CN110977980A - Mechanical arm real-time hand-eye calibration method and system based on optical position indicator - Google Patents
Mechanical arm real-time hand-eye calibration method and system based on optical position indicator Download PDFInfo
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- CN110977980A CN110977980A CN201911303306.3A CN201911303306A CN110977980A CN 110977980 A CN110977980 A CN 110977980A CN 201911303306 A CN201911303306 A CN 201911303306A CN 110977980 A CN110977980 A CN 110977980A
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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
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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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Abstract
The invention provides a real-time hand-eye calibration method and a real-time hand-eye calibration system for a mechanical arm based on an optical locator, wherein the method comprises the following steps: a posture acquisition step: acquiring attitude information of an optical positioning device on a mechanical arm tail end function execution mechanism fed back by an optical positioning instrument; calculating the relative position: and calculating the relative position relation between the mechanical arm and the optical locator according to the attitude information. According to the invention, the relative position relation matrix of the mechanical arm and the optical position indicator is calculated by adopting the optical positioning data acquisition and hand-eye calibration algorithm, so that the aim of calculating the relative position relation of the mechanical arm and the optical position indicator in real time is fulfilled.
Description
Technical Field
The invention relates to the field of measurement and testing, in particular to a mechanical arm real-time hand-eye calibration method and system based on an optical locator.
Background
In the practical application of the mechanical arm, the spatial positioning of the mechanical arm is very important. In general, the space positioning of the mechanical arm needs to be controlled accurately, and the cooperation of the positioning instrument is needed in most cases. Inaccurate relative position relation between the mechanical arm and the positioning instrument can cause deviation in positioning of the mechanical arm, and the accuracy of the relative position relation between the mechanical arm and the positioning instrument is guaranteed to be particularly important.
In many control schemes using a mechanical arm and a positioning instrument, a mode of placing a mechanical arm coordinate system and a positioning instrument coordinate system in fixed positions is adopted. This way, the exact relative position relationship can be guaranteed, but the drawbacks are obvious:
1. the operation is limited. Other operations are limited to a fixed position robotic arm and positioning tool.
2. The risk is greater. Any one of the two will generate irretrievable error when the position is changed.
The patent scheme is used without fixing any coordinate system. The method can be used only by calculating the relative position relation of the mechanical arm and the positioning instrument in real time according to the method when the relative position relation of the mechanical arm and the positioning instrument is used. Compared with other methods, the method is simpler, more convenient and higher in practicability.
The patent publication No. CN109059755A discloses a hand-eye calibration method, which requires the use of a three-coordinate measuring apparatus, and is costly and cumbersome to operate.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a mechanical arm real-time hand-eye calibration method and system based on an optical position indicator.
The invention provides a real-time hand-eye calibration method for a mechanical arm based on an optical locator, which comprises the following steps:
a posture acquisition step: acquiring attitude information of an optical positioning device on a mechanical arm tail end function execution mechanism fed back by an optical positioning instrument;
calculating the relative position: and calculating the relative position relation between the mechanical arm and the optical locator according to the attitude information.
Preferably, the attitude information includes position information and rotation information of the optical pointing device.
Preferably, all coordinate systems adopted in the attitude information are orthogonal space coordinate systems of the same type;
the orthogonal space coordinate systems of the same type include: the left-hand orthogonal space coordinate system or the right-hand orthogonal space coordinate system.
Preferably, in the posture acquiring step:
the attitude information of the tail end of the mechanical arm under the local coordinate system of the mechanical arm is obtained by real-time feedback of mechanical arm software;
attitude information of an optical positioning device of the mechanical arm tail end function execution mechanism in an optical positioning coordinate system is acquired in real time through an optical positioning instrument;
and attitude information of the optical positioning device on the tail end function execution mechanism of the mechanical arm under a tail end coordinate system of the mechanical arm is obtained through engineering structure data.
Preferably, in the step of calculating the relative position, the posture information is transmitted to a hand-eye calibration algorithm to calculate a relative position relationship between the mechanical arm and the optical position finder, and the hand-eye calibration algorithm includes:
obtaining tail end position information p1 and rotation information r1 of the mechanical arm under a mechanical arm coordinate system through feedback of the mechanical arm, and obtaining a posture information matrix T of the tail end of the mechanical arm under the mechanical arm coordinate system according to p1 and r1R；
Obtaining position information p2 and rotation information r2 of the optical positioning device under the tail end coordinate system of the mechanical arm through engineering structure data, and obtaining a posture information matrix T of the optical positioning device under the tail end coordinate system of the mechanical arm according to p2 and r2E；
Obtaining an optical position finder seat by feedback of the optical position finderPosition information p3 and rotation information r3 of the optical positioning device on the end function execution mechanism of the mechanical arm under the mark system are obtained according to p3 and r3, and an attitude information matrix T of the optical positioning device on the end function execution mechanism of the mechanical arm under the coordinate system of the optical positioning instrument is obtained according to p3 and r3P；
Calculating relative position relation matrix T of mechanical arm and optical position indicatorB。
The invention provides a mechanical arm real-time hand-eye calibration system based on an optical locator, which comprises:
an attitude acquisition module: acquiring attitude information of an optical positioning device on a mechanical arm tail end function execution mechanism fed back by an optical positioning instrument;
a relative position calculation module: and calculating the relative position relation between the mechanical arm and the optical locator according to the attitude information.
Preferably, the attitude information includes position information and rotation information of the optical pointing device.
Preferably, all coordinate systems adopted in the attitude information are orthogonal space coordinate systems of the same type;
the orthogonal space coordinate systems of the same type include: the left-hand orthogonal space coordinate system or the right-hand orthogonal space coordinate system.
Preferably, in the gesture obtaining module:
the attitude information of the tail end of the mechanical arm under the local coordinate system of the mechanical arm is obtained by real-time feedback of mechanical arm software;
attitude information of an optical positioning device of the mechanical arm tail end function execution mechanism in an optical positioning coordinate system is acquired in real time through an optical positioning instrument;
and attitude information of the optical positioning device on the tail end function execution mechanism of the mechanical arm under a tail end coordinate system of the mechanical arm is obtained through engineering structure data.
Preferably, in the relative position calculation module, the posture information is transmitted to a hand-eye calibration algorithm to calculate a relative position relationship between the mechanical arm and the optical position finder, and the hand-eye calibration algorithm includes:
obtaining the machine under the mechanical arm coordinate system through the feedback of the mechanical armObtaining a posture information matrix T of the tail end of the mechanical arm under a mechanical arm coordinate system according to p1 and r1 by using the tail end position information p1 and the rotation information r1 of the mechanical armR；
Obtaining position information p2 and rotation information r2 of the optical positioning device under the tail end coordinate system of the mechanical arm through engineering structure data, and obtaining a posture information matrix T of the optical positioning device under the tail end coordinate system of the mechanical arm according to p2 and r2E；
Position information p3 and rotation information r3 of the optical positioning device on the mechanical arm tail end function execution mechanism under the optical position indicator coordinate system are obtained through feedback of the optical position indicator, and an attitude information matrix T of the optical positioning device on the mechanical arm tail end function execution mechanism under the optical position indicator coordinate system is obtained according to p3 and r3P；
Calculating relative position relation matrix T of mechanical arm and optical position indicatorB。
Compared with the prior art, the invention has the following beneficial effects:
according to the invention, the relative position relation matrix of the mechanical arm and the optical position indicator is calculated by adopting the optical positioning data acquisition and hand-eye calibration algorithm, so that the aim of calculating the relative position relation of the mechanical arm and the optical position indicator in real time is fulfilled.
Drawings
Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:
fig. 1 is a schematic diagram of the hand-eye calibration of the present invention.
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the invention, but are not intended to limit the invention in any way. It should be noted that it would be obvious to those skilled in the art that various changes and modifications can be made without departing from the spirit of the invention. All falling within the scope of the present invention.
In the hand-eye calibration, the hand is the mechanical arm, and the eye is the locator. The purpose of hand-eye calibration is to determine the relative position relationship between the mechanical arm and the optical locator. And an optical positioning device is arranged on the tail end function execution mechanism of the mechanical arm, and the relative position relation between the mechanical arm and the optical position indicator is calculated in real time through optical positioning feedback.
As shown in fig. 1, the method for calibrating hands and eyes of a mechanical arm in real time based on an optical locator provided by the invention comprises the following steps:
step 1: and obtaining the attitude (position and rotation) information of the optical positioning device on the mechanical arm tail end function execution mechanism fed back by the optical positioning instrument.
Step 2: the posture (position and rotation) information of the optical positioning device on the tail end function execution mechanism of the mechanical arm is transmitted into a hand-eye calibration algorithm, and the relative position relation between the mechanical arm and the optical positioning instrument is calculated.
The step 1 comprises the following steps:
step 1.1: the acquisition of all coordinates must guarantee the premise: all coordinate systems must be the same type of orthogonal space coordinate system (either the left-hand orthogonal space coordinate system or the right-hand orthogonal space coordinate system).
Step 1.2: and the attitude information of the tail end of the mechanical arm under the local coordinate system of the mechanical arm can be obtained by real-time feedback of mechanical arm software.
Step 1.3: the attitude information of the optical positioning device of the mechanical arm tail end function execution mechanism in the optical positioning coordinate system can be acquired in real time through the optical positioning instrument.
Step 1.4: the attitude information of the optical positioning device on the mechanical arm tail end function execution mechanism under the mechanical arm tail end coordinate system can also be obtained through various ways (engineering structure data and the like).
The step 2 comprises the following steps:
step 2.1: the method comprises the following steps: all coordinate systems are the same type of orthogonal space coordinate system. The left-handed orthogonal space coordinate system is taken as an example here.
Step 2.2: the hand-eye calibration algorithm comprises the following steps as shown in the attached figure 1:
(1) the feedback of the mechanical arm can obtain mechanical arm tail end position information p1 and rotation information r1 under a mechanical arm coordinate system according to p1R1 can obtain the attitude information matrix T of the tail end of the mechanical arm under the mechanical arm coordinate systemR。
(2) Position information p2 and rotation information r2 of the optical positioning device under the robot end coordinate system can be obtained through engineering structure data and the like, and a posture information matrix T of the optical positioning device under the robot end coordinate system can be obtained according to p2 and r2E。
(3) Position information p3 and rotation information r3 of the optical positioning device on the end function execution mechanism of the mechanical arm under the coordinate system of the optical position indicator can be obtained through feedback of the optical position indicator, and an attitude information matrix T of the optical positioning device on the end function execution mechanism of the mechanical arm under the coordinate system of the optical position indicator can be obtained according to p3 and r3P。
(4) Calculating a relative position relation matrix T of the mechanical arm and the positioning instrumentB。
According to the matrix operation relationship, the following steps are carried out:
TP*TB＝TE*TR
TP -1*TP*TB＝TP -1*TE*TR
TB＝TP -1*TE*TR
the matrix T is calculated as shown aboveB，TBNamely, the relative position relationship between the mechanical arm and the positioning instrument is shown.
On the basis of the real-time hand-eye calibration method for the mechanical arm based on the optical position indicator, the invention also provides a real-time hand-eye calibration system for the mechanical arm based on the optical position indicator, which comprises the following steps:
an attitude acquisition module: acquiring attitude information of an optical positioning device on a mechanical arm tail end function execution mechanism fed back by an optical positioning instrument;
a relative position calculation module: and calculating the relative position relation between the mechanical arm and the optical locator according to the attitude information.
Those skilled in the art will appreciate that, in addition to implementing the system and its various devices, modules, units provided by the present invention as pure computer readable program code, the system and its various devices, modules, units provided by the present invention can be fully implemented by logically programming method steps in the form of logic gates, switches, application specific integrated circuits, programmable logic controllers, embedded microcontrollers and the like. Therefore, the system and various devices, modules and units thereof provided by the invention can be regarded as a hardware component, and the devices, modules and units included in the system for realizing various functions can also be regarded as structures in the hardware component; means, modules, units for performing the various functions may also be regarded as structures within both software modules and hardware components for performing the method.
The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes or modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention. The embodiments and features of the embodiments of the present application may be combined with each other arbitrarily without conflict.
Claims (10)
1. A real-time hand-eye calibration method of a mechanical arm based on an optical locator is characterized by comprising the following steps:
a posture acquisition step: acquiring attitude information of an optical positioning device on a mechanical arm tail end function execution mechanism fed back by an optical positioning instrument;
calculating the relative position: and calculating the relative position relation between the mechanical arm and the optical locator according to the attitude information.
2. The method for calibrating the mechanical arm real-time hand-eye based on the optical positioning instrument according to claim 1, wherein the posture information comprises position information and rotation information of the optical positioning device.
3. The method for real-time hand-eye calibration of a mechanical arm based on an optical position finder according to claim 1, wherein all coordinate systems used in the attitude information are orthogonal space coordinate systems of the same type;
the orthogonal space coordinate systems of the same type include: the left-hand orthogonal space coordinate system or the right-hand orthogonal space coordinate system.
4. The method for calibrating the hands and eyes of the mechanical arm based on the optical locator according to claim 1, wherein in the posture acquiring step:
the attitude information of the tail end of the mechanical arm under the local coordinate system of the mechanical arm is obtained by real-time feedback of mechanical arm software;
attitude information of an optical positioning device of the mechanical arm tail end function execution mechanism in an optical positioning coordinate system is acquired in real time through an optical positioning instrument;
and attitude information of the optical positioning device on the tail end function execution mechanism of the mechanical arm under a tail end coordinate system of the mechanical arm is obtained through engineering structure data.
5. The method for calibrating the mechanical arm of the optical locator according to the claim 1, wherein in the step of calculating the relative position, the attitude information is transmitted to a hand-eye calibration algorithm to calculate the relative position relationship between the mechanical arm and the optical locator, and the hand-eye calibration algorithm comprises:
obtaining tail end position information p1 and rotation information r1 of the mechanical arm under a mechanical arm coordinate system through feedback of the mechanical arm, and obtaining a posture information matrix T of the tail end of the mechanical arm under the mechanical arm coordinate system according to p1 and r1R；
Obtaining position information p2 and rotation information r2 of the optical positioning device under the tail end coordinate system of the mechanical arm through engineering structure data, and obtaining a posture information matrix T of the optical positioning device under the tail end coordinate system of the mechanical arm according to p2 and r2E；
Position information p3 and rotation information r3 of the optical positioning device on the mechanical arm tail end function execution mechanism under the optical position indicator coordinate system are obtained through feedback of the optical position indicator, and an attitude information matrix T of the optical positioning device on the mechanical arm tail end function execution mechanism under the optical position indicator coordinate system is obtained according to p3 and r3P；
Calculating relative position relation matrix T of mechanical arm and optical position indicatorB。
6. The utility model provides a real-time hand eye calibration system of arm based on optical positioning appearance which characterized in that includes:
an attitude acquisition module: acquiring attitude information of an optical positioning device on a mechanical arm tail end function execution mechanism fed back by an optical positioning instrument;
a relative position calculation module: and calculating the relative position relation between the mechanical arm and the optical locator according to the attitude information.
7. The system according to claim 6, wherein the pose information comprises position information and rotation information of the optical positioning apparatus.
8. The system according to claim 6, wherein all coordinate systems used in the pose information are orthogonal space coordinate systems of the same type;
the orthogonal space coordinate systems of the same type include: the left-hand orthogonal space coordinate system or the right-hand orthogonal space coordinate system.
9. The system for real-time hand-eye calibration of a mechanical arm based on an optical position finder according to claim 6, wherein the attitude obtaining module comprises:
the attitude information of the tail end of the mechanical arm under the local coordinate system of the mechanical arm is obtained by real-time feedback of mechanical arm software;
attitude information of an optical positioning device of the mechanical arm tail end function execution mechanism in an optical positioning coordinate system is acquired in real time through an optical positioning instrument;
and attitude information of the optical positioning device on the tail end function execution mechanism of the mechanical arm under a tail end coordinate system of the mechanical arm is obtained through engineering structure data.
10. The system for real-time mechanical arm hand-eye calibration based on the optical position finder according to claim 6, wherein the relative position calculation module transmits the attitude information to a hand-eye calibration algorithm to calculate the relative position relationship between the mechanical arm and the optical position finder, and the hand-eye calibration algorithm comprises:
obtaining tail end position information p1 and rotation information r1 of the mechanical arm under a mechanical arm coordinate system through feedback of the mechanical arm, and obtaining a posture information matrix T of the tail end of the mechanical arm under the mechanical arm coordinate system according to p1 and r1R；
Obtaining position information p2 and rotation information r2 of the optical positioning device under the tail end coordinate system of the mechanical arm through engineering structure data, and obtaining a posture information matrix T of the optical positioning device under the tail end coordinate system of the mechanical arm according to p2 and r2E；
Position information p3 and rotation information r3 of the optical positioning device on the mechanical arm tail end function execution mechanism under the optical position indicator coordinate system are obtained through feedback of the optical position indicator, and an attitude information matrix T of the optical positioning device on the mechanical arm tail end function execution mechanism under the optical position indicator coordinate system is obtained according to p3 and r3P；
Calculating relative position relation matrix T of mechanical arm and optical position indicatorB。
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| CN111633652A (en) * | 2020-06-02 | 2020-09-08 | 杜思傲 | Method for registering robot coordinate system by using three-dimensional positioning device |
| CN113084827A (en) * | 2021-04-01 | 2021-07-09 | 北京飞影科技有限公司 | Method and device for calibrating optical center position of camera device |
| CN113843792A (en) * | 2021-09-23 | 2021-12-28 | 四川锋准机器人科技有限公司 | Hand-eye calibration method of surgical robot |
| WO2022199047A1 (en) * | 2021-03-26 | 2022-09-29 | 北京长木谷医疗科技有限公司 | Robot registration method and apparatus, electronic device, and storage medium |
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Application publication date: 20200410 |