CN112001967A - Method and device for guiding manipulator to carry object by camera - Google Patents
Method and device for guiding manipulator to carry object by camera Download PDFInfo
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- CN112001967A CN112001967A CN202010820948.7A CN202010820948A CN112001967A CN 112001967 A CN112001967 A CN 112001967A CN 202010820948 A CN202010820948 A CN 202010820948A CN 112001967 A CN112001967 A CN 112001967A
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- 239000011159 matrix material Substances 0.000 claims abstract description 92
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
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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
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10016—Video; Image sequence
Abstract
The invention discloses a method and a device for guiding a manipulator to carry an object by a camera. The method comprises the following steps: calculating a projection matrix of a camera pixel coordinate system and a manipulator coordinate system according to the coordinates of the cross center of the first calibration cross grid plate under the manipulator coordinate system, the coordinates under the camera pixel coordinate system and the internal reference calibration parameters of the camera; the camera is fixed above the manipulator and does not move along with the manipulator; acquiring a center coordinate of a flange plate of the manipulator under a camera pixel coordinate system and a standard pose of a target object in the camera pixel coordinate system; and determining the moving coordinate of the manipulator moving target object to the standard pose in the manipulator coordinate system according to the real-time pose and the standard pose of the target object in the camera pixel coordinate system and the projection matrix. The target object can be accurately adjusted to the standard pose at one time through the manipulator, the accuracy and the efficiency of the manipulator for carrying the target object are guaranteed, and the operation efficiency is improved.
Description
Technical Field
The embodiment of the invention relates to the technical field of automation, in particular to a method and a device for guiding a manipulator to carry an object by a camera.
Background
In the production process of the mechanical arm, the camera can be used for replacing human vision to guide the mechanical arm to carry objects. In the prior art, a transformation matrix between a three-dimensional space coordinate system and a camera pixel coordinate system and a distortion correction matrix of a lens are mapped according to a camera imaging model. When the camera is used for positioning the position of an object, the camera shoots the object to obtain the coordinates of the object under a camera pixel coordinate system, and then the coordinates of the object under the camera pixel coordinate system are converted into the coordinates under a three-dimensional space coordinate system according to the conversion matrix and the distortion correction matrix of the lens, so that the real-time position of the object positioned by the camera is realized. In the process, the camera can only position the real-time position of the object, and the robot is guided to carry the object to the standard position by hand eyes or other technologies, so that the precision of carrying the object by the robot cannot be guaranteed, time is wasted, and the carrying efficiency of the robot is reduced.
Disclosure of Invention
The invention provides a method and a device for guiding a manipulator to carry an object by a camera, which are used for realizing the purpose that the camera accurately guides the manipulator to carry the object to a standard position and can improve the carrying efficiency of the manipulator.
In a first aspect, an embodiment of the present invention provides a method for a camera to instruct a manipulator to carry an object, including:
calculating a projection matrix of a camera pixel coordinate system and a manipulator coordinate system according to the coordinates of the cross center of the first calibration cross grid plate under the manipulator coordinate system, the coordinates under the camera pixel coordinate system and the internal reference calibration parameters of the camera; the camera is fixed above the manipulator and does not move along with the manipulator;
acquiring a center coordinate of a flange plate of the manipulator under the camera pixel coordinate system and a standard pose of a target object in the camera pixel coordinate system;
and determining the moving coordinate of the manipulator moving target object to the standard pose in the manipulator coordinate system according to the real-time pose of the target object in the camera pixel coordinate system, the standard pose and the projection matrix.
Optionally, determining, according to the real-time pose and the standard pose of the target object in the camera pixel coordinate system and the projection matrix, the moving coordinates of the manipulator moving the target object to the standard pose in the manipulator coordinate system, including:
determining the moving coordinate of the manipulator in a camera pixel coordinate system according to the real-time pose of the target object in the camera pixel coordinate system and the standard pose;
and converting the moving coordinate of the manipulator in the camera pixel coordinate system into the moving coordinate of the manipulator in the manipulator coordinate system according to the moving coordinate of the manipulator in the camera pixel coordinate system and the projection matrix.
Optionally, before determining the moving coordinates of the manipulator in the camera pixel coordinate system according to the real-time pose of the target object in the camera pixel coordinate system and the standard pose, further comprising:
controlling the manipulator to grab the target object;
and the camera shoots the target object, and acquires the real-time coordinate and the real-time angle of the target object in a camera pixel coordinate system as the real-time pose of the target object in the camera pixel coordinate system.
Optionally, before calculating the projection matrix of the camera pixel coordinate system and the manipulator coordinate system according to the coordinates of the cross center of the first calibrated cross grid plate in the manipulator coordinate system and the coordinates in the camera pixel coordinate system and the internal reference calibration parameters of the camera, the method further includes:
acquiring coordinates of the cross center of the first calibration cross grid plate under a manipulator coordinate system and coordinates of the cross center under a camera pixel coordinate system;
and acquiring internal reference calibration parameters of the camera.
Optionally, acquiring coordinates of the cross center of the first calibrated cross grid plate in the manipulator coordinate system and coordinates in the camera pixel coordinate system includes:
arranging the first calibration cross grid plate in a material area in the camera view area;
moving the manipulator, aligning the needle point of a positioning needle on the manipulator to different cross centers on the first calibration cross grid plate in sequence, and recording the coordinates of each cross center under a manipulator coordinate system;
the camera shoots the first calibration cross grid plate, and coordinates of the upper center of the cross on the first calibration cross grid plate under a camera pixel coordinate system are obtained.
Optionally, acquiring center coordinates of the flange of the manipulator in the camera pixel coordinate system and a standard pose of the target object in the camera pixel coordinate system, includes:
replacing the positioning needle with a second calibrated cross grid plate, and moving the manipulator to enable the second calibrated cross grid plate to be positioned in the camera view field area;
rotating the second calibration cross grid plate by taking a mechanical arm flange plate as a center at a standard position, and continuously shooting the second calibration cross grid plate for multiple times by the camera;
determining the center coordinate of the manipulator flange plate under the camera pixel coordinate system according to the second calibration cross grid plate shot for multiple times;
controlling the manipulator to grab the target object and move to the center of the visual field area of the camera, wherein the standard position is obtained;
and the camera shoots the target object, and the coordinate and the placing angle of the target object in a camera pixel coordinate system are acquired as the standard pose of the target object in the camera pixel coordinate system.
Optionally, acquiring internal reference calibration parameters of the camera includes:
arranging a checkerboard calibration plate in a field of view region of the camera;
the camera shoots checkerboard calibration plates with different poses for multiple times to obtain internal reference calibration parameters of the camera.
Optionally, the camera intrinsic calibration parameters include an intrinsic camera parameter matrix and a lens distortion matrix.
Optionally, calculating a projection matrix of the camera pixel coordinate system and the manipulator coordinate system according to the coordinates of the cross center of the first calibrated cross grid plate in the manipulator coordinate system, the coordinates in the camera pixel coordinate system, and the internal reference calibration parameters of the camera, and includes:
determining a rotation matrix and a displacement matrix between a camera pixel coordinate system and a manipulator coordinate system according to the coordinates of the cross center of the first calibration cross grid plate under the manipulator coordinate system and the coordinates under the camera pixel coordinate system;
and calculating a projection matrix of a camera pixel coordinate system and a manipulator coordinate system according to the camera intrinsic parameter matrix, the lens distortion matrix, the rotation matrix and the displacement matrix.
In a second aspect, an embodiment of the present invention further provides a device for a camera to instruct a manipulator to carry an object, where the device includes:
the projection matrix determination module is used for calculating projection matrixes of a camera pixel coordinate system and a manipulator coordinate system according to coordinates of the cross center of the first calibration cross grid plate under the manipulator coordinate system, coordinates under the camera pixel coordinate system and internal reference calibration parameters of the camera; the camera is fixed above the manipulator and does not move along with the manipulator;
the acquisition module is used for acquiring the center coordinate of the flange plate of the manipulator in the camera pixel coordinate system and the standard pose of the target object in the camera pixel coordinate system;
and the mobile coordinate determination module is used for determining the mobile coordinate of the manipulator moving target object to the standard pose in the manipulator coordinate system according to the real-time pose of the target object in the camera pixel coordinate system, the standard pose and the projection matrix.
According to the technical scheme of the embodiment of the invention, the projection matrixes of the camera pixel coordinate system and the manipulator coordinate system can be calculated according to the coordinates of the cross center of the first calibration cross grid plate under the manipulator coordinate system, the coordinates under the camera pixel coordinate system and the internal reference calibration parameters of the camera, so that the accurate conversion of the coordinates under the camera pixel coordinate system and the coordinates under the manipulator coordinate system is realized. And then, the central coordinate of the flange plate of the manipulator under the camera pixel coordinate system and the standard pose of the target object in the camera pixel coordinate system are obtained, and the influence of coordinate change caused by the rotation of the manipulator on the carrying of the target object by the manipulator is avoided, so that the moving coordinate of the manipulator from the moving target object to the standard pose in the manipulator coordinate system can be determined according to the real-time pose, the standard pose and the projection matrix of the target object in the camera pixel coordinate system, the target object can be accurately adjusted to the standard pose at one time through the manipulator, the accuracy of the manipulator for grabbing the target object and carrying the target object is ensured, the efficiency of the manipulator for carrying the object is ensured, and the operation efficiency is improved.
Drawings
Fig. 1 is a schematic flowchart of a method for guiding a robot to carry an object by using a camera according to an embodiment of the present invention;
fig. 2 is a schematic diagram of an apparatus for guiding a robot to carry an object by using a camera according to an embodiment of the present invention;
FIG. 3 is a schematic flow chart of another method for guiding a robot to carry an object by using a camera according to an embodiment of the present invention;
FIG. 4 is a flowchart illustrating another method for a camera to guide a robot to carry an object according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram of a first calibrated cross grid plate according to an embodiment of the present invention;
fig. 6 is a schematic structural diagram of a device for guiding a robot to carry an object by using a camera according to an embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
Fig. 1 is a schematic flowchart of a method for guiding a manipulator to carry an object by using a camera according to an embodiment of the present invention. The method for guiding the robot to carry the object by the camera provided by the embodiment is applicable to the case that the camera guides the robot to carry the object, and the method can be executed by a device for guiding the robot to carry the object by the camera. As shown in fig. 1, the method includes:
s110, calculating a projection matrix of a camera pixel coordinate system and a manipulator coordinate system according to coordinates of a cross center of the first calibration cross grid plate under the manipulator coordinate system, coordinates under the camera pixel coordinate system and internal reference calibration parameters of the camera; the camera is fixed above the manipulator and does not move along with the manipulator;
specifically, fig. 2 is a schematic diagram of an apparatus for guiding a robot to carry an object by using a camera according to an embodiment of the present invention. As shown in fig. 2, the apparatus includes a camera 10, a robot 20, a first calibration cross grid plate 30, and a light source module 40. The camera 10 comprises an image acquisition module 101 and an image processing module 102. Illustratively, the camera 10 may be of the Haikang MV-CA060-11GM and the focal length of the lens may be 4 mm. The first calibration cross grid plate 30 is disposed in a visual field area of the camera 10, a plurality of cross centers are disposed on the first calibration cross grid plate 30, and a distance between the plurality of cross centers is constant, and the first calibration cross grid plate can be uniformly distributed in an area where a target object may appear, and is used for calibrating a camera pixel coordinate system. The image of the first calibrated cross grid plate 30 can be acquired by the image acquisition module 101 of the camera 10, and the image is processed by the image processing module 102 to determine the coordinates of the cross center of the first calibrated cross grid plate 30 in the camera pixel coordinate system. Moreover, the internal parameters of the camera 10 affect the coordinates of the cross center on the first calibrated cross grid plate 30 in the camera pixel coordinate system, so that the relationship matrix of the internal reference calibration parameters and the camera pixel coordinate system can be established according to the internal parameters of the camera 10 and the coordinates of the cross center in the camera pixel coordinate system, thereby preventing the internal parameters of the camera 10 from affecting the coordinates of the cross center on the first calibrated cross grid plate 30 in the camera pixel coordinate system. In addition, the light source module 40 provides a light source for the first calibrated cross grid plate 30, so that the brightness required when the image acquisition module 101 acquires the image of the first calibrated cross grid plate 30 can be ensured, and the acquisition accuracy is ensured. Illustratively, the light source module 40 may scatter light in the form of a 600mm stripe. The flange of the manipulator 20 may be provided with a fixing member 201, and the fixing member 201 may fix the positioning pin 202 in a center-aligned and fixed manner. By positioning the cross center on the first calibrated cross grid plate 30 by the positioning pin 202, the coordinates of the cross center on the first calibrated cross grid plate 30 under the robot coordinate system can be determined. The method comprises the steps of establishing a projection matrix of a camera pixel coordinate system and a manipulator coordinate system according to coordinates of a cross center on a first calibration cross grid plate 30 under a manipulator coordinate system, coordinates of the cross center of the first calibration cross grid plate 30 under the camera pixel coordinate system and internal reference calibration parameters, wherein the projection matrix can realize accurate conversion of the coordinates of the camera pixel coordinate system and the coordinates of the manipulator coordinate system, and accurately converts the coordinates of a target object under the camera pixel coordinate system and the coordinates of the target object in the camera pixel coordinate system into the coordinates of the manipulator coordinate system in the subsequent process according to the coordinates of the camera pixel coordinate system of the target object obtained by a camera 10, so that the moving coordinates of the manipulator 20 can be determined, and the target object can be accurately transported.
In addition, the camera 10 is fixed above the manipulator 20, so that the view field of the camera 10 is not blocked when the manipulator 20 returns to the original point, which is beneficial for the camera 10 to take a picture. And the camera 10 does not move along with the manipulator 20, the camera 10 can determine the movement amount of the manipulator 20 in the movement process, so that the camera 10 can guide the movement of the manipulator 20 in the movement process of the manipulator 20, thereby increasing the use range of the camera 10 for guiding the manipulator 20 to carry objects.
S120, acquiring a center coordinate of the flange plate of the manipulator under a camera pixel coordinate system and a standard pose of a target object in the camera pixel coordinate system;
specifically, the center of the flange of the manipulator is the rotation center of the manipulator 20, and the rotation center of the manipulator 20 in the camera pixel coordinate system can be determined by acquiring the center coordinates of the flange of the manipulator in the camera pixel coordinate system. The standard pose of the target object in the camera pixel coordinate system is the target pose when the robot 20 carries the target object, that is, the target object at any position is carried to the standard pose. The standard pose of the target object in the camera pixel coordinate system generally comprises a placing coordinate and a placing angle of the target object in the camera pixel coordinate system, when the manipulator 20 carries the target object, the manipulator 20 carries the target object to the placing coordinate, meanwhile, the manipulator 20 rotates by taking a flange as a center to enable the angle of the target object to meet the placing angle, the change of the manipulator coordinate system generated in the rotation process of the flange is determined according to the center coordinate of the flange of the manipulator under the camera pixel coordinate system, then the target object is re-determined to be in the standard pose according to the change of the manipulator coordinate system, so that the influence of the coordinate change caused by the rotation of the manipulator 20 on the target object carrying of the manipulator 20 can be avoided, the target object is accurately adjusted to be in the standard pose at one time by the manipulator 20, the accuracy of the manipulator 20 in grabbing the target object and carrying the target object is ensured, meanwhile, the efficiency of the manipulator 20 in carrying objects can be ensured, which is beneficial to improving the operation efficiency.
And S130, determining the moving coordinate of the manipulator moving target object to the standard pose in the manipulator coordinate system according to the real-time pose and the standard pose of the target object in the camera pixel coordinate system and the projection matrix.
Specifically, the real-time pose of the target object in the camera pixel coordinate system includes real-time coordinates and real-time angles of the target object in the camera pixel coordinate system. The real-time pose of the target object in the camera pixel coordinate system can be obtained by the camera 10, that is, the image of the target object can be collected by the image collecting module 101 of the camera 10, and the image is processed by the image processing module 102 to determine the real-time coordinate and the real-time angle of the target object in the camera pixel coordinate system. The pose of the target object in the camera pixel coordinate system can be converted into the pose of the target object in the manipulator coordinate system through the projection matrix, so that the moving coordinate from the manipulator moving target object to the standard pose in the manipulator coordinate system can be determined, the manipulator 20 can accurately adjust the target object to the standard pose at one time, the accuracy of grabbing the target object and carrying the target object by the manipulator 20 is guaranteed, the efficiency of carrying the object by the manipulator 20 is guaranteed, and the operation efficiency is improved.
According to the technical scheme of the embodiment, the projection matrixes of the camera pixel coordinate system and the manipulator coordinate system can be calculated according to the coordinates of the cross center of the first calibration cross grid plate under the manipulator coordinate system, the coordinates under the camera pixel coordinate system and the internal reference calibration parameters of the camera, and accurate conversion of the coordinates under the camera pixel coordinate system and the coordinates under the manipulator coordinate system is achieved. And then, the central coordinate of the flange plate of the manipulator under the camera pixel coordinate system and the standard pose of the target object in the camera pixel coordinate system are obtained, and the influence of coordinate change caused by the rotation of the manipulator on the carrying of the target object by the manipulator is avoided, so that the moving coordinate of the manipulator from the moving target object to the standard pose in the manipulator coordinate system can be determined according to the real-time pose, the standard pose and the projection matrix of the target object in the camera pixel coordinate system, the target object can be accurately adjusted to the standard pose at one time through the manipulator, the accuracy of the manipulator for grabbing the target object and carrying the target object is ensured, the efficiency of the manipulator for carrying the object is ensured, and the operation efficiency is improved.
On the basis of the technical scheme, the method for determining the moving coordinate of the manipulator moving target object to the standard pose in the manipulator coordinate system according to the real-time pose and the standard pose of the target object in the camera pixel coordinate system and the projection matrix comprises the following steps:
determining the moving coordinate of the manipulator in a camera pixel coordinate system according to the real-time pose and the standard pose of the target object in the camera pixel coordinate system;
specifically, after the real-time pose and the standard pose of the target object in the camera pixel coordinate system are obtained, the moving coordinate of the manipulator for transporting the target object from the real-time pose in the camera pixel coordinate system to the standard pose in the camera pixel coordinate system can be determined according to the difference between the real-time pose and the standard pose.
And converting the moving coordinate of the manipulator in the camera pixel coordinate system into the moving coordinate of the manipulator in the manipulator coordinate system according to the moving coordinate of the manipulator in the camera pixel coordinate system and the projection matrix.
Specifically, after determining the movement coordinates of the manipulator in the camera pixel coordinate system, the movement coordinates of the manipulator in the camera pixel coordinate system may be converted into the movement coordinates of the manipulator in the manipulator coordinate system according to the projection matrix. And then guiding the moving track of the manipulator according to the moving coordinate of the manipulator in the manipulator coordinate system, thereby realizing that the target object can be carried to a standard position and meeting the placing angle of a standard pose.
It should be noted that the above process is only an example, in other embodiments, the standard pose of the target object in the camera pixel coordinate system may be converted into the standard pose of the target object in the manipulator coordinate system by the projection matrix, and the real-time pose of the target object in the camera pixel coordinate system may be converted into the real-time pose of the target object in the manipulator coordinate system by the projection matrix, and then the moving coordinates of the manipulator for transferring the target object from the real-time pose of the manipulator coordinate system to the standard pose of the manipulator coordinate system, that is, the moving coordinates of the manipulator in the manipulator coordinate system, may be determined according to the difference between the real-time pose of the target object in the manipulator coordinate system and the standard pose of the target object in the manipulator coordinate system, and then the moving trajectory of the manipulator may be guided according to the moving coordinates of the manipulator in the manipulator coordinate system, therefore, the target object can be carried to the standard position, and the placing angle of the standard pose is met.
Fig. 3 is a flowchart illustrating another method for guiding a robot to carry an object by using a camera according to an embodiment of the present invention. As shown in fig. 3, the method includes:
s310, calculating a projection matrix of a camera pixel coordinate system and a manipulator coordinate system according to coordinates of a cross center of the first calibration cross grid plate under the manipulator coordinate system, coordinates under the camera pixel coordinate system and internal reference calibration parameters of the camera; the camera is fixed above the manipulator and does not move along with the manipulator;
s320, acquiring a center coordinate of the flange plate of the manipulator under a camera pixel coordinate system and a standard pose of a target object in the camera pixel coordinate system;
s330, controlling the manipulator to grab a target object;
specifically, when the manipulator grabs the target object, a structure for grabbing the target object is provided on a flange of the manipulator, and may be, for example, a clamp or a suction cup. And controlling the manipulator to move to the target object, and grabbing the target object through the clamp or the sucker.
S340, shooting the target object by the camera, and acquiring a real-time coordinate and a real-time angle of the target object in a camera pixel coordinate system to be used as a real-time pose of the target object in the camera pixel coordinate system.
Specifically, after the manipulator grabs the target object, the camera shoots the manipulator and the target object, images of the manipulator and the target object are obtained, and a real-time coordinate and a real-time angle of the target object in a camera pixel coordinate system are extracted, so that a real-time pose of the target object in the camera pixel coordinate system is determined.
And S350, determining the moving coordinate of the manipulator moving target object to the standard pose in the manipulator coordinate system according to the real-time pose and the standard pose of the target object in the camera pixel coordinate system and the projection matrix.
Specifically, after the real-time pose of the target object in the camera pixel coordinate system is determined, the pose of the target object in the camera pixel coordinate system can be converted into the pose of the target object in the manipulator coordinate system through the projection matrix, so that the moving coordinate of the manipulator moving the target object to the standard pose in the manipulator coordinate system can be determined, the manipulator can accurately adjust the target object to the standard pose at one time, the accuracy of the manipulator grabbing the target object and carrying the target object is guaranteed, the efficiency of the manipulator 20 carrying the object is guaranteed, and the operation efficiency is improved.
Illustratively, the real-time coordinate in the real-time pose of the target object in the camera pixel coordinate system is p0Angle theta0. The standard coordinate of the target object in the standard pose under the camera pixel coordinate system is pstdAt a placement angle of thetastdAnd the central coordinate of the flange plate of the manipulator under the camera pixel coordinate system is pr. When the manipulator grabs the target object, due to the angle difference, the manipulator grabs the position of the target object after rotating by taking the flange as the centerThe robot takes a flange of the manipulator as a center to generate coordinate change under a manipulator coordinate system, and the coordinate change quantity of a target object grabbed by the manipulator under the manipulator coordinate system is as follows:
wherein, PdeltaThe coordinate of a target object grabbed by the mechanical arm after the mechanical arm rotates by taking the flange as the center is changed according to the coordinate of the target object under the coordinate system of the mechanical arm before the rotation, R is a rotation matrix of clockwise rotation angle theta around the origin, and P is-1Is the inverse of the projection matrix of the camera pixel coordinate system and the manipulator coordinate system.
After the rotation angle required to be adjusted by the manipulator and the coordinate change after rotation are determined, the target object can be accurately adjusted to the standard pose at one time through the manipulator, so that the accuracy of the manipulator in grabbing the target object and carrying the target object is guaranteed, the efficiency of the manipulator in carrying the object is guaranteed, and the operation efficiency is improved.
Fig. 4 is a flowchart illustrating another method for guiding a robot to carry an object by using a camera according to an embodiment of the present invention. As shown in fig. 4, the method includes:
s410, acquiring coordinates of the cross center of the first calibration cross grid plate under a manipulator coordinate system and coordinates of the cross center under a camera pixel coordinate system;
optionally, acquiring coordinates of the cross center of the first calibrated cross grid plate in the manipulator coordinate system and coordinates in the camera pixel coordinate system includes:
arranging a first calibration cross grid plate in a material area in a camera view area;
specifically, the material area is an area where the target object may appear, and the first calibration cross grid plate is arranged in the material area in the camera view area, so that the first calibration cross grid plate can include the area where the target object appears as much as possible, and therefore, the accuracy of the projection matrix determined by the first calibration cross grid plate is higher, and the improvement of the accuracy of the robot for carrying the object is facilitated.
Moving the manipulator, aligning the needle point of a positioning needle on the manipulator to different cross centers on the first calibration cross grid plate in sequence, and recording the coordinate of each cross center under a manipulator coordinate system;
specifically, the needle point of the positioning needle on the manipulator is the tail end of the manipulator, the needle point of the positioning needle is sequentially aligned to the cross centers on the first calibration cross grid plate, and the coordinates of each cross center under the manipulator coordinate system are recorded. For example, fig. 5 is a schematic structural diagram of a first calibrated cross grid plate according to an embodiment of the present invention. As shown in fig. 5, the first calibration cross grid plate may include 9 cross centers arranged in an array, and the positioning needle tip on the manipulator sequentially corresponds to each cross center by moving the manipulator, so as to determine the coordinates of each cross center in the manipulator coordinate system.
The camera shoots the first calibration cross grid plate, and coordinates of the upper center of the cross on the first calibration cross grid plate under a camera pixel coordinate system are obtained.
Specifically, a camera shoots a first calibrated cross grid plate money, and the manipulator returns to the original point, so that the manipulator is prevented from blocking the shooting view of the camera. When the camera shoots the first calibrated cross grid plate, the image acquisition module of the camera acquires an image of the first calibrated cross grid plate, the image processing module processes the image, and the coordinates of a plurality of cross centers on the first calibrated cross grid plate under a camera pixel coordinate system are extracted.
And S420, acquiring internal reference calibration parameters of the camera.
Optionally, acquiring internal reference calibration parameters of the camera includes:
arranging a checkerboard calibration plate in a visual field area of a camera;
in particular, the checkerboard calibration board is used to calibrate the internal reference calibration parameters of the camera.
The camera shoots the checkerboard calibration plates with different poses for multiple times to obtain internal reference calibration parameters of the camera.
Specifically, the internal reference calibration parameters of the checkerboard calibration plate shot by the camera are the same, and the internal reference calibration parameters of the camera can be determined according to checkerboard calibration plate images obtained through multiple shooting by adjusting the pose of the checkerboard calibration plate in the camera visual field area. Illustratively, the intrinsic calibration parameters of the camera include an intrinsic parameter matrix and a lens distortion matrix. The number of adjustments of the checkerboard calibration plate may be 12. After 12 checkerboard calibration plate images are shot by a camera, an internal parameter matrix and a lens distortion matrix of the camera are determined according to different checkerboard calibration plate images.
S430, calculating a projection matrix of a camera pixel coordinate system and a manipulator coordinate system according to the coordinates of the cross center of the first calibration cross grid plate under the manipulator coordinate system, the coordinates under the camera pixel coordinate system and the internal reference calibration parameters of the camera; the camera is fixed above the manipulator and does not move along with the manipulator;
optionally, calculating a projection matrix of the camera pixel coordinate system and the manipulator coordinate system according to the coordinates of the cross center of the first calibrated cross grid plate in the manipulator coordinate system, the coordinates in the camera pixel coordinate system, and the internal reference calibration parameters of the camera, and includes:
determining a rotation matrix and a displacement matrix between a camera pixel coordinate system and a manipulator coordinate system according to the coordinates of the cross center of the first calibration cross grid plate under the manipulator coordinate system and the coordinates under the camera pixel coordinate system;
specifically, in the above process, after determining the coordinates of the cross center of the first calibration cross grid plate in the manipulator coordinate system and the coordinates of the first calibration cross grid plate in the camera pixel coordinate system, the coordinates of the cross center in the manipulator coordinate system and the coordinates of the first calibration cross grid plate in the camera pixel coordinate system may be input to the parameter list of the calibration software in a one-to-one correspondence manner, and by operating the manipulator and camera pixel coordinate system calibration software, the camera internal parameter matrix and the lens distortion matrix of the camera internal reference calibration parameters are calibrated first, and then the external reference matrix calibration program is operated to obtain the rotation matrix and the displacement matrix between the camera pixel coordinate system and the manipulator coordinate system. For example, a rotation matrix and a displacement matrix between the camera pixel coordinate system and the manipulator coordinate system may be calculated by solving a parameter equation according to coordinates of the cross center of the first calibrated cross grid plate in the manipulator coordinate system and coordinates in the camera pixel coordinate system by using a nonlinear least square method.
And calculating a projection matrix of a camera pixel coordinate system and a manipulator coordinate system according to the camera intrinsic parameter matrix, the lens distortion matrix, the rotation matrix and the displacement matrix.
Specifically, a projection matrix of a camera pixel coordinate system and a manipulator coordinate system is calculated according to a preset algorithm and a camera intrinsic parameter matrix, a lens distortion matrix, a rotation matrix and a displacement matrix, so that the projection matrix can accurately convert coordinates under the camera pixel coordinate system and coordinates under the manipulator coordinate system, and coordinates under the camera pixel coordinate system of a target object and coordinates of the target object in the camera pixel coordinate system, which are acquired by a camera, are accurately converted into coordinates under the manipulator coordinate system in a subsequent process, so that the movement coordinates of the manipulator can be determined, and the target object can be accurately transported.
S440, acquiring a center coordinate of the flange of the manipulator in a camera pixel coordinate system and a standard pose of a target object in the camera pixel coordinate system;
s450, determining the moving coordinate of the manipulator moving target object to the standard pose in the manipulator coordinate system according to the real-time pose and the standard pose of the target object in the camera pixel coordinate system and the projection matrix.
On the basis of the technical scheme, the method for acquiring the center coordinate of the flange plate of the mechanical arm under the camera pixel coordinate system and the standard pose of the target object in the camera pixel coordinate system comprises the following steps:
changing the positioning needle into a second calibration cross grid plate, and moving the manipulator to enable the second calibration cross grid plate to be located in the camera view field area;
specifically, after the coordinates of the cross center on the first calibrated cross grid plate under the manipulator coordinate system are determined through the positioning needle, the positioning needle is replaced by a second calibrated cross grid plate, and the manipulator is moved to enable the second calibrated cross grid plate to be located in the camera view area.
Rotating the second calibration cross grid plate by taking the mechanical arm flange plate as a center at the standard position, and continuously shooting the second calibration cross grid plate for multiple times by the camera;
specifically, the standard position is a target position at which the target object is carried by the robot. After the manipulator is moved to the standard position, the second calibration cross grid plate is rotated by taking the manipulator flange plate as the center, and the image of the second calibration cross grid plate is continuously shot for multiple times through the camera, so that the images of the second calibration cross grid plate at different angles can be obtained, and the coordinates of the cross center on the second calibration cross grid plate at different angles can be obtained. For example, when the second calibrated cross grid plate is rotated around the manipulator flange plate as a center, the camera continuously captures images of the second calibrated cross grid plate more than 9 times, for example, 12 times, and coordinates of the center of the cross on the second fixed cross grid plate are obtained through the captured image of the second calibrated cross grid plate each time, so as to meet the accuracy of subsequently calculating the center coordinates of the manipulator flange plate under the camera pixel coordinate system.
Determining the center coordinate of the mechanical arm flange plate under the camera pixel coordinate system according to the second calibration cross grid plate shot for multiple times;
specifically, after the images of the second calibration cross grid plate at different angles are obtained, the coordinates of the cross center on the second calibration cross grid plate obtained each time can be fitted, so that the center coordinates of the manipulator flange plate under the camera pixel coordinate system with high accuracy can be calculated.
Controlling the manipulator to grab a target object and moving the target object to the center of a visual field area of the camera, wherein the target object is a standard position;
specifically, before the manipulator grabs the target object, the second calibrated cross grid plate on the flange of the manipulator is replaced by a structure for grabbing the target object, such as a clamp or a suction cup. And controlling the manipulator to move to a target object, grabbing the target object through a clamp or a sucker, and then moving to the center of a visual field area of the camera to be used as a standard position in a standard pose.
The camera shoots a target object, and the coordinate and the placing angle of the target object in the camera pixel coordinate system are obtained and used as the standard pose of the target object in the camera pixel coordinate system.
Specifically, after the manipulator grabs the target object and moves to the standard position, the camera takes pictures of the manipulator and the target object, images of the manipulator and the target object are obtained, and the standard coordinate and the placement angle of the target object in the camera pixel coordinate system are advanced, so that the standard pose of the target object in the camera pixel coordinate system is determined.
The embodiment of the invention also provides a device for guiding the manipulator to carry the object by using the camera. Fig. 6 is a schematic structural diagram of a device for guiding a robot to carry an object by using a camera according to an embodiment of the present invention. As shown in fig. 6, the apparatus includes:
the projection matrix determining module 10 is configured to calculate a projection matrix of a camera pixel coordinate system and a manipulator coordinate system according to coordinates of a cross center of the first calibrated cross grid plate in the manipulator coordinate system, coordinates in the camera pixel coordinate system, and internal reference calibration parameters of the camera; the camera is fixed above the manipulator and does not move along with the manipulator;
the acquisition module 20 is configured to acquire a center coordinate of the manipulator flange in the camera pixel coordinate system and a standard pose of the target object in the camera pixel coordinate system;
and the moving coordinate determination module 30 is configured to determine, according to the real-time pose and the standard pose of the target object in the camera pixel coordinate system and the projection matrix, a moving coordinate of the manipulator moving the target object to the standard pose in the manipulator coordinate system.
According to the technical scheme of the embodiment, the projection matrix of the camera pixel coordinate system and the manipulator coordinate system is calculated by the projection matrix determining module according to the coordinates of the cross center of the first calibration cross grid plate under the manipulator coordinate system, the coordinates under the camera pixel coordinate system and the internal reference calibration parameters of the camera, so that the accurate conversion of the coordinates under the camera pixel coordinate system and the coordinates under the manipulator coordinate system is realized. And then, the central coordinate of the flange plate of the manipulator under the camera pixel coordinate system and the standard pose of the target object in the camera pixel coordinate system are obtained through the obtaining module, so that the influence of coordinate change caused by rotation of the manipulator on the manipulator for carrying the target object is avoided, and the moving coordinate determining module determines the moving coordinate of the manipulator for moving the target object to the standard pose in the manipulator coordinate system according to the real-time pose, the standard pose and the projection matrix of the target object in the camera pixel coordinate system, so that the target object can be accurately adjusted to the standard pose at one time through the manipulator, the accuracy of the manipulator for grabbing the target object and carrying the target object is ensured, the efficiency of the manipulator for carrying the object is ensured, and the operation efficiency is improved.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (10)
1. A method for guiding a manipulator to carry an object by a camera is characterized by comprising the following steps:
calculating a projection matrix of a camera pixel coordinate system and a manipulator coordinate system according to the coordinates of the cross center of the first calibration cross grid plate under the manipulator coordinate system, the coordinates under the camera pixel coordinate system and the internal reference calibration parameters of the camera; the camera is fixed above the manipulator and does not move along with the manipulator;
acquiring a center coordinate of a flange plate of the manipulator under the camera pixel coordinate system and a standard pose of a target object in the camera pixel coordinate system;
and determining the moving coordinate of the manipulator moving target object to the standard pose in the manipulator coordinate system according to the real-time pose of the target object in the camera pixel coordinate system, the standard pose and the projection matrix.
2. The method of claim 1, wherein determining the moving coordinates of the robot moving the target object to the standard pose in the robot coordinate system according to the real-time pose of the target object in the camera pixel coordinate system and the standard pose and the projection matrix comprises:
determining the moving coordinate of the manipulator in a camera pixel coordinate system according to the real-time pose of the target object in the camera pixel coordinate system and the standard pose;
and converting the moving coordinate of the manipulator in the camera pixel coordinate system into the moving coordinate of the manipulator in the manipulator coordinate system according to the moving coordinate of the manipulator in the camera pixel coordinate system and the projection matrix.
3. The method of claim 2, further comprising, prior to determining the mobile coordinates of the robot in the camera pixel coordinate system based on the real-time pose of the target object in the camera pixel coordinate system and the standard pose, the method of directing the robot to transport the object comprising:
controlling the manipulator to grab the target object;
and the camera shoots the target object, and acquires the real-time coordinate and the real-time angle of the target object in a camera pixel coordinate system as the real-time pose of the target object in the camera pixel coordinate system.
4. The method of claim 1, further comprising, before calculating the projection matrix of the camera pixel coordinate system and the manipulator coordinate system according to the coordinates of the cross center of the first calibrated cross grid plate under the manipulator coordinate system and the coordinates under the camera pixel coordinate system and the internal reference calibration parameters of the camera:
acquiring coordinates of the cross center of the first calibration cross grid plate under a manipulator coordinate system and coordinates of the cross center under a camera pixel coordinate system;
and acquiring internal reference calibration parameters of the camera.
5. The method of claim 4, wherein acquiring coordinates of the cross center of the first calibrated cross grid plate under the robot coordinate system and coordinates under the camera pixel coordinate system comprises:
arranging the first calibration cross grid plate in a material area in the camera view area;
moving the manipulator, aligning the needle point of a positioning needle on the manipulator to different cross centers on the first calibration cross grid plate in sequence, and recording the coordinates of each cross center under a manipulator coordinate system;
the camera shoots the first calibration cross grid plate, and coordinates of the upper center of the cross on the first calibration cross grid plate under a camera pixel coordinate system are obtained.
6. The method of claim 5, wherein acquiring center coordinates of a robot flange in the camera pixel coordinate system and a standard pose of a target object in the camera pixel coordinate system comprises:
replacing the positioning needle with a second calibrated cross grid plate, and moving the manipulator to enable the second calibrated cross grid plate to be positioned in the camera view field area;
rotating the second calibration cross grid plate by taking a mechanical arm flange plate as a center at a standard position, and continuously shooting the second calibration cross grid plate for multiple times by the camera;
determining the center coordinate of the manipulator flange plate under the camera pixel coordinate system according to the second calibration cross grid plate shot for multiple times;
controlling the manipulator to grab the target object and move to the center of the visual field area of the camera, wherein the standard position is obtained;
and the camera shoots the target object, and the coordinate and the placing angle of the target object in a camera pixel coordinate system are acquired as the standard pose of the target object in the camera pixel coordinate system.
7. The method of claim 4, wherein obtaining internal reference calibration parameters of the camera comprises:
arranging a checkerboard calibration plate in a field of view region of the camera;
the camera shoots checkerboard calibration plates with different poses for multiple times to obtain internal reference calibration parameters of the camera.
8. The method of claim 7, wherein the camera-directed robot handling objects includes an intra-camera parameter matrix and a lens distortion matrix.
9. The method of claim 8, wherein calculating the projection matrix of the camera pixel coordinate system and the manipulator coordinate system according to the coordinates of the cross center of the first calibrated cross grid plate under the manipulator coordinate system and the coordinates under the camera pixel coordinate system and the internal reference calibration parameters of the camera comprises:
determining a rotation matrix and a displacement matrix between a camera pixel coordinate system and a manipulator coordinate system according to the coordinates of the cross center of the first calibration cross grid plate under the manipulator coordinate system and the coordinates under the camera pixel coordinate system;
and calculating a projection matrix of a camera pixel coordinate system and a manipulator coordinate system according to the camera intrinsic parameter matrix, the lens distortion matrix, the rotation matrix and the displacement matrix.
10. A camera directed robot for moving an object, comprising:
the projection matrix determination module is used for calculating projection matrixes of a camera pixel coordinate system and a manipulator coordinate system according to coordinates of the cross center of the first calibration cross grid plate under the manipulator coordinate system, coordinates under the camera pixel coordinate system and internal reference calibration parameters of the camera; the camera is fixed above the manipulator and does not move along with the manipulator;
the acquisition module is used for acquiring the center coordinate of the flange plate of the manipulator in the camera pixel coordinate system and the standard pose of the target object in the camera pixel coordinate system;
and the mobile coordinate determination module is used for determining the mobile coordinate of the manipulator moving target object to the standard pose in the manipulator coordinate system according to the real-time pose of the target object in the camera pixel coordinate system, the standard pose and the projection matrix.
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