CN112171666A - Pose calibration method and device for visual robot, visual robot and medium - Google Patents
Pose calibration method and device for visual robot, visual robot and medium Download PDFInfo
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- CN112171666A CN112171666A CN202010969339.8A CN202010969339A CN112171666A CN 112171666 A CN112171666 A CN 112171666A CN 202010969339 A CN202010969339 A CN 202010969339A CN 112171666 A CN112171666 A CN 112171666A
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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
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/1653—Programme controls characterised by the control loop parameters identification, estimation, stiffness, accuracy, error analysis
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
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- 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
- G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/80—Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
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Abstract
The embodiment of the application discloses a pose calibration method of a visual robot, which comprises the following steps: generating a third coordinate axis vector of a calibration coordinate system for the mechanical arm of the visual robot according to the third coordinate axis vector of the camera coordinate system of the camera; determining a first coordinate axis vector of the calibration coordinate system according to a third coordinate axis vector of the calibration coordinate system and a second coordinate axis vector of a world coordinate system of the visual robot; and determining the calibration pose of the mechanical arm according to the initial position of the calibration coordinate system, the third coordinate axis vector of the calibration coordinate system and the first coordinate axis vector of the calibration coordinate system. The embodiment of the application also provides a pose calibration device of the visual robot, the visual robot and a storage medium.
Description
Technical Field
The application relates to the field of robot operation, in particular to a pose calibration method and device for a visual robot, the visual robot and a medium.
Background
With the rapid development of the manufacturing industry, the robot as a high and new industry develops rapidly, and the application scene of the robot is continuously expanded. For example: the robot is provided with the vision sensor, and the robot is assisted to detect, judge, identify, measure and the like the external environment according to the vision information acquired by the vision sensor, so that the robot can execute more complex and intelligent tasks.
Before the vision-based robot is applied to use, hand-eye calibration is carried out to obtain the pose relation of the mechanical arm and the camera. For hand-eye calibration of a camera at a fixed position, a common method is to clamp a calibration plate by using a mechanical arm, randomly place the calibration plate in the field of view of the camera, and then complete calibration through a calibration program. In order to obtain a relatively accurate calibration result, random poses often need to be performed at least dozens of times. For most robots, the random position during calibration is usually completed by manual operation, which wastes time and labor.
Disclosure of Invention
In view of this, embodiments of the present application provide a method and an apparatus for calibrating a pose of a visual robot, and a medium, which at least solve the problem of random positions when calibration needs to be completed by manual operation in the related art.
The technical scheme of the embodiment of the application is realized as follows:
in a first aspect, an embodiment of the present application provides a pose calibration method for a visual robot, where the method includes:
generating a third coordinate axis vector of a calibration coordinate system for the mechanical arm of the visual robot according to the third coordinate axis vector of the camera coordinate system of the camera;
determining a first coordinate axis vector of the calibration coordinate system according to a third coordinate axis vector of the calibration coordinate system and a second coordinate axis vector of a world coordinate system of the visual robot;
and determining the calibration pose of the mechanical arm according to the initial position of the calibration coordinate system, the third coordinate axis vector of the calibration coordinate system and the first coordinate axis vector of the calibration coordinate system.
In a second aspect, an embodiment of the present application provides a pose calibration apparatus for a visual robot, where the apparatus includes a first generation module, a first determination module, and a second determination module, where:
the first generation module is used for generating a third coordinate axis vector of a calibration coordinate system for the mechanical arm of the visual robot according to the third coordinate axis vector of the camera coordinate system of the camera;
the first determining module is used for determining a first coordinate axis vector of the calibration coordinate system according to a third coordinate axis vector of the calibration coordinate system and a second coordinate axis vector of a world coordinate system of the visual robot;
the second determining module is configured to determine the calibration pose of the mechanical arm according to the initial position of the calibration coordinate system, the third coordinate axis vector of the calibration coordinate system, and the first coordinate axis vector of the calibration coordinate system.
In a third aspect, an embodiment of the present application provides a visual robot, including:
a body;
the base is used for installing and fixing the mechanical arm of the visual robot;
the camera is arranged at a fixed position outside the base of the vision robot and used for shooting a calibration plate so as to obtain the coordinate of the calibration plate in a camera coordinate system;
the mechanical arm is connected to the base through a joint and used for controlling the calibration plate to reach a calibration pose;
the calibration plate is arranged at the tail end of the mechanical arm and used for determining the conversion relation between the camera and the mechanical arm;
the processor is used for realizing the steps in the pose calibration method when executing the program.
In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the steps in the pose calibration method for a visual robot.
The technical scheme provided by the embodiment of the invention has the beneficial effects that at least:
in the embodiment of the application, firstly, a third coordinate axis vector of a calibration coordinate system is generated for a mechanical arm of the visual robot according to the third coordinate axis vector of a camera coordinate system of a camera; determining a first coordinate axis vector of the calibration coordinate system according to a third coordinate axis vector of the calibration coordinate system and a second coordinate axis vector of a world coordinate system of the visual robot; determining the calibration pose of the mechanical arm according to the initial position of the calibration coordinate system, the third coordinate axis vector of the calibration coordinate system and the first coordinate axis vector of the calibration coordinate system; therefore, the relative position of the mechanical arm in the calibration coordinate system is determined through the third coordinate axis vector of the camera coordinate system and the second coordinate axis vector of the world coordinate system, and the calibration pose of the mechanical arm, namely the pose of the calibration plate at the tail end of the mechanical arm is determined by combining the initial position of the calibration coordinate system, so that the visual pose of the calibration plate for calibration can be automatically generated without manual operation, the manpower and the material resources can be saved, and the deployment time can be shortened.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments are briefly introduced below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without inventive efforts, wherein:
fig. 1 is a schematic flowchart of a pose calibration method for a visual robot according to an embodiment of the present disclosure;
fig. 2A is a schematic structural diagram of a robot arm body according to an embodiment of the present disclosure;
fig. 2B is a schematic frame diagram of a pose calibration method provided in the embodiment of the present application;
fig. 3 is a schematic diagram of a relationship between three coordinate systems in a pose calibration process according to an embodiment of the present application;
fig. 4A is a schematic flowchart of a process of generating a calibration pose according to an embodiment of the present application;
FIG. 4B is a schematic diagram of determining a z-axis vector in a calibration coordinate system according to an embodiment of the present application;
fig. 5 is a schematic structural diagram of a pose calibration apparatus of a visual robot according to an embodiment of the present disclosure;
fig. 6 is a hardware entity diagram of a vision robot according to an embodiment of the present disclosure.
Detailed Description
According to the kinematics knowledge of the robot, the robot also refers to a multi-joint multi-degree-of-freedom mechanical arm, and the mechanical arm is driven by a plurality of rotating motors to realize the controllable positioning drive of the tail end of the robot. The robot itself is sensorless, and a method of operating a target by the robot according to an image obtained by a camera is called robot vision by installing the camera on or near the robot and obtaining target coordinates by using the camera.
In the robot vision system, the conversion between the pixel coordinate and the actual coordinate is realized, and firstly, calibration is carried out. The calibration includes not only camera calibration but also hand-eye calibration of the robot system. The transformation relation between the camera coordinate system and the manipulator coordinate system is obtained through hand-eye calibration, camera internal parameters, external parameters and distortion coefficients are obtained through the camera calibration, and pose of the camera coordinate system in the manipulator coordinate system is obtained through the hand-eye calibration.
1. The camera calibration part calibrates the camera by a Zhang Zhengyou chessboard calibration method.
The checkerboard is a calibration plate consisting of black and white square spaces that serves as a camera calibration target (mapping from the real world to objects within the digital image). The reason for using a checkerboard as a calibration object is that the planar checkerboard pattern is easier to handle (as opposed to a complex three-dimensional object), but at the same time, a two-dimensional object may lack some information relative to a three-dimensional object, and thus an image is captured by changing the orientation of the checkerboard multiple times in an attempt to obtain richer coordinate information.
Because the calibration result of the camera needs to be used in the subsequent hand-eye calibration, the chessboard picture needs to be observed when being shot: the fixed position of the calibration plate is fixed, the hand-eye combination body is changed into a posture to shoot a picture, and pairwise transformation matrixes of the two sets of coordinate systems are further obtained through OpenCv or Matlab.
2. Hand-eye calibration part
In order to establish a relationship between the coordinate systems of the camera (i.e. the eye of the robot) and the robot (i.e. the hand of the robot), calibration of the coordinate systems of the robot and the camera is necessary, which is also called hand-eye calibration.
Generally, the hand-eye relationship of a robot is divided into eye-in-hand (eye-in-hand) and eye-to-hand (eye-to-hand). Where the eye is on hand, the robot's vision system moves with the end of the arm; and in the case of eyes beside the hands, the vision system of the robot is fixed with the robot base and cannot move in the world coordinate system.
For the condition that the eyes are on the hands, calibrating the hands of the robot by calibrating the eyes to obtain the coordinate transformation relation between the robot base and the camera; and for the condition that the eyes are beside the hands, calibrating the robot by the hands, namely calibrating to obtain the coordinate transformation relation between the tail end of the robot and the camera. In both calibration methods, the invariants between the robot and the camera are determined, so that a conversion matrix of the robot and the camera is established.
The purpose of hand-eye calibration is as follows: and obtaining a transformation matrix for transforming the robot coordinate system into the camera coordinate system. Namely, the hand-eye position relationship of the robot, which is represented by the symbol X, can be solved by the equation AX ═ XB; wherein A is the conversion relation from the manipulator coordinate system to the basic coordinate system and can be obtained from the robot system; x represents the conversion relation from a camera coordinate system to a manipulator coordinate system; this transformation relationship is constant (unknown, pending) during the movement of the manipulator; and B represents the conversion relation (camera external parameters) from the camera coordinate system to the calibration coordinate system, and can be obtained by the camera calibration.
For the solution of the coordinate transformation from the calibration board to the camera, internal and external parameters of the camera and the projector are calibrated through the calibration board, and the three-dimensional coordinate of the calibrated characteristic point in a camera coordinate system can be reconstructed by utilizing a three-dimensional reconstruction function. Meanwhile, the coordinate of the characteristic point on the calibration plate under the coordinate system of the calibration plate is known from the design value, so that the transformation matrix of the camera coordinate system and the coordinate system of the calibration plate can be solved through rigid body transformation.
In practice, it is known that A, B each find X with an infinite number of solutions. At least two sets a and B, i.e. at least 3 positions of camera calibration results, are required to achieve a unique solution.
For hand-eye calibration of a camera at a fixed position, a common method is to clamp a calibration plate by using a mechanical arm, randomly place the calibration plate in the field of view of the camera, and then complete calibration through a calibration program. In order to obtain a relatively accurate calibration result, the random calibration pose often needs to be determined at least dozens of times.
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
An embodiment of the present application provides a method for calibrating a pose of a visual robot, and fig. 1 is a schematic flow chart of the method for calibrating a pose of a visual robot provided in the embodiment of the present application, and as shown in fig. 1, the method at least includes the following steps:
and step S110, generating a third coordinate axis vector of a calibration coordinate system for the mechanical arm of the visual robot according to the third coordinate axis vector of the camera coordinate system of the camera.
Here, the position of the camera and the camera coordinate system are fixed, and the third coordinate axis vector of the camera coordinate system of the camera is ZcVector, a user-specified vector. In general, ZcThe vector is to use the optical center of the camera as the origin, coincide with the optical axis, and be perpendicular to the imaging plane, and take the shooting direction as the positive direction, in the calibration process, for the vertical downward installationCan roughly specify ZcIs represented by (0,0, -1)TSo that the mechanical arm falls within the field of view of the camera. In other embodiments, the camera may be installed in other directions, and accordingly, the robot arm also falls within the field of view of the camera, which may be determined according to actual situations in the implementation process, and this is not limited in this application.
Here, the third coordinate axis vector of the calibration coordinate system is ZgVector, Z generated to ensure the calibrated pose falls within the camera field of viewgThe vector should lie in ZcThe inverse of the vector is within the cone of the limited cone angle of the axis, wherein the limited cone angle is the sum of Z and the user-specified sum during calibrationcThe maximum angle between the vectors, or an empirical value, is not limited in this embodiment.
Here, Z is generatedgThe course of vectors, one possible implementation being according to a given ZgVector orientation and cone angle range betamaxRandomly generating beta epsilon [0, beta ]max]And establishing an axis as ZgDetermining Z by using the inverse of the vector as axis and cone angle betagThe coordinate representation of the vector in the camera coordinate system is further converted into the representation of the world coordinate system through the conversion matrix, and Z is obtainedgAnd (5) vector quantity. The actual implementation process can be determined according to actual situations, and the embodiment of the present application is not limited to this.
And step S120, determining a first coordinate axis vector of the calibration coordinate system according to the third coordinate axis vector of the calibration coordinate system and the second coordinate axis vector of the world coordinate system of the visual robot.
Here, the third coordinate axis vector of the calibration coordinate system is Z generated in the above step S110gThe vector, directed from the calibration plate to the camera, is generally directed above the robotic arm.
Here, the second coordinate axis vector of the world coordinate system of the visual robot is a y-axis vector, and is generally directed to the left of the robot arm.
Here, the first coordinate axis vector of the calibration coordinate system is xgVector by summing the y-axis vector with ZgVector cross productX can be determinedgVector and vector to the left in the y-axis, ZgIn the case of vector up, x is obtained by cross multiplication according to the right-hand spiral rulegVector away from y-axis vector sum ZgThe plane formed by the vectors points to the rear of the mechanical arm (the current sight line is backward), namely the direction far away from the mechanical arm body.
Step S130, determining the calibration pose of the mechanical arm according to the initial position of the calibration coordinate system, the third coordinate axis vector of the calibration coordinate system and the first coordinate axis vector of the calibration coordinate system.
Here, the starting position of the calibration coordinate system is a random position in the world coordinate system, and is denoted by pr＝(x,y,z)TThe method can be randomly generated according to a random range and rules input by a user, and also can be randomly generated according to the visual field range of a camera and the characteristic parameters of the mechanical arm.
Here, the calibration pose of the mechanical arm is the position and the posture of the calibration plate in the world coordinate system, includes 6 degrees of freedom, and can be determined by a random position in the world coordinate system and three coordinate axis vectors of the calibration coordinate system.
One possible implementation is to obtain the Z of the calibration coordinate system according to the above stepsgVector sum xgThe vector can obtain a second coordinate axis vector y under the calibration coordinate system according to the right-hand rulegVector and then add random position pr＝(x,y,z)TThe calibration pose of the mechanical arm can be determined.
In the embodiment of the application, firstly, a third coordinate axis vector of a calibration coordinate system is generated for a mechanical arm of the visual robot according to the third coordinate axis vector of a camera coordinate system of a camera; then, determining a first coordinate axis vector of the calibration coordinate system according to a third coordinate axis vector of the calibration coordinate system and a second coordinate axis vector of a world coordinate system of the visual robot; and finally, determining the calibration pose of the mechanical arm according to the initial position of the calibration coordinate system, the third coordinate axis vector of the calibration coordinate system and the first coordinate axis vector of the calibration coordinate system, thus determining the relative position of the mechanical arm in the calibration coordinate system through the third coordinate axis vector of the camera coordinate system and the second coordinate axis vector of the world coordinate system, and determining the calibration pose of the mechanical arm, namely the pose of the calibration plate at the tail end of the mechanical arm by combining the initial position of the calibration coordinate system, thereby being free from manual operation, automatically generating the visible pose of the calibration plate for calibration, saving manpower and material resources and shortening the deployment time.
In other embodiments, the third coordinate axis vector of the camera coordinate system is parallel to the optical axis of the camera, and the normal vector of the calibration plate plane in the calibration coordinate system is not parallel to the optical axis of the camera. For example, the third coordinate axis of the camera coordinate system is parallel to the optical axis of the camera, and the third coordinate axis of the calibration coordinate system is perpendicular to the calibration plate, so that the situation that points on the calibration plate cannot fall into the visual field range of the camera during hand-eye calibration due to the fact that the calibration plate is parallel to the optical axis of the camera is avoided.
In other embodiments, after the calibration pose of the mechanical arm is automatically generated through the steps, the automatic planning control of the mechanical arm can be completed, and the implementation process can be realized according to the following steps: determining a current position of the robotic arm; generating a moving track of the mechanical arm according to the current position and the calibration pose; and controlling the mechanical arm to reach the calibration pose according to the moving track.
The obtained calibration pose of the mechanical arm is used as an expected pose and input into the autonomous planning control module, a track of the current position is generated, and information such as joint angles and joint speeds is sent to the mechanical arm to control the mechanical arm to reach the calibration pose.
The embodiment of the application provides a pose calibration method of a visual robot, which solves the problem of generation of random calibration poses in the hand-eye calibration process of a fixed camera, saves manual operation, and controls the robot to move to an appointed calibration pose in an autonomous planning manner.
Before the vision-based robot is applied to use, hand-eye calibration is carried out to obtain the pose relation between the mechanical arm and the camera. For most robots, the random position during calibration is usually completed by manual operation, which wastes time and labor and cannot ensure sufficient randomness. The calibration pose is automatically generated by the following method, and the automatically generated calibration pose should have the following properties: (1) is positioned in the visual field range of the camera; (2) the calibration plate is not shielded by environment objects such as a mechanical arm and the like; (3) the random pose should be easy to implement for the robotic arm.
The calibration pose is the calibration position and direction during calibration. The position of an object can be represented by (x, y, z); the direction may be represented by (α, β, γ), where α, β, γ respectively represent angles of rotation around three coordinate axes. Therefore, one calibration pose has 6 degrees of freedom.
Fig. 2A is a schematic structural diagram of a robot arm body according to an embodiment of the present invention, as shown in fig. 2A, including a base 201 and a robot arm 202, wherein a world coordinate system F is established on the base 201wThe x-axis is defined to point forward of the robot arm 202, the y-axis is defined to point to the left of the robot arm 202, and the z-axis is defined to point above the robot arm 202.
Fig. 2B is a schematic frame diagram of the pose calibration method provided in the embodiment of the present application, and as shown in fig. 2B, the pose calibration method includes a base 201, a mechanical arm 202, a camera 203, and a calibration plate 204, where the camera 203 is installed outside the base and above the calibration plate 204, a z-axis of the camera is specified to be vertically downward, and the calibration plate 204 is shot in a calibration process to obtain coordinates of the calibration plate in a camera coordinate system; the mechanical arm 202 is connected to the base 201 through a joint; the calibration plate 204 is fixed at the end of the mechanical arm 202; during calibration, the calibration plate 204 is moved to a specific pose in the camera view by controlling the robotic arm to further complete calibration through a calibration procedure.
Fig. 3 is a relationship schematic diagram of three coordinate systems in the pose calibration process provided by the embodiment of the present application, and as shown in fig. 3, there are three coordinate systems: world coordinate system FwCamera coordinate system FcAnd a calibration coordinate system Fg，TwcRepresenting the world coordinate system FwTo the camera coordinate system FcThe transformation matrix of (2); t iscgRepresenting the camera coordinate system FcTo a calibration coordinate system FgA change matrix of (a); t iswgRepresenting a calibrated coordinate system FgTo world coordinate system FwThe transformation matrix of (2). Let xgThe vector is the direction of the calibration plate far away from the mechanical arm body. Wherein:
world coordinate system FwIs the reference coordinate system for planning control of the robot arm and is generally selected to coincide with the base coordinate system of the robot arm.
Camera coordinate system F for pose of camera in world coordinate systemcAnd (4) showing. Z of camera coordinate systemcThe vector is the orientation of the camera view angle and is specified to be vertically downward, so that a user does not need to care about the definition of an actual camera coordinate system and only needs to take any x in the coordinate systemcVector sum ycThe coordinate representation of the vector may satisfy the right-hand rule.
Calibration coordinate system FgFor the coordinate system established on the calibration plate, as a reference coordinate system, the position and posture of the calibration plate in the world coordinate system are described. Z defining a calibration coordinate systemgThe vector is a normal vector with a calibration pattern surface on a calibration plate, xgThe vector points in a direction away from the mounting flange of the calibration plate, ygThe vectors are determined according to the right-hand rule.
In the implementation process, the calibration plate is installed at the tail end of the mechanical arm, the system receives random space limiting information of the mechanical arm input by a user, the random space limiting information comprises a random position range of the movement of the mechanical arm, the direction of a camera, an angle range of the calibration plate and an optical axis of the camera and the like, and the pose of the calibration plate in a world coordinate system is automatically generated. Fig. 4A is a schematic flowchart of a process of generating a calibration pose according to an embodiment of the present application, and as shown in fig. 4A, the process at least includes the following steps:
and S410, acquiring a random space limit information range and a random rule of the calibration pose.
Here, the random space limitation information includes a random range and a random rule, where the random range is a space range where an origin of the calibration coordinate system takes a value, and a common random range is defined as: the maximum value and the minimum value of the three directions of the x axis, the y axis and the z axis are respectively limited, and other random range limiting forms can also be adopted. In practice, the camera can be set according to the visual field range of the camera and specific parameters of the mechanical arm, and the mechanical arm can also be directly input by a user, so that the mechanical arm is not separated from the visual field of the camera, and the calibration pose of the mechanical arm can be reached.
Here, the random rule refers to a rule and an algorithm for generating a random calibration coordinate system origin within a random range, and a common random rule is: the sampling is uniform in a random range, and other random rules that can be implemented may also be used, and the embodiments of the present application are not limited herein.
S420, generating random position p of the mechanical armrAnd as a calibration coordinate system FgOf the origin.
Here, the robot arm is generated in the world coordinate system F according to a random rule within a specific random rangewRandom position p in (1)r＝(x,y,z)TCan be used as a calibration coordinate system FgTo ensure the above property (3), the random position should be in the reachable space of the robot arm to ensure that the subsequent planning control can have a solution.
S430, according to ZcVector random generation calibration coordinate system FgZ in (1)gAnd (5) vector quantity.
Here, the user roughly estimates a camera coordinate system FcLower ZcThe pointing direction of the vector. In general, ZcThe axial vector should use the optical center of the camera as the origin, coincide with the optical axis, and be perpendicular to the imaging plane, and the photographing direction is the positive direction, during the calibration process, for the camera installed vertically downwards, it can roughly be considered as ZcIs represented by (0,0, -1)TSo that the mechanical arm falls within the field of view of the camera.
Here, in order to secure the above property (1), ZgThe vector should lie in ZcThe inverse of the vector is within the cone of the finite cone angle of the axis. Fig. 4B is a schematic diagram of determining a Z-axis vector in a calibration coordinate system according to an embodiment of the present application, where as shown in fig. 4B, Z is given by a usergVector orientation and cone angle range betamaxThereafter, the user can randomly generate beta e [0, beta ]max]，α∈[0,2π]Then Z isgThe coordinates of the vector in the camera coordinate system are represented as
Further, T can be usedwcWill be provided with
Conversion into a representation of the world coordinate system, i.e. obtaining ZgAnd (5) vector quantity.
S440, according to ZgVector and world coordinate system FwThe lower y-axis vector to obtain xgAnd (5) vector quantity.
Here, to ensure the above properties (2) and (3), the coordinate system F is calibratedgX ofgThe vector should be away from the robot arm, using Z determined in step S530 abovegVector (representing arm up direction) and FwThe y-axis vector (representing the leftward direction of the mechanical arm) under the coordinate system is subjected to cross multiplication to obtain xgVector such that xgThe vector (representing the robot arm rearward direction) points away from the robot arm.
S450, in a calibration coordinate system FgAccording to zgVector sum xgVector to get ygAnd (5) vector quantity.
Here, Z obtained from the above step S430 is calculated according to the right-hand rulegVector sum x obtained in step S440gVector to obtain a calibration coordinate system FgY ofgAnd (5) vector quantity.
S460, according to zgVector, xgVector, ygVector and random position, determining the calibration pose.
Here, at random position p obtained in step S410r＝(x,y,z)TAs translation vector, to be composed of ZgVector, xgVector sum ygThe vector is used as the coordinate axis direction of a calibration coordinate system, and the calibration plate is determined in a world coordinate system FwLower calibration pose FgAnd obtaining TwcIs represented by a matrix of [ x ]g,yg,zg,pr]。
In some other embodiments, the autonomous planning control of the robotic arm may be further performed by: the mechanical arm is FgAs desiredPose is input into the autonomous planning control module to generate the current position to FgThe trajectory of (2). Acquiring characteristic parameters of the mechanical arm, sending the characteristic parameters to the mechanical arm, and controlling the mechanical arm to reach FgAnd (5) pose.
Here, the characteristic parameters of the mechanical arm include information such as a characteristic joint angle and a joint speed, and the manner of acquiring the characteristic parameters of the mechanical arm is any available manner in the prior art, and is not limited herein.
In the embodiment of the application, the calibration pose which is within the visual field range of the camera, the calibration plate is not shielded by environment objects such as the mechanical arm and the like, and the mechanical arm is easy to execute is obtained according to the user input, manual operation is not needed, the visible pose of the calibration plate for calibration can be automatically generated, manpower and material resources can be saved, the deployment time can be shortened, the randomness of the calibration pose can be ensured, and the calibration precision can be improved.
The embodiment of the application provides a pose calibration device 500 of a visual robot, which comprises modules and units, wherein the modules can be realized by a processor in the visual robot; of course, the implementation can also be realized through a specific logic circuit; in the implementation process, the Processor may be a Central Processing Unit (CPU), a microprocessor Unit (MPU), a Digital Signal Processor (DSP), a Field Programmable Gate Array (FPGA), or the like.
Fig. 5 is a schematic structural diagram of a pose calibration apparatus of a visual robot according to an embodiment of the present application, and as shown in fig. 5, the pose calibration apparatus 500 of a visual robot includes: the apparatus comprises a first generating module 510, a first determining module 520, and a second determining module 530, wherein:
the first generating module 510 is configured to generate a third coordinate axis vector of a calibration coordinate system for a mechanical arm of the visual robot according to the third coordinate axis vector of the camera coordinate system of the camera;
the first determining module 520 is configured to determine a first coordinate axis vector of the calibration coordinate system according to the third coordinate axis vector of the calibration coordinate system and the second coordinate axis vector of the world coordinate system of the visual robot;
the second determining module 530 is configured to determine the calibration pose of the mechanical arm according to the initial position of the calibration coordinate system, the third coordinate axis vector of the calibration coordinate system, and the first coordinate axis vector of the calibration coordinate system.
In other embodiments, the third coordinate axis vector of the camera coordinate system is parallel to the optical axis of the camera, and the normal vector of the calibration plate plane in the calibration coordinate system is not parallel to the optical axis of the camera.
In other embodiments, the apparatus further comprises a second generation module and a third generation module, wherein: the second generation module is used for generating an initial position of the calibration coordinate system for the mechanical arm according to the pose range of the mechanical arm of the visual robot input by a user; the third generation module comprises a first determination unit for determining a visual field range of a camera and characteristic parameters of a mechanical arm of the visual robot; and the generating unit is used for generating the initial position of the calibration coordinate system for the mechanical arm according to the visual field range and the characteristic parameters of the mechanical arm.
In other embodiments, the third coordinate axis vector of the camera coordinate system points to a vertically downward direction, and/or the first generating module is further configured to generate the third coordinate axis vector of the calibration coordinate system for the robot arm of the vision robot within a range of taking a reverse vector of the third coordinate axis vector of the camera coordinate system as an axis and taking a specific angle value as a maximum cone angle.
In other embodiments, the first coordinate axis vector points away from the robot arm body.
In other embodiments, the first determining module is further configured to perform a cross-product operation on the third coordinate axis vector of the calibrated coordinate system and the second coordinate axis vector of the world coordinate system, so as to determine the first coordinate axis vector of the calibrated coordinate system.
In other embodiments, the second determination module comprises a second determination unit and a third determination unit, wherein: the second determining unit is configured to determine a second coordinate axis vector of the calibration coordinate system according to a right-hand rule and according to a third coordinate axis vector of the calibration coordinate system and the first coordinate axis vector of the calibration coordinate system; the third determining unit is configured to determine the calibration pose of the mechanical arm according to the initial position of the calibration coordinate system, the first coordinate axis vector of the calibration coordinate system, the second coordinate axis vector of the calibration coordinate system, and the third coordinate axis vector of the calibration coordinate system.
In other embodiments, the apparatus 500 further comprises a third determining module, a fourth generating module, and a control module, wherein: the third determination module is used for determining the current position of the mechanical arm; the fourth generating module is configured to generate a moving track of the mechanical arm according to the current position and the calibration pose; and the control module is used for controlling the mechanical arm to reach the calibration pose according to the moving track.
In other embodiments, the control module comprises an acquisition unit and a control unit, wherein: the acquisition unit is used for acquiring characteristic information of the mechanical arm; wherein the characteristic information comprises joint angle and joint velocity; and the control unit is used for controlling the mechanical arm to reach the calibration pose according to the moving track and the characteristic information.
Here, it should be noted that: the above description of the apparatus embodiments, similar to the above description of the method embodiments, has similar beneficial effects as the method embodiments. For technical details not disclosed in the embodiments of the apparatus of the present application, reference is made to the description of the embodiments of the method of the present application for understanding.
It should be noted that, in the embodiment of the present application, if the above method for calibrating the pose of the visual robot is implemented in the form of a software functional module, and the method is sold or used as an independent product, the method may also be stored in a computer-readable storage medium. Based on such understanding, the technical solutions of the embodiments of the present application may be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for enabling a device automatic test line including the storage medium to execute all or part of the methods described in the embodiments of the present application. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read Only Memory (ROM), a magnetic disk, or an optical disk.
Correspondingly, an embodiment of the present application provides a visual robot, and fig. 6 is a schematic diagram of a hardware entity of the visual robot provided in the embodiment of the present application, and as shown in fig. 6, the hardware entity of the visual robot includes: body 601, base 602, camera 603, robotic arm 604, calibration plate 605, memory 606, and processor 607, wherein:
the base 602 is used for installing and fixing a mechanical arm of the vision robot;
the camera 603 is installed at a fixed position outside a base of the vision robot, and is used for shooting a calibration plate to obtain coordinates of the calibration plate in a camera coordinate system;
the mechanical arm 604 is connected to the base through a joint and used for controlling the calibration plate to reach a calibration pose;
the calibration board 605 is installed at the end of the mechanical arm and used for determining the conversion relationship between the camera and the mechanical arm;
the memory 606 and the processor 607 are disposed on the body, the memory 606 stores a computer program that can be executed on the processor 607, and the processor 607 can include, but is not limited to, any one or more of a central processing unit, a microprocessor, a digital signal processor, or a field programmable gate array. It is understood that the electronic device implementing the above-mentioned processor function may be other electronic devices, and the embodiments of the present application are not particularly limited.
In practice, a world coordinate system is established on the base 602, and a second coordinate axis of the world coordinate system is set to point to the left of the robot 604; establishing a camera coordinate system on the camera 603, and setting a third coordinate axis of the camera coordinate system to point vertically downwards; a calibration coordinate system is established on the calibration plate 605, and an initial position of the calibration coordinate system is randomly generated as an origin according to a specific pose range.
The body 601 may include, but is not limited to, a housing of the vision robot, power components, memory, and peripheral hardware circuitry necessary to support the normal operation of the camera 603, the robotic arm 604, the memory 605, and the processor 606, etc.
The camera 603 is installed at an upper position outside the base of the vision robot, and a camera is defined to face vertically downward to photograph the calibration plate 605 to obtain pixel coordinates of the calibration plate 605.
Correspondingly, the present application provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the steps in the pose calibration method for a visual robot in the foregoing embodiments.
Here, it should be noted that: the above description of the storage medium and the embodiment of the visual robot is similar to the description of the above embodiment of the method, and has similar advantageous effects to the embodiment of the method. For technical details not disclosed in the embodiments of the storage medium and the vision robot of the present application, reference is made to the description of the embodiments of the method of the present application for understanding.
It should be appreciated that reference throughout this specification to "one embodiment" or "an embodiment" means that a particular feature, structure or characteristic described in connection with the embodiment is included in at least one embodiment of the present application. Thus, the appearances of the phrases "in one embodiment" or "in an embodiment" in various places throughout this specification are not necessarily all referring to the same embodiment. Furthermore, the particular features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. It should be understood that, in the various embodiments of the present application, the sequence numbers of the above-mentioned processes do not mean the execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present application. The above-mentioned serial numbers of the embodiments of the present application are merely for description and do not represent the merits of the embodiments.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
In the several embodiments provided in the present application, it should be understood that the disclosed vision robot and the pose calibration method of the vision robot may be implemented in other ways. The above described embodiments of the vision robot are only schematic, for example, the division of the cell is only a logical functional division, and there may be other division ways in actual implementation, such as: multiple units or components may be combined, or may be integrated into another system, or some features may be omitted, or not implemented. In addition, the coupling, direct coupling or communication connection between the components shown or discussed may be through some interfaces, and the indirect coupling or communication connection between the visual robot or the unit may be electrical, mechanical or other.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units; can be located in one place or distributed on a plurality of network units; some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiments of the present application.
In addition, all functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may be separately regarded as one unit, or two or more units may be integrated into one unit; the integrated unit can be realized in a form of hardware, or in a form of hardware plus a software functional unit.
Alternatively, the integrated units described above in the present application may be stored in a computer-readable storage medium if they are implemented in the form of software functional modules and sold or used as independent products. Based on such understanding, the technical solutions of the embodiments of the present application may be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for causing an automatic test line of a device to perform all or part of the methods described in the embodiments of the present application. And the aforementioned storage medium includes: a removable storage device, a ROM, a magnetic or optical disk, or other various media that can store program code.
The methods disclosed in the several method embodiments provided in the present application may be combined arbitrarily without conflict to obtain new method embodiments.
Features disclosed in several of the method or visual robot embodiments provided herein may be combined in any combination to arrive at new method embodiments or visual robot embodiments without conflict.
The above description is only for the embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily conceive of changes or substitutions within the technical scope of the present application, and shall be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (13)
1. A pose calibration method of a visual robot is characterized by comprising the following steps:
generating a third coordinate axis vector of a calibration coordinate system for the mechanical arm of the visual robot according to the third coordinate axis vector of the camera coordinate system of the camera;
determining a first coordinate axis vector of the calibration coordinate system according to a third coordinate axis vector of the calibration coordinate system and a second coordinate axis vector of a world coordinate system of the visual robot;
and determining the calibration pose of the mechanical arm according to the initial position of the calibration coordinate system, the third coordinate axis vector of the calibration coordinate system and the first coordinate axis vector of the calibration coordinate system.
2. The method of claim 1, wherein a third coordinate axis vector of the camera coordinate system is parallel to the optical axis of the camera, and a normal vector of a calibration plate plane in the calibration coordinate system is not parallel to the optical axis of the camera.
3. The method of claim 1 or 2, wherein the method further comprises:
and generating an initial position of the calibration coordinate system for the mechanical arm according to the pose range of the mechanical arm of the visual robot input by a user.
4. The method of claim 1 or 2, wherein the method further comprises:
determining a visual field range of a camera and characteristic parameters of a mechanical arm of the visual robot;
and generating an initial position of the calibration coordinate system for the mechanical arm according to the visual field range and the characteristic parameters of the mechanical arm.
5. Method according to any one of claims 1 to 4, characterized in that the third coordinate axis vector of the camera coordinate system points in a vertically downward direction, and/or
The generating a third coordinate axis vector of a calibration coordinate system for the mechanical arm of the visual robot according to the third coordinate axis vector of the camera coordinate system of the camera comprises:
and generating a third coordinate axis vector of the calibration coordinate system for the mechanical arm of the visual robot within a range of taking a reverse vector of the third coordinate axis vector of the camera coordinate system as an axis and taking a specific angle value as a maximum cone angle.
6. The method of any of claims 1 to 5, wherein the first coordinate axis vector points away from the robotic arm.
7. The method of any one of claims 1 to 6, wherein determining the first coordinate axis vector of the calibration coordinate system based on the third coordinate axis vector of the calibration coordinate system and the second coordinate axis vector of the world coordinate system of the visual robot comprises:
and performing cross multiplication operation on the third coordinate axis vector of the calibrated coordinate system and the second coordinate axis vector of the world coordinate system to determine the first coordinate axis vector of the calibrated coordinate system.
8. The method according to any one of claims 1 to 7, wherein the determining the calibration pose of the mechanical arm according to the starting position of the calibration coordinate system, the third coordinate axis vector of the calibration coordinate system and the first coordinate axis vector of the calibration coordinate system comprises:
determining a second coordinate axis vector of the calibration coordinate system according to a right-hand rule and according to a third coordinate axis vector of the calibration coordinate system and a first coordinate axis vector of the calibration coordinate system;
and determining the calibration pose of the mechanical arm according to the initial position of the calibration coordinate system, the first coordinate axis vector of the calibration coordinate system, the second coordinate axis vector of the calibration coordinate system and the third coordinate axis vector of the calibration coordinate system.
9. The method of any of claims 1 to 8, further comprising:
determining a current position of the robotic arm;
generating a moving track of the mechanical arm according to the current position and the calibration pose;
and controlling the mechanical arm to reach the calibration pose according to the moving track.
10. The method of claim 9, wherein said controlling the robotic arm to the calibration pose according to the movement trajectory comprises:
acquiring characteristic information of the mechanical arm; wherein the characteristic information comprises joint angle and joint velocity;
and controlling the mechanical arm to reach the calibration pose according to the moving track and the characteristic information.
11. A pose calibration apparatus of a visual robot is characterized by comprising a first generation module, a first determination module and a second determination module, wherein:
the first generation module is used for generating a third coordinate axis vector of a calibration coordinate system for the mechanical arm of the visual robot according to the third coordinate axis vector of the camera coordinate system of the camera;
the first determining module is used for determining a first coordinate axis vector of the calibration coordinate system according to a third coordinate axis vector of the calibration coordinate system and a second coordinate axis vector of a world coordinate system of the visual robot;
the second determining module is configured to determine the calibration pose of the mechanical arm according to the initial position of the calibration coordinate system, the third coordinate axis vector of the calibration coordinate system, and the first coordinate axis vector of the calibration coordinate system.
12. A vision robot, comprising:
a body;
the base is used for installing and fixing the mechanical arm of the visual robot;
the camera is arranged at a fixed position outside the base of the vision robot and used for shooting a calibration plate so as to obtain the coordinate of the calibration plate in a camera coordinate system;
the mechanical arm is connected to the base through a joint and used for controlling the calibration plate to reach a calibration pose;
the calibration plate is arranged at the tail end of the mechanical arm and used for determining the conversion relation between the camera and the mechanical arm;
memory and a processor, provided on the body, the memory storing a computer program executable on the processor, characterized in that the processor implements the steps of the method according to any one of claims 1 to 10 when executing the program.
13. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the method of any one of claims 1 to 10.
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