CN110465944B - Method for calculating coordinates of industrial robot based on plane vision - Google Patents
Method for calculating coordinates of industrial robot based on plane vision Download PDFInfo
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- CN110465944B CN110465944B CN201910732148.7A CN201910732148A CN110465944B CN 110465944 B CN110465944 B CN 110465944B CN 201910732148 A CN201910732148 A CN 201910732148A CN 110465944 B CN110465944 B CN 110465944B
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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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- 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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- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
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Abstract
The application relates to the technical field of industrial robot manufacturing, and particularly provides a method for calculating coordinates of an industrial robot based on plane vision. When the industrial robot is pulled to a working point position, image acquisition is carried out through visual software, and a visual coordinate system is established according to acquired image information and defined as O-XYZ; and establishing an industrial robot coordinate system according to the determination of the visual coordinate system, and defining the industrial robot coordinate system to be O-X ' Y ' Z '. The established coordinate system of the industrial robot only translates relative to the visual coordinate system and does not rotate, only coordinate compensation parameters X0, Y0 and Z0 are needed to be calculated, complex matrix calculation is not needed to determine the coordinates of the industrial robot, and the conversion of the visual coordinates to the coordinates of the industrial robot can be realized through simple basic calculation, so that the calculation method of the coordinates of the industrial robot based on the plane vision is simplified, and the operation of non-programming personnel is easy.
Description
Technical Field
The application relates to the technical field of industrial robot manufacturing, and particularly provides a method for calculating coordinates of an industrial robot based on plane vision.
Background
In the process of actually determining coordinate positioning based on vision, a complex conversion relation between a robot coordinate system and a vision coordinate system needs to be calculated, programming is complicated, complex matrix operation needs to be performed, and common technicians without knowledge are difficult to understand, and a lot of obstacles exist in actual operation. The national patent publication No. CN108444454A discloses a robot positioning method based on infrared lamp three-dimensional arrays, which is a robot positioning method based on infrared lamp three-dimensional arrays, a plurality of infrared lamp three-dimensional arrays with different arrangement modes are arranged in an environment, in the process of robot traveling, an infrared imaging device arranged on a robot shoots images of the infrared lamp three-dimensional arrays passing through a robot traveling route, the area where the infrared lamp three-dimensional arrays are located is determined based on the infrared lamp three-dimensional array images, the absolute position and the absolute direction angle of the robot are acquired, a relative direction angle is determined by an encoder and an inertial sensor arranged on the robot, the absolute position and the absolute direction angle of the robot are verified, the invention needs to carry out complex matrix operation to realize the robot positioning method based on the infrared lamp three-dimensional arrays, there is a drawback that it is difficult for a non-programmed ordinary technician to operate.
Disclosure of Invention
Aiming at the defects in the coordinate positioning process under the vision in the prior art, the technical problem to be solved by the application is that a non-programming common technician can easily convert the visual coordinate into the robot coordinate of actual operation, the application is based on the calculation method of the industrial robot coordinate under the plane vision, when the industrial robot is pulled to a working point, image acquisition is carried out through visual software, and a visual coordinate system is established according to the acquired image information and defined as the visual coordinate system O-XYZ; and establishing an industrial robot coordinate system according to the determination of the visual coordinate system, and defining the industrial robot coordinate system to be O-X ' Y ' Z '.
The application discloses a method for calculating coordinates of an industrial robot based on plane vision, which is characterized by comprising the following steps of:
step one, establishing a visual coordinate system: the industrial robot is pulled to a working point, image acquisition is carried out to obtain an image, a visual coordinate system is established according to the obtained image information, and the visual coordinate system is defined as O-XYZ;
step two, establishing an industrial robot coordinate system: establishing an industrial robot coordinate system according to the visual coordinate system obtained in the step one, defining the industrial robot coordinate system to be O-X ' Y ' Z ', only translating and not rotating the established industrial robot coordinate system relative to the visual coordinate system, and defining a point P as a point on the industrial robot coordinate system.
Step three, after the visual coordinate system and the industrial robot coordinate system are established, determining a conversion establishment relation between the visual coordinate system and the industrial robot coordinate system: the method is realized by rotating the visual coordinate system and the industrial robot coordinate system by different angles around different coordinate axes from the visual coordinate system to the industrial robot coordinate system.
Specifically, if P (X ', Y ', Z ') is a point in the robot coordinate system, the corresponding rotation matrix is obtained as follows:
rotation of theta about Z axis
Similarly, we can get β and ω rotations around the x and y axes, we can get:
obtaining a rotation matrix R1R2R3 for converting the visual coordinate system into the robot coordinate system
Because the robot coordinate system only translates relative to the visual coordinate system and does not rotate, the angles theta, omega and beta are 0 degrees,
can obtain the product
Then the transformation relationship can be obtained as
X0, Y0 and Z0 are coordinate compensation parameters,
according to the method, the conversion relation between the robot coordinate and the visual coordinate can be obtained only by calculating the coordinate compensation parameter, so that the robot coordinate is determined.
According to the method for calculating the coordinates of the industrial robot based on the planar vision, only the coordinate compensation parameters X0, Y0 and Z0 need to be calculated, complex matrix calculation is not needed to determine the coordinates of the industrial robot, and the coordinates of the industrial robot can be converted into the coordinates of the industrial robot through simple basic calculation, so that the method for calculating the coordinates of the industrial robot based on the planar vision is simplified, and is easy for non-programming personnel to operate.
Drawings
FIG. 1 is a schematic diagram of an industrial robot coordinate system establishing method based on planar vision rotating by an angle theta around a Z axis according to the application;
FIG. 2 is a schematic diagram of the method for establishing the coordinate system of the industrial robot based on planar vision, which rotates by an angle beta around the X axis;
fig. 3 is a schematic diagram of the industrial robot coordinate system establishing method based on planar vision rotating by an angle ω around the y-axis.
Detailed Description
Preferred embodiments of the present application will be described in detail below with reference to the accompanying drawings so that the advantages and features of the application can be more readily understood by those skilled in the art, and thus the scope of the application will be more clearly and clearly defined.
In fig. 1, fig. 2 and fig. 3, in the method for calculating coordinates of an industrial robot based on planar vision, after the industrial robot is drawn to a working point, the planar vision performs image acquisition, and establishes a visual coordinate system according to the acquired image information, which is defined as a visual coordinate system O-XYZ; and establishing an industrial robot coordinate system according to the determination of the visual coordinate system, and defining the industrial robot coordinate system to be O-X ' Y ' Z '. According to the method for calculating the coordinates of the industrial robot based on the planar vision, only translation and no rotation are needed to be established for the coordinate system of the industrial robot relative to the coordinate system of the visual robot, the conversion relation is determined without complex matrix calculation, and the conversion from the coordinate system of the visual robot to the coordinate system of the industrial robot can be realized through simple basic calculation, so that the method for calculating the coordinates of the industrial robot based on the planar vision is simplified, and is easy for non-programming personnel to operate.
The application discloses a method for calculating coordinates of an industrial robot based on plane vision, which is characterized by comprising the following steps of:
step one, establishing a visual coordinate system: the industrial robot is pulled to a working point, image acquisition is carried out to obtain an image, a visual coordinate system is established according to the obtained image information, and the visual coordinate system is defined as O-XYZ;
step two, establishing an industrial robot coordinate system: establishing an industrial robot coordinate system according to the visual coordinate system obtained in the step one, defining the industrial robot coordinate system to be O-X ' Y ' Z ', only translating and not rotating the established industrial robot coordinate system relative to the visual coordinate system, and defining a point P as a point on the industrial robot coordinate system.
Step three, after the visual coordinate system and the industrial robot coordinate system are established, determining a conversion relation between the visual coordinate system and the industrial robot coordinate system: the rotation between the visual coordinate system and the industrial robot coordinate system is realized by rotating different angles around different coordinate axes from the visual coordinate system to the industrial robot coordinate system.
Specifically, P (X ', Y ', Z ') is a point on the robot coordinate system, and then the corresponding rotation matrix is obtained as follows:
rotation θ about the Z axis:
similarly, we can get β and ω rotations around the x and y axes, we can get:
obtaining a rotation matrix R1R2R3 for converting the visual coordinate system into the robot coordinate system
Because the robot coordinate and the visual coordinate only do translation and do not rotate, the angles theta, omega and beta are 0 degrees,
can obtain the product
Then the transformation relationship can be obtained as
X0, Y0 and Z0 are coordinate compensation parameters,
according to the method, the conversion relation between the robot coordinate and the visual coordinate can be obtained only by calculating the coordinate compensation parameter, so that the robot coordinate is determined.
According to the method for calculating the coordinates of the industrial robot based on the planar vision, only the coordinate compensation parameters X0, Y0 and Z0 need to be calculated, complex matrix calculation is not needed to determine the coordinates of the industrial robot, and the coordinates of the industrial robot can be converted into the coordinates of the industrial robot through simple basic calculation, so that the method for calculating the coordinates of the industrial robot based on the planar vision is simplified, and is easy for non-programming personnel to operate.
The above description is only a preferred embodiment of the present application, and not intended to limit the scope of the present application, and all modifications of equivalent structures and equivalent processes, which are made by the contents of the specification and the drawings of the present application, or which are directly or indirectly applied to other related technical fields, are also included in the scope of the present application.
Claims (1)
1. The method for calculating the coordinates of the industrial robot based on the plane vision is characterized by comprising the following steps of:
step one, establishing a visual coordinate system: the industrial robot is pulled to a working point, image acquisition is carried out to obtain an image, a visual coordinate system is established according to the obtained image information, and the visual coordinate system is defined as O-XYZ;
step two, establishing an industrial robot coordinate system: establishing an industrial robot coordinate system according to the visual coordinate system obtained in the step one, defining the industrial robot coordinate system as O-X 'Y' Z ', and defining the point P as the industrial robot coordinate system (X', Y ', Z');
step three, after the visual coordinate system and the industrial robot coordinate system are established, determining a conversion establishment relation between the visual coordinate system and the industrial robot coordinate system: rotating the visual coordinate system and the industrial robot coordinate system by different angles around different coordinate axes from the visual coordinate system to the industrial robot coordinate system;
and if P (X ', Y ', Z ') is a point in the robot coordinate system, obtaining a corresponding rotation matrix as follows:
rotation of theta about Z axis
Similarly, we can get β and ω rotations around the x and y axes, we can get:
obtaining a rotation matrix R1R2R3 for converting the visual coordinate system into the robot coordinate system
Because the robot coordinate system only translates relative to the visual coordinate system and does not rotate, the angles theta, omega and beta are 0 degrees,
can obtain the product
Then the transformation relationship can be obtained as
X0, Y0 and Z0 are coordinate compensation parameters,
according to the method, the conversion relation between the robot coordinate and the visual coordinate can be obtained only by calculating the coordinate compensation parameter, so that the robot coordinate is determined.
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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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- 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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