CN110695982A - Mechanical arm hand-eye calibration method and device based on three-dimensional vision - Google Patents
Mechanical arm hand-eye calibration method and device based on three-dimensional vision Download PDFInfo
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- CN110695982A CN110695982A CN201910986422.3A CN201910986422A CN110695982A CN 110695982 A CN110695982 A CN 110695982A CN 201910986422 A CN201910986422 A CN 201910986422A CN 110695982 A CN110695982 A CN 110695982A
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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
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
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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
- B25J19/02—Sensing devices
- B25J19/04—Viewing devices
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
- G01B11/25—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures by projecting a pattern, e.g. one or more lines, moiré fringes on the object
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- Physics & Mathematics (AREA)
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- Mechanical Engineering (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention discloses a method and a device for calibrating hands and eyes of a mechanical arm based on three-dimensional vision, which are applied to the field of calibration of poses of mechanical arms, and the technical scheme is as follows: the three-dimensional vision servo unit is positioned at the tail end of the mechanical arm and comprises a camera and a projector, the three-dimensional vision servo unit adopts a structured light measurement technology, the projector projects structured light coded in advance to a measured object, the camera shoots a structured light pattern modulated by the surface topography of the object, and the three-dimensional topography of the measured object is obtained through computer decoding; has the technical effects that: the spatial position of the tail end of the mechanical arm is accurately positioned through high-precision three-dimensional information obtained by the three-dimensional visual servo unit, so that the precise control of the mechanical arm is guided.
Description
Technical Field
The invention relates to the field of mechanical arm pose calibration, in particular to a calibration method based on a mechanical arm end vision servo system.
Background
With the coming of the 4.0 era of global industry, intelligent manufacturing and unmanned factories have become mainstream development trends of modern industrial automation. The mechanical arm based on visual servo is used as a main application of modern industry, and the motion path of the mechanical arm is planned in a visual guide mode, so that the intelligent level of the mechanical arm work is improved, and the production efficiency is improved.
For a vision servo mechanical arm system, the pose calibration of a mechanical arm (hand) and a vision system (eye) is an important task. Generally, the calibration of such systems is divided into two categories, i.e. eye-outside (i.e. camera is mounted outside arm) and eye-inside (camera is mounted at end of arm) according to the mounting mode of the vision unit, and the principle of the calibration is to determine the relationship between the camera vision coordinate system and the arm base coordinate system through the calibration module. However, the existing calibration method is often limited to the formation of the visual servo unit: the monocular camera cannot recover spatial three-dimensional information and can only limit the mechanical arm to move in a certain plane; the positioning accuracy of the binocular or TOF camera space is low, and the method is difficult to be applied to the application with high requirement on the positioning accuracy.
Disclosure of Invention
The invention aims to provide a mechanical arm hand-eye calibration method and device based on three-dimensional vision, which have the advantages that: the three-dimensional scanning device based on the structured light can be used as a visual servo unit, and the spatial position of the tail end of the mechanical arm can be accurately positioned through high-precision three-dimensional information obtained by scanning of the visual servo unit, so that the precise control of the mechanical arm is guided.
The technical purpose of the invention is realized by the following technical scheme: a hand-eye calibration method and device of a mechanical arm based on three-dimensional vision comprise a three-dimensional vision servo unit, the mechanical arm and a calibration plate, wherein the three-dimensional vision servo unit is located at the tail end of the mechanical arm and comprises a camera and a projector, the three-dimensional vision servo unit adopts a structured light measurement technology, the projector projects structured light coded in advance to a measured object, the camera shoots a structured light pattern modulated by the surface topography of the object, and the three-dimensional topography of the measured object is obtained through computer decoding.
The hand-eye calibration method comprises the following steps:
step 1: determining internal and external parameters of the three-dimensional visual servo unit;
step 2: determining the pose of the three-dimensional visual servo unit under a mechanical arm base coordinate system;
and step 3: and determining the space position of the tail end of the mechanical arm according to the three-dimensional scanning result.
The step 1 specifically comprises the following steps:
step 1.1:the calibration plate containing the circular pattern is placed in the operating space and the pose of the robotic arm is adjusted so that the calibration plate is in the common field of view of its end camera and projector. Recording parameters of each joint of the mechanical arm at the moment to obtain the coordinate of the tail end of the mechanical arm under the coordinate of the base of the mechanical arm
。
Step 1.2: and (3) sequentially projecting 5-step sine phase shift stripes and binary gray code sequence patterns to the calibration plate by using a projector, and triggering a camera to shoot stripe pictures on the calibration plate in the projection process. Extracting the picture without dark stripes in the Gray code sequence, extracting the outline of the circular mark points on the marking plate in the picture, fitting and solving the center coordinates of the circular mark points
。
Step 1.3: the phase shift stripes and the Gray code sequence shot in the step 1.2 are subjected to phase resolution, and the center of the circular mark point is determined
Maps them to the projector plane and obtains the coordinates of the circular landmark points in the projector plane
。
Step 1.4: adjusting the position of the mechanical arm, ensuring that the calibration plate is still in the visual field of the camera and the projector, and recording the coordinates of the tail end of the mechanical arm under the coordinates of the base of the mechanical arm
(ii) a Repeating the step 1.2 and the step 1.3 to obtain the camera coordinates of the center of the mark point at the second position
And projector coordinates
。
Step 1.5: repeating the step 1.4, ensuring that at least the coordinates of the tail end of the mechanical arm under the coordinates of the base of the mechanical arm under three positions are obtained, and obtaining data such as camera coordinates, projector coordinates and the like from the center of the mark point;
step 1.6: coordinate mark with circular mark point center under camera and projector plane
And
and calculating the internal and external parameters of the camera and the projector by using a planar calibration method of Zhangyiyou.
The step 2 specifically comprises the following steps:
step 2.1: the internal and external parameters of the camera obtained in the step 1 can determine the position of the camera in the coordinate system of the calibration plate under each position of the mechanical arm
Since the positions of the robot arm base and the calibration plate are not changed, the transfer matrix of the robot arm at any two positions in step 1 is not changed, that is, the transfer matrix is not changed
。
Step 2.2: and B in the step 2.1 is solved by using a dual quaternion method, so that the pose of the camera relative to the tail end of the mechanical arm is obtained, and the hand-eye calibration is completed.
The step 3 specifically comprises the following steps: in the operation of the mechanical arm, a three-dimensional visual servo unit at the tail end is used for three-dimensionally scanning the operation space, the accurate three-dimensional appearance of the space and objects in the space is obtained, and the accurate pose of the tail end of the mechanical arm in the space position or relative to a target object is obtained according to the three-dimensional information and the parameter B.
Compared with the prior art, the invention has the following remarkable advantages: the problem that the single camera at the tail end of the mechanical arm cannot determine the space position and the problem of inaccurate positioning caused by low three-dimensional reconstruction precision of the binocular camera are solved. The accurate three-dimensional appearance of a target object in a space and a space can be obtained by adopting a structured light three-dimensional scanning method, and the pose of the tail end of the mechanical arm in the space can be accurately calibrated; the device is simple in structure, the method is simple in steps, and the operability is strong.
Drawings
Fig. 1 is a mechanical structure diagram of the invention.
Fig. 2 is a schematic diagram of the hand-eye calibration method created by the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. For convenience of description, only the parts related to the embodiments of the present invention are shown, and the apparatuses and devices are schematic diagrams and are not related to the specific products and models of the embodiments of the present invention.
Referring to fig. 1, a robot arm hand-eye calibration method and device based on three-dimensional vision comprises a robot arm, a three-dimensional vision servo unit and a calibration plate, wherein a camera and a projector are installed at the tail end of the robot arm, and the calibration plate is a ceramic flat plate containing circular mark points.
In the embodiment of the invention, a plurality of coordinate systems involved in the calibration process are agreed:
{ R } mechanical arm base coordinate system
{ K } calibration plate coordinate system
{ C } camera coordinate System
{ P } projector coordinate system
And coordinate conversion between them:
a: the pose of the tail end of the mechanical arm under a mechanical arm base coordinate system is obtained by rotation information of each degree of freedom of the mechanical arm;
b: and (5) the pose of the camera under the robot terminal coordinate system. Because the relative positions of the visual unit and the mechanical arm are always kept unchanged, the relative positions are converted into fixed values, and the fixed values are parameters to be solved for the hand-eye calibration;
c: the pose of the camera under a coordinate system of a calibration plate;
fig. 2 is a schematic diagram of hand-eye calibration adopted in the embodiment of the present invention, and the specific calibration steps are as follows:
step 1: determining internal and external parameters of the three-dimensional visual servo unit;
step 1.1: the calibration plate containing the circular pattern is placed in the operating space and the pose of the robotic arm is adjusted so that the calibration plate is in the common field of view of its end camera and projector. Recording parameters of each joint of the mechanical arm at the moment to obtain the lower coordinate of the tail end of the mechanical arm under the coordinate of the base of the mechanical arm
。
Step 1.2: and (3) sequentially projecting 5-step sine phase shift stripes and binary gray code sequence patterns to the calibration plate by using a projector, and triggering a camera to shoot stripe pictures on the calibration plate in the projection process. Extracting the picture without dark stripes in the Gray code sequence, extracting the outline of the circular mark points on the marking plate in the picture, fitting and solving the center coordinates of the circular mark points
. The circular mark points extract the sub-pixel level outer contour of the mark points by using a sub-pixel boundary method, the outer contour points are fitted into an ellipse by using a least square method, and the geometric center of the ellipse is extracted as the circle center of the mark points.
Step 1.3: and (3) carrying out phase solving on the phase shift stripes and the Gray code sequences shot in the step (2) through a unwrapping algorithm to obtain the horizontal and vertical absolute phase values of each point of the camera picture. And according to the center of the circular mark point
Maps them to the projector plane and obtains the coordinates of the circular landmark points in the projector plane
。
Step 1.4: adjusting the position of the mechanical arm, ensuring that the calibration plate is still in the visual field of the camera and the projector, and recording the tail end of the mechanical arm in the machineLower coordinate of arm base coordinate
. Repeating the step 2 and the step 3 to obtain the coordinates of the camera at the center of the mark point at the second position
And projector coordinates。
Step 1.5: and repeating the step 4, and ensuring that the coordinates of the tail end of the mechanical arm in at least three positions under the coordinates of the base of the mechanical arm are obtained, and the data such as the coordinates of the camera, the coordinates of the projector and the like are obtained from the center of the mark point. The more positions, the higher the precision of the parameters, but the computation overhead increases accordingly. This example records 10 position data.
Step 1.6: coordinate mark with circular mark point center under camera and projector plane
And
and calculating the internal and external parameters of the camera and the projector by using a planar calibration method of Zhangyiyou.
The camera intrinsic parameters are obtained as follows:
the rotation and translation matrixes of the camera relative to the calibration board under each position are recorded as
，
Is the number of positions.
Meanwhile, the obtained internal parameters of the projector are as follows:
and the rotation and translation matrixes of the projector relative to the calibration board under each position are recorded as
，
Is the number of positions.
According to
And
the relative pose between the camera and the projector can be solved, and the three-dimensional visual servo unit capable of three-dimensional scanning is constructed.
Step 2: determining the pose of the three-dimensional visual servo unit under a mechanical arm base coordinate system;
step 2.1: the internal and external parameters of the camera obtained in the step 1 can determine the position of the camera in the coordinate system of the calibration plate under each position of the mechanical arm
. As shown in fig. 2, since the positions of the robot arm base and the calibration plate are not changed, the transfer matrix of the robot arm at any two positions in step 1 is not changed, i.e., the transfer matrix is not changed
。
Step 2.2: and solving by using a dual quaternion method to obtain B, namely obtaining the pose of the camera relative to the tail end of the mechanical arm to finish hand-eye calibration.
And step 3: and determining the space position of the tail end of the mechanical arm according to the three-dimensional scanning result. In the operation of the mechanical arm, the tail end vision unit is used for three-dimensionally scanning the operation space to obtain the accurate three-dimensional appearance of the space and objects in the space, and the accurate pose of the tail end of the mechanical arm in the space position or relative to a target object is obtained according to the three-dimensional information and the parameter B.
The present embodiment is only for explaining the present invention, and it is not limited to the present invention, and those skilled in the art can make modifications of the present embodiment without inventive contribution as needed after reading the present specification, but all of them are protected by patent law within the scope of the claims of the present invention.
Claims (5)
1. A mechanical arm hand-eye calibration method and device based on three-dimensional vision are characterized in that: the three-dimensional visual servo unit comprises a camera and a projector, the three-dimensional visual servo unit adopts a structured light measurement technology, the projector projects structured light coded in advance to a measured object, the camera shoots a structured light pattern modulated by the surface topography of the object, and the three-dimensional topography of the measured object is obtained through computer decoding.
2. A mechanical arm hand-eye calibration method and device based on three-dimensional vision are characterized in that: the hand-eye calibration method comprises the following steps:
step 1: determining internal and external parameters of the three-dimensional visual servo unit;
step 2: determining the pose of the three-dimensional visual servo unit under a mechanical arm base coordinate system;
and step 3: and determining the space position of the tail end of the mechanical arm according to the three-dimensional scanning result.
3. The method and the device for calibrating the hands and the eyes of the mechanical arm based on the three-dimensional vision as claimed in claim 2, wherein: the step 1 specifically comprises the following steps:
step 1.1: placing a calibration plate containing a circular pattern in an operation space, and adjusting the pose of the mechanical arm to enable the calibration plate to be in the common visual field of a terminal camera and a projector of the calibration plate;
recording parameters of each joint of the mechanical arm at the moment to obtain the machineCoordinate of tail end of mechanical arm under coordinate of base of mechanical arm;
Step 1.2: using a projector to sequentially project 5-step sine phase shift stripes and binary gray code sequence patterns to a calibration plate, and triggering a camera to shoot stripe pictures on the calibration plate in the projection process;
extracting the picture without dark stripes in the Gray code sequence, extracting the outline of the circular mark points on the marking plate in the picture, fitting and solving the center coordinates of the circular mark points
;
Step 1.3: the phase shift stripes and the Gray code sequence shot in the step 1.2 are subjected to phase resolution, and the center of the circular mark point is determined
Maps them to the projector plane and obtains the coordinates of the circular landmark points in the projector plane
;
Step 1.4: adjusting the position of the mechanical arm, ensuring that the calibration plate is still in the visual field of the camera and the projector, and recording the coordinates of the tail end of the mechanical arm under the coordinates of the base of the mechanical arm(ii) a Repeating the step 1.2 and the step 1.3 to obtain the camera coordinates of the center of the mark point at the second position
And projector coordinates
;
Step 1.5: repeating the step 1.4, ensuring that at least the coordinates of the tail end of the mechanical arm under the coordinates of the base of the mechanical arm under three positions are obtained, and obtaining data such as camera coordinates, projector coordinates and the like from the center of the mark point;
step 1.6: coordinate mark with circular mark point center under camera and projector plane
And
and calculating the internal and external parameters of the camera and the projector by using a planar calibration method of Zhangyiyou.
4. The method and the device for calibrating the hands and the eyes of the mechanical arm based on the three-dimensional vision as claimed in claim 2, wherein: the step 2 specifically comprises the following steps:
step 2.1: the internal and external parameters of the camera obtained in the step 1 can determine the position of the camera in the coordinate system of the calibration plate under each position of the mechanical arm
Since the positions of the robot arm base and the calibration plate are not changed, the transfer matrix of the robot arm at any two positions in step 1 is not changed, that is, the transfer matrix is not changed
;
Step 2.2: and B in the step 2.1 is solved by using a dual quaternion method, so that the pose of the camera relative to the tail end of the mechanical arm is obtained, and the hand-eye calibration is completed.
5. The method and the device for calibrating the hands and the eyes of the mechanical arm for the three-dimensional vision according to claim 2 are characterized in that: the step 3 specifically comprises the following steps: in the operation of the mechanical arm, a three-dimensional visual servo unit at the tail end is used for three-dimensionally scanning the operation space, the accurate three-dimensional appearance of the space and objects in the space is obtained, and the accurate pose of the tail end of the mechanical arm in the space position or relative to a target object is obtained according to the three-dimensional information and the parameter B.
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111590593A (en) * | 2020-06-19 | 2020-08-28 | 浙江大华技术股份有限公司 | Calibration method, device and system of mechanical arm and storage medium |
| CN112013792B (en) * | 2020-10-19 | 2021-02-02 | 南京知谱光电科技有限公司 | Surface scanning three-dimensional reconstruction method for complex large-component robot |
| CN112577447A (en) * | 2020-12-07 | 2021-03-30 | 新拓三维技术(深圳)有限公司 | Three-dimensional full-automatic scanning system and method |
| CN113532325A (en) * | 2021-06-08 | 2021-10-22 | 深圳市格灵精睿视觉有限公司 | Dynamic step number phase resolving method, electronic device and computer readable storage medium |
| CN114248086A (en) * | 2021-12-30 | 2022-03-29 | 广东工业大学 | Flexible three-dimensional vision-guided robot alignment system and method |
| WO2022082896A1 (en) * | 2020-10-22 | 2022-04-28 | 光华临港工程应用技术研发(上海)有限公司 | Apparatus for line structured light three-dimensional measurement |
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2019
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Cited By (9)
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|---|---|---|---|---|
| CN111590593A (en) * | 2020-06-19 | 2020-08-28 | 浙江大华技术股份有限公司 | Calibration method, device and system of mechanical arm and storage medium |
| CN112013792B (en) * | 2020-10-19 | 2021-02-02 | 南京知谱光电科技有限公司 | Surface scanning three-dimensional reconstruction method for complex large-component robot |
| WO2022082896A1 (en) * | 2020-10-22 | 2022-04-28 | 光华临港工程应用技术研发(上海)有限公司 | Apparatus for line structured light three-dimensional measurement |
| CN112577447A (en) * | 2020-12-07 | 2021-03-30 | 新拓三维技术(深圳)有限公司 | Three-dimensional full-automatic scanning system and method |
| CN112577447B (en) * | 2020-12-07 | 2022-03-22 | 新拓三维技术(深圳)有限公司 | Three-dimensional full-automatic scanning system and method |
| CN113532325A (en) * | 2021-06-08 | 2021-10-22 | 深圳市格灵精睿视觉有限公司 | Dynamic step number phase resolving method, electronic device and computer readable storage medium |
| CN114248086A (en) * | 2021-12-30 | 2022-03-29 | 广东工业大学 | Flexible three-dimensional vision-guided robot alignment system and method |
| CN114248086B (en) * | 2021-12-30 | 2022-08-05 | 广东工业大学 | Flexible three-dimensional vision-guided robot alignment system and method |
| CN115808137A (en) * | 2022-12-19 | 2023-03-17 | 山东科技大学 | Hydraulic support group straightness detection method with mark point assisting binocular vision |
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