel operation.
Detailed description of the invention
Fig. 1 rotates θ angle based on the method for building up of the industrial robot coordinate system under plane visual for the application about the z axis and shows
It is intended to；
Fig. 2 is that method for building up of the application based on the industrial robot coordinate system under plane visual shows around X-axis rotation β angle
It is intended to；
Fig. 3 rotates ω angle around y-axis based on the method for building up of the industrial robot coordinate system under plane visual for the application
Schematic diagram.
Specific embodiment
Preferred embodiment of the present application is described in detail with reference to the accompanying drawing, so that the advantages of the application and feature energy
It is easier to be readily appreciated by one skilled in the art, so that the protection scope to the application is more clearly defined.
In Fig. 1 Fig. 2 Fig. 3, calculation method of the application based on the industrial robot coordinate under plane visual, when traction work
After industry robot to work point, plane visual has carried out Image Acquisition, establishes visual coordinate according to acquired image information
System, being defined as visual coordinate system is O-XYZ；According to the determination of above-mentioned visual coordinate system, industrial robot coordinate system is established, is defined
Industrial robot coordinate system is O-X ' Y ' Z '.The calculation method based on the industrial robot coordinate under plane visual of the application is only
Industrial robot coordinate system need to be established only to translate relative to visual coordinate system, do not rotated, without carrying out complicated matrix meter
It calculates to determine transformational relation, can realize that visual coordinate system is transformed into industrial robot coordinate system by simple basic calculating, make
Calculation method based on the industrial robot coordinate under plane visual is simplified, and non-programmed personnel operation is easy to.
The calculation method based on the industrial robot coordinate under plane visual of the application, which is characterized in that including following
Step:
Step 1 establishes visual coordinate system: traction industrial robot to operating point carries out Image Acquisition and obtains image, root
According to obtained image information, visual coordinate system is established, being defined as visual coordinate system is O-XYZ；
Step 2 establishes industrial robot coordinate system: according to the obtained visual coordinate system of step 1, establishing an industry
Robot coordinate system, definition industrial robot coordinate system are O-X ' Y ' Z ', and the industrial robot coordinate system established is relative to view
Feel that coordinate system is only translated, do not rotate, defining P point is a bit on industrial robot coordinate system.
Step 3 determines visual coordinate system and work after above-mentioned visual coordinate system and industrial robot establishment of coordinate system
Transformational relation between industry robot coordinate system: from visual coordinate system to industrial robot coordinate system, above-mentioned visual coordinate system with
Spaced winding difference reference axis between industrial robot coordinate system rotates different angles to realize.
Specifically, P (X ', Y ', Z ') be robot coordinate fasten a bit, then it is as follows to obtain corresponding spin matrix:
θ is rotated about the z axis:
It can similarly obtain around x-axis and y-axis rotation β and ω, can obtain:
Obtain the spin matrix R=R1R2R3 that visual coordinate system is transformed into robot coordinate system
It since robot coordinate is only translated with visual coordinate, does not rotate, therefore angle, θ, ω, β=0 °,
It can obtainIt can then show that transformational relation isX0, Y0, Z0 are to sit
Compensating parameter is marked,
It is obtained by above-mentioned, it is only necessary to calculate coordinate compensating parameter, so that it may show that robot coordinate and vision are sat
Target transformational relation, so that it is determined that robot coordinate.
The calculation method based on the industrial robot coordinate under plane visual of the application, it is only necessary to coordinates computed compensation ginseng
Number X0, Y0, Z0 determine industrial robot coordinate without carrying out complicated matrix calculating, can be real by simple basic calculating
Existing visual coordinate is transformed into industrial robot coordinate, keeps the calculation method based on the industrial robot coordinate under plane visual simple
Change, is easy to non-programmed personnel operation.
The foregoing is merely the preferred embodiments of the application, are not intended to limit the scope of the patents of the application, all benefits
The equivalent structure or equivalent flow shift made by present specification and accompanying drawing content is applied directly or indirectly in other phases
The technical field of pass similarly includes in the scope of patent protection of the application.
Claims (2)
1. the calculation method based on the industrial robot coordinate under plane visual, which comprises the following steps:
Step 1 establishes visual coordinate system: traction industrial robot to operating point carries out Image Acquisition and obtains image, according to institute
Obtained image information establishes visual coordinate system, and being defined as visual coordinate system is O-XYZ.
Step 2 establishes industrial robot coordinate system: according to the obtained visual coordinate system of step 1, establishing an industrial machine
People's coordinate system, definition industrial robot coordinate system be O-X ' Y ' Z ', define P point be industrial robot coordinate system be (X ', Y ',
Z′)。
Step 3 determines visual coordinate system and industrial machine after above-mentioned visual coordinate system and industrial robot establishment of coordinate system
Conversion opening relationships between device people's coordinate system: from visual coordinate system to industrial robot coordinate system, above-mentioned visual coordinate system with
The spaced winding difference reference axis of industrial robot coordinate system rotates different angles to realize.
2. the calculation method according to claim 1 based on the industrial robot coordinate under plane visual, which is characterized in that
The P (X ', Y ', Z ') is that it is as follows then to obtain corresponding spin matrix in robot coordinate system's next point:
θ is rotated about the z axis
It can similarly obtain around x-axis and y-axis rotation β and ω, can obtain:
Obtain the spin matrix R=R1R2R3 that visual coordinate system is transformed into robot coordinate system
It since robot coordinate system only translates relative to visual coordinate system, does not rotate, therefore angle, θ, ω, β=0 °,
It can obtainIt can then show that transformational relation isX0, Y0, Z0 are coordinate benefit
Parameter is repaid,
It is obtained by above-mentioned, it is only necessary to calculate coordinate compensating parameter, so that it may obtain robot coordinate and visual coordinate
Transformational relation, so that it is determined that robot coordinate.
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Citations (6)
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|---|---|---|---|---|
| JPS60151712A (en) * | 1984-01-19 | 1985-08-09 | Hitachi Ltd | Calibration system for robot visual coordinate system |
| CN104260112A (en) * | 2014-09-18 | 2015-01-07 | 西安航天精密机电研究所 | Robot hand and eye locating method |
| CN106054874A (en) * | 2016-05-19 | 2016-10-26 | 歌尔股份有限公司 | Visual positioning calibrating method and device, and robot |
| CN108000499A (en) * | 2016-10-27 | 2018-05-08 | 广明光电股份有限公司 | The programmed method of robot vision coordinate |
| CN108890636A (en) * | 2018-07-06 | 2018-11-27 | 陕西大中科技发展有限公司 | A kind of crawl localization method of industrial robot |
| CN109615662A (en) * | 2018-12-04 | 2019-04-12 | 中冶赛迪工程技术股份有限公司 | A kind of coordinate system scaling method, system, computer readable storage medium and equipment |
-
2019
- 2019-08-09 CN CN201910732148.7A patent/CN110465944B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS60151712A (en) * | 1984-01-19 | 1985-08-09 | Hitachi Ltd | Calibration system for robot visual coordinate system |
| CN104260112A (en) * | 2014-09-18 | 2015-01-07 | 西安航天精密机电研究所 | Robot hand and eye locating method |
| CN106054874A (en) * | 2016-05-19 | 2016-10-26 | 歌尔股份有限公司 | Visual positioning calibrating method and device, and robot |
| CN108000499A (en) * | 2016-10-27 | 2018-05-08 | 广明光电股份有限公司 | The programmed method of robot vision coordinate |
| CN108890636A (en) * | 2018-07-06 | 2018-11-27 | 陕西大中科技发展有限公司 | A kind of crawl localization method of industrial robot |
| CN109615662A (en) * | 2018-12-04 | 2019-04-12 | 中冶赛迪工程技术股份有限公司 | A kind of coordinate system scaling method, system, computer readable storage medium and equipment |
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