CN111006706B - Rotating shaft calibration method based on line laser vision sensor - Google Patents
Rotating shaft calibration method based on line laser vision sensor Download PDFInfo
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- CN111006706B CN111006706B CN201911101164.2A CN201911101164A CN111006706B CN 111006706 B CN111006706 B CN 111006706B CN 201911101164 A CN201911101164 A CN 201911101164A CN 111006706 B CN111006706 B CN 111006706B
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Abstract
The invention relates to a rotating shaft calibration method based on a line laser vision sensor, which comprises the following steps: (1) installing a line laser vision sensor; (2) setting a calibration tool; (3) determining an external coordinate system; (4) determining coordinates of the center of the calibration circle in an external coordinate system; (5) analyzing and calculating the coordinates in the coordinate system of the on-line laser sensor of the center of the calibration circle: fitting a calibration circle on an image acquired by a linear laser vision sensor to obtain a coordinate of a calibration circle center in the online laser sensor; (6) and performing fitting operation to obtain an optimal value of the transformation relation between the coordinates in the calibration circular center on-line laser sensor and the coordinates in the external coordinate system. The invention solves the problem of camera calibration in a non-standard space rectangular coordinate system (when one coordinate axis is a rotating axis), has simple calibration process and high operation and calibration precision, and widens the application range of line laser in the field of industrial robots.
Description
Technical Field
The invention belongs to the technical field of sensor calibration, and particularly relates to a rotating shaft calibration method based on a line laser vision sensor.
Background
The line structure light sensor is a non-contact measuring device, mainly composed of camera and line laser. The device has the advantages of simple structure, non-contact, high measuring speed, high precision and the like, and has a great amount of application requirements in high-precision measurement in the industrial field. The line laser sensor is calibrated before being used, the calibration precision directly influences the accuracy and the safety and the reliability of casting grinding, the current line laser is widely applied to high-precision measurement, the line laser used by the invention is mainly used in the field of intelligent application of the robot industry, and the calibration precision of the sensor has higher requirement.
For the calibration of the robot hand-eye transformation matrix of the line laser sensor, the final result obtained by adopting the current calibration method mainly comprises the rotation and the offset of a camera relative to a certain coordinate system. This coordinate system is usually a rectangular spatial coordinate system. This calibration method is not practical in a non-standard rectangular space coordinate system, such as when one coordinate axis is the rotation axis.
The calibration methods in the prior art are usually in the following forms: 1. and calibrating the line laser hand-eye transformation matrix by a non-contact calibration method. 2. And the calibration of the hand-eye transformation matrix of the line laser is carried out by using a contact type calibration mode and by means of various calibration tools such as a calibration needle, a calibration ball, a calibration tool and the like. 3. The calibration of the line laser hand-eye transformation matrix is completed by using a plurality of robots or using a special numerical control mobile platform and using a calibration plate with a fixed structure. However, the above method has the following disadvantages: the existing line laser static calibration method needs either a special mechanical motion execution mechanism to carry a calibration plate to move in the visual field range of a laser camera and needs to add an additional high-precision motion mechanism, or needs a plurality of robots to work cooperatively to complete hand-eye calibration together, and the robots may not be used in practical application. When a second robot and an additional motion executing mechanism are not used, a tool or a workpiece with a known position relation is required to be installed at the tail end of the mechanical arm, and the tool or the workpiece is required to have a plurality of obvious characteristics. When the calibration is carried out by means of an external tool or a workpiece, the calibration precision is influenced by the influence of the characteristic machining precision of the calibration point. The calibration process is complex and limited by the line laser visual field range, the motion range of the motion mechanism is also limited during calibration, and the calibration precision is low, so the calibration mode is less in use.
In summary, it is desirable to provide a rotation axis calibration method based on a line laser vision sensor, which is simple in calibration process, high in calibration precision, and suitable for camera calibration in a non-standard space rectangular coordinate system.
Disclosure of Invention
The invention aims to provide a rotating shaft calibration method based on a linear laser vision sensor, which has the advantages of simple calibration process and high calibration precision and is suitable for camera calibration in a non-standard space rectangular coordinate system.
The above purpose is realized by the following technical scheme: a rotating shaft calibration method based on a line laser vision sensor comprises the following steps:
(1) installing a line laser vision sensor;
(2) setting a calibration tool: attaching a calibration tool to the side surface of the rotating shaft, wherein the calibration tool comprises a plurality of calibration circles;
(3) determining an external coordinate system: calibrating a point on the edge of the rotating shaft as an origin of an external coordinate system, taking the direction of rotation around the rotating shaft as the Y direction, and taking the direction along the axis of the rotating shaft as the X direction;
(4) and (3) determining coordinates of the center of the calibration circle in an external coordinate system: rotating the rotating shaft at a constant speed, recording the initial rotating position of the rotating shaft when the line laser vision sensor receives the trigger signal and the position of the rotating shaft when the calibration circle is positioned below the line laser vision sensor, and taking the positions as the coordinates of the calibration circle in an external coordinate system;
(5) analyzing and calculating the coordinates in the coordinate system of the on-line laser sensor of the center of the calibration circle: and fitting a calibration circle on an image acquired by the line laser vision sensor to obtain a coordinate of the center of the calibration circle in the coordinate system of the on-line laser sensor.
(6) And performing fitting operation to obtain an optimal value of the transformation relation between the coordinates in the calibration circular center on-line laser sensor and the coordinates in the external coordinate system.
The further technical scheme is that in the step (4), a servo motor is adopted to drive a rotating shaft to rotate at a constant speed, and a plc is adopted to control a line laser vision sensor to take a picture in a triggering mode.
The further technical proposal is that in the step (4), the rotating angle alpha of the rotating shaft during the initial rotation is recorded0And sequentially recording the angle value alpha of the rotating shaft when the center of the calibration circle coincides with the laser lineiAnd recording the offset value X in the X direction of the center of the circleiAnd completing the whole scanning calibration of all the calibration circles on the calibration tool.
A further technical scheme is that, in the step (4), when the external coordinate system is converted into a cartesian coordinate system, the Y-direction coordinate value is calculated in the following manner: y is α × R, where α is a rotation angle of the rotation shaft, and R is a rotation shaft radius of the rotation shaft.
According to the further technical scheme, in the step (6), a hand-eye calibration matrix of the line laser vision sensor and the external coordinate system is solved by adopting a least square method according to position matrixes of the calibration circle center in the external coordinate system and the line laser sensor coordinate system.
The further technical scheme is that the specific steps in the step (6) are as follows:
(6.1) setting an external coordinate system Q, a line laser sensor coordinate system P, a rotation matrix and an offset matrix from P to Q as R and T respectively, and setting a homogeneous coordinate of a certain point B in space under the Q and P coordinate systems as Q respectivelyb(X,Y,1)，Pb(x,y,1)，PbAnd QbThe conversion relationship is shown in formula (1):
wherein R represents a rotation matrix from a line laser sensor coordinate system to an external coordinate system, T represents an offset, and SToBMat2D is a transformation relation between coordinates in the line laser sensor and coordinates in the external coordinate system for calibrating the center of a circle;
(6.2) given a Minimum error limit Minimum, all calibration points are scaledCoordinates Q in an external coordinate systemi(x, y,) and the coordinate P in the on-line laser sensor coordinate systemi(x, y,) is substituted into the formula (2), the best fitting value of SToBMat2D is obtained through continuous iteration, and the best fitting value of SToBMat2D is substituted into the formula (1) to obtain a rotation matrix R and an offset matrix T from the linear laser sensor coordinate system to the external coordinate system;
wherein Qx [ i ] represents a coordinate value of the ith calibration point in the X direction in the external coordinate system, Qy [ i ] represents a coordinate value of the ith calibration point in the Y direction in the external coordinate system, Px [ i ] represents a coordinate value of the ith calibration point in the X direction in the coordinate system of the on-line laser sensor, and Py [ i ] represents a coordinate value of the ith calibration point in the Y direction in the coordinate system of the on-line laser sensor.
The technical scheme is that the calibration tool is calibration paper, the calibration circles on the calibration paper are black solid circles, the number of the calibration circles is more than 10, and the calibration paper is flatly pasted on the rotating shaft.
The further technical scheme is that the number of the calibration circles is 12.
The invention solves the problem of camera calibration when a non-standard space rectangular coordinate system (when one coordinate axis is a rotating axis) is used, can solve the problem of external parameter calibration when the installation position is fixed and no space movement occurs in the use process of the line laser sensor, reduces the error between external equipment based on a laser vision sensor application system, has simple calibration process, simple and convenient operation and high calibration precision, and widens the application range of line laser in the field of industrial robots.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate an embodiment of the invention and, together with the description, serve to explain the invention and not to limit the invention.
Fig. 1 is a schematic structural diagram of a calibration apparatus according to an embodiment of the present invention;
fig. 2 is a schematic calibration flow chart of a rotating shaft calibration method based on a line laser vision sensor according to an embodiment of the present invention.
In the figure:
1 fixed support, 2 line laser sensor, 3 rotating shaft and 4 calibration paper
5 direction of rotation of the rotating shaft
Light plane formed by laser lines emitted by 6-line laser sensor
Detailed Description
The present invention will now be described in detail with reference to the drawings, which are given by way of illustration and explanation only and should not be construed to limit the scope of the present invention in any way. Furthermore, features from embodiments in this document and from different embodiments may be combined accordingly by a person skilled in the art from the description in this document.
The embodiment of the invention is as follows, referring to fig. 1 and 2, a method for calibrating a rotating shaft 3 based on a line laser vision sensor comprises the following steps:
(1) installing a line laser vision sensor;
(2) setting a calibration tool: attaching a calibration tool to the side surface of the rotating shaft 3, wherein the calibration tool comprises a plurality of calibration circles;
(3) determining an external coordinate system: a point is marked on the edge of the rotating shaft 3 to be used as an origin of an external coordinate system, the rotating direction around the rotating shaft is used as the Y direction, and the direction along the axis of the rotating shaft 3 is used as the X direction;
(4) and (3) determining coordinates of the center of the calibration circle in an external coordinate system: rotating the rotating shaft 3 at a constant speed, recording the initial rotating position of the rotating shaft 3 when the line laser vision sensor receives the trigger signal and the position of the rotating shaft 3 when the calibration circle is positioned below the line laser vision sensor, and taking the positions as the coordinates of the calibration circle in an external coordinate system;
(5) analyzing and calculating the coordinates in the coordinate system of the on-line laser sensor of the center of the calibration circle: and fitting a calibration circle on an image acquired by the line laser vision sensor to obtain a coordinate of the center of the calibration circle in the coordinate system of the on-line laser sensor.
(6) And performing fitting operation to obtain an optimal value of the transformation relation between the coordinates in the calibration circular center on-line laser sensor 2 and the coordinates in the external coordinate system.
On the basis of the above embodiment, in another embodiment of the present invention, in the step (4), the rotating shaft 3 is driven to rotate at a constant speed by a servo motor, and the laser vision sensor is controlled by plc in a triggering manner to take a picture.
In another embodiment of the present invention based on the above embodiment, in the step (4), the angle α of rotation when the rotating shaft 3 initially rotates is recorded0And sequentially recording the angle value alpha of the rotating shaft 3 when the center of the calibration circle coincides with the laser lineiAnd recording the offset value X in the X direction of the center of the circleiAnd completing the whole scanning calibration of all the calibration circles on the calibration tool.
On the basis of the above embodiment, in another embodiment of the present invention, in the step (4), when the external coordinate system is converted into a cartesian coordinate system, the Y-direction coordinate value is calculated by: y is α × R, where α is the rotation angle of the rotating shaft 3 and R is the radius of the rotating shaft 3.
On the basis of the above embodiment, in another embodiment of the present invention, in the step (6), the hand-eye calibration matrix of the line laser vision sensor and the external coordinate system is solved by using a least square method according to the position matrix of the calibration circle center in the external coordinate system and the line laser sensor coordinate system.
On the basis of the above embodiment, in another embodiment of the present invention, the specific steps in the step (6) are as follows:
(6.1) setting an external coordinate system Q, a line laser sensor coordinate system P, a rotation matrix and an offset matrix from P to Q as R and T respectively, and setting a homogeneous coordinate of a certain point B in space under the Q and P coordinate systems as Q respectivelyb(X,Y,1)，Pb(x,y,1)，PbAnd QbThe conversion relationship is shown in formula (1):
wherein R represents a rotation matrix from a line laser sensor coordinate system to an external coordinate system, T represents an offset, and SToBMat2D is a transformation relation between coordinates in the line laser sensor 2 and coordinates in the external coordinate system of a calibration circle center;
(6.2) given a Minimum error limit Minimum, all the coordinates Q of the index points in the external coordinate systemi(x, y,) and the coordinate P in the on-line laser sensor coordinate systemi(x, y,) is substituted into the formula (2), the best fitting value of SToBMat2D is obtained through continuous iteration, and the best fitting value of SToBMat2D is substituted into the formula (1) to obtain a rotation matrix R and an offset matrix T from the linear laser sensor coordinate system to the external coordinate system;
wherein Qx [ i ] represents a coordinate value of the ith calibration point in the X direction in the external coordinate system, Qy [ i ] represents a coordinate value of the ith calibration point in the Y direction in the external coordinate system, Px [ i ] represents a coordinate value of the ith calibration point in the X direction in the coordinate system of the on-line laser sensor, and Py [ i ] represents a coordinate value of the ith calibration point in the Y direction in the coordinate system of the on-line laser sensor.
On the basis of the above embodiment, in another embodiment of the present invention, as shown in fig. 1, the calibration tool is calibration paper 4, the calibration circles on the calibration paper 4 are black solid circles, the number of the calibration circles is greater than 10, and the calibration paper 4 is flatly adhered to the rotating shaft 3.
On the basis of the above embodiment, in another embodiment of the present invention, as shown in fig. 1, the number of the calibration circles is 12.
The invention solves the problem of camera calibration when a nonstandard space rectangular coordinate system (when one coordinate axis is a rotating shaft 3), can solve the problem of external parameter calibration when the installation position of the line laser sensor 2 is fixed and no space movement occurs in the use process, reduces the error between external equipment of an application system based on a laser vision sensor, has simple calibration process, simple and convenient operation and high calibration precision, and simultaneously widens the application range of wide line laser in the field of industrial robots.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.
Claims (8)
1. A rotating shaft calibration method based on a line laser vision sensor is characterized by comprising the following steps:
(1) installing a line laser vision sensor;
(2) setting a calibration tool: attaching a calibration tool to the side surface of the rotating shaft, wherein the calibration tool comprises a plurality of calibration circles;
(3) determining an external coordinate system: calibrating a point on the edge of the rotating shaft as an origin of an external coordinate system, taking the direction of rotation around the rotating shaft as the Y direction, and taking the direction along the axis of the rotating shaft as the X direction;
(4) and (3) determining coordinates of the center of the calibration circle in an external coordinate system: rotating the rotating shaft at a constant speed, recording the initial rotating position of the rotating shaft when the line laser vision sensor receives the trigger signal and the position of the rotating shaft when the calibration circle is positioned below the line laser vision sensor, and taking the positions as the coordinates of the calibration circle in an external coordinate system;
(5) analyzing and calculating the coordinates in the coordinate system of the on-line laser sensor of the center of the calibration circle: fitting a calibration circle on an image acquired by a linear laser vision sensor to obtain a coordinate of the center of the calibration circle in a coordinate system of the online laser sensor;
(6) and performing fitting operation to obtain an optimal value of the transformation relation between the coordinates in the calibration circular center on-line laser sensor and the coordinates in the external coordinate system.
2. The method for calibrating a rotating shaft based on a line laser vision sensor according to claim 1, wherein in the step (4), the rotating shaft is driven to rotate at a constant speed by a servo motor, and the line laser vision sensor is controlled by plc in a triggering manner to take a picture.
3. The method for calibrating a rotating shaft based on a line laser vision sensor as claimed in claim 2, wherein in the step (4), the angle α of rotation of the rotating shaft during initial rotation is recorded0And sequentially recording the angle value alpha of the rotating shaft when the center of the calibration circle coincides with the laser lineiAnd recording the offset value X in the X direction of the center of the circleiAnd completing the whole scanning calibration of all the calibration circles on the calibration tool.
4. The method for calibrating a rotating shaft based on a line laser vision sensor as claimed in claim 3, wherein in the step (4), when the external coordinate system is converted into a Cartesian coordinate system, the Y-direction coordinate value is calculated by: y is α × R, where α is a rotation angle of the rotation shaft, and R is a rotation shaft radius of the rotation shaft.
5. The method for calibrating a rotating shaft based on a line laser vision sensor as claimed in claim 4, wherein in the step (6), a hand-eye calibration matrix of the line laser vision sensor and the external coordinate system is solved by using a least square method according to a position matrix of a calibration circle center in the external coordinate system and the line laser sensor coordinate system.
6. The method for calibrating the rotating shaft based on the line laser vision sensor as claimed in claim 5, wherein the specific steps in the step (6) are as follows:
(6.1) setting an external coordinate system Q, a line laser sensor coordinate system P, a rotation matrix and an offset matrix from P to Q as R and T respectively, and setting a homogeneous coordinate of a certain point B in space under the Q and P coordinate systems as Q respectivelyb(X,Y,1)，Pb(x,y,1)，PbAnd QbThe conversion relationship is shown in formula (1):
wherein R represents a rotation matrix from a line laser sensor coordinate system to an external coordinate system, T represents an offset, and SToBMat2D is a transformation relation between coordinates in the line laser sensor and coordinates in the external coordinate system for calibrating the center of a circle;
(6.2) given a Minimum error limit Minimum, all the coordinates Q of the index points in the external coordinate systemi(x, y,) and the coordinate P in the on-line laser sensor coordinate systemi(x, y,) is substituted into the formula (2), the best fitting value of SToBMat2D is obtained through continuous iteration, and the best fitting value of SToBMat2D is substituted into the formula (1) to obtain a rotation matrix R and an offset matrix T from the linear laser sensor coordinate system to the external coordinate system;
wherein Qx [ i ] represents a coordinate value of the ith calibration point in the X direction in the external coordinate system, Qy [ i ] represents a coordinate value of the ith calibration point in the Y direction in the external coordinate system, Px [ i ] represents a coordinate value of the ith calibration point in the X direction in the coordinate system of the on-line laser sensor, and Py [ i ] represents a coordinate value of the ith calibration point in the Y direction in the coordinate system of the on-line laser sensor.
7. The method for calibrating the rotating shaft based on the line laser vision sensor as claimed in claim 5, wherein the calibration tool is calibration paper, the calibration circles on the calibration paper are black solid circles, the number of the calibration circles is greater than 10, and the calibration paper is flatly adhered to the rotating shaft.
8. The method for calibrating the rotating shaft based on the line laser vision sensor as claimed in claim 7, wherein the number of the calibration circles is 12.
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