CN112659112A - Robot eye calibration method based on line laser scanner - Google Patents
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Abstract
The invention provides a robot hand-eye calibration method based on a line laser scanner, which comprises the following steps: taking the center of a standard ball fixed on one side of the robot as a calibration point; controlling the robot to act so that the line laser scanner obtains the position coordinates of the calibration point under the coordinate system of the line laser scanner in different postures; and obtaining a hand-eye calibration matrix representing the position relation between the line laser scanner and the robot end effector by solving an objective function by adopting a nonlinear optimization method. The invention can avoid the problem that the laser surface needs to directly pass through the calibration point during calibration, has convenient operation, effectively avoids experimental data errors caused by shaking of a robot or the precision of a line laser scanner, and avoids error transmission caused by a two-step method through one-step solution.
Description
Technical Field
The invention relates to the technical field of hand-eye robots, in particular to a robot hand-eye calibration method based on a line laser scanner.
Background
With the development of industrial automation, robots are increasingly applied to production and manufacturing in various fields, vision plays a very important role in the application field of robots, and hand-eye type robot systems are widely applied in the fields of welding engineering, electronic assembly and the like. The first method is that the vision sensor is fixed on the robot end effector, and the measured object can be observed from different visual angles along with the movement of the robot end effector, so that the robot end effector is a main way for realizing active vision; the second is that the eye is separated from the hand, and the position of the eye is fixed relative to the hand, but this device mode may have some visual dead angles in the actual measurement process, and the measurement precision is reduced because the measurement distance is far. Therefore, a first eye-on-hand mounting method is generally adopted, in which a vision sensor is mounted on a robot end effector to obtain position information of an object in space.
And acquiring a spatial position coordinate transformation relation between the visual sensor and the robot end effector based on the precondition that the relation between the visual sensor coordinate system and the robot end effector is fixed and unchanged, namely calibrating the hand and the eye. The hand-eye calibration problem is generally solved by solving a homogeneous matrix equation AX ═ XB, mainly by solving equations in a two-step method and a single-step method. The two-step method is to decompose a calibration equation, firstly solve a rotation part, and then solve a translation part by using a rotation matrix. The single-step method can simultaneously solve the rotation matrix and the translation amount and is mainly divided into a quaternion method and a nonlinear optimization method. Simulation data tests show that the accuracy of solving the calibration parameters by the quaternion or the dual quaternion is lower than that of nonlinear optimization, and the method is suitable for the condition of no data noise.
Disclosure of Invention
The invention aims to provide a robot hand-eye calibration method based on a line laser scanner, wherein the line laser scanner is installed on a robot end actuator, and hand-eye relation is solved by adopting a nonlinear optimization one-step method, so that experimental data errors and error transmission caused by a two-step method can be effectively avoided.
The technical scheme of the invention is as follows:
a robot eye calibration method based on a line laser scanner fixed on a robot end effector comprises the following steps:
(1) taking the center of a standard ball fixed on one side of the robot as a calibration point;
(2) controlling the robot to act so that the line laser scanner obtains the position coordinates of the calibration point under the coordinate system of the line laser scanner in different postures;
(3) and (3) obtaining a hand-eye calibration matrix representing the position relation between the line laser scanner and the robot end effector by solving the following objective functions by adopting a nonlinear optimization method:
wherein X represents a hand-eye calibration matrix, m represents the total number of measurements, BtiRepresenting the homogeneous transformation matrix, P, of the robot end effector coordinate system to the robot base coordinate system in the ith measurementsiRepresenting the position coordinates of the calibration point in the ith measurement in the coordinate system of the line laser scanner, Bt1Represents the homogeneous transformation matrix of the robot end effector coordinate system to the robot base coordinate system in the 1 st measurement, Ps1The coordinates of the position of the calibration point in the 1 st measurement under the line laser scanner coordinate system are shown.
The robot eye calibration method based on the line laser scanner comprises the following steps of (2):
(21) performing least square circle fitting on an arc line formed on the surface of a standard spherical body by a laser measuring line emitted by a line laser scanner to obtain the center and the radius of a tangent plane circle;
(22) and determining the position coordinates of the calibration point under the coordinate system of the online laser scanner by adopting the following formula according to the circle center and the radius of the tangent circle:
Psi＝(xi，yi，zi)
wherein, PsiRepresents the position coordinate, x, of the calibration point in the ith measurement in the coordinate system of the line laser scanneri、yi、ziRespectively represents x, y, z coordinates and x 'of the calibration point in the ith measurement in the coordinate system of the line laser scanner'i、z′iRespectively representing x, z coordinates of the center of a tangent circle obtained in the ith measurement under the coordinate system of the line laser scanner, riThe radius of the tangent circle obtained in the ith measurement is shown, and R is the radius of the standard sphere.
According to the technical scheme, the standard sphere center in the space is used as the calibration point, the difficult problem that the laser surface needs to directly pass through the calibration point during calibration can be avoided, the operation is convenient, the line laser scanner obtains the position coordinates of the calibration point under the coordinate system of the line laser scanner in different postures by controlling the robot, the hand-eye relation is solved by adopting a nonlinear optimization one-step method, the experimental data error caused by the shaking of the robot or the precision of the line laser scanner is effectively avoided, the rotating part and the translation part are solved at one time, and the error transmission caused by a two-step method is also avoided.
Drawings
FIG. 1 is a flow chart of a method of the present invention;
FIG. 2 is a schematic view of the hand-eye calibration of the present invention; a
FIG. 3 is a schematic view of a tangent circle of the present invention.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.
As shown in fig. 1, a robot hand-eye calibration method based on a line laser scanner includes the following steps:
s1, taking the center of a standard ball fixed on one side of the robot as a calibration point;
as shown in FIG. 2, in the hand-eye calibration system, there are three coordinate systems, the robot base coordinate system ObRobot end effector coordinate system OtAnd line laser scanner coordinate system Os. The conversion relation from the position coordinate of any point in the space under the linear laser scanner coordinate system to the position coordinate under the robot base coordinate system is as follows:
wherein, PsRepresenting the position coordinates of a point in space in the line laser scanner coordinate system, PbRepresenting the position coordinates of the point in the robot base coordinate system, BtA homogeneous transformation matrix representing the robot end effector coordinate system to the robot base coordinate system, X represents a hand-eye calibration matrix, R0、T0Respectively representing the rotation parameter and the translation parameter r of the robot end effector coordinate system to the robot base coordinate system0、t0Respectively representing the rotation parameters and translation parameters of the line laser scanner coordinate system to the robot end effector coordinate system.
For a standard sphere with radius R, the center of the sphere is fixed and can be used as a calibration point. The standard sphere is a high-precision sphere with a known radius, when the standard sphere is cut by a plane in any direction, the formed tangent plane is a circle, and a connecting line between the sphere center of the sphere and the center of the formed tangent plane circle is necessarily vertical to the tangent plane circle.
S2, controlling the robot to act, and enabling the line laser scanner to acquire the position coordinates of the calibration point in the optimal measurement range under the coordinate system of the line laser scanner in different postures;
a laser measuring line emitted by the line laser scanner forms an arc line on the surface of a standard sphere, and the arc line is subjected to least square circle fitting to obtain the center and the radius of a tangent plane circle. As shown in fig. 3, when the line laser scanner measures the standard sphere at a certain time, it is assumed that the center of the tangent circle is O', the radius is r, and the center of the standard sphere is rO, then the straight line OO 'is perpendicular to the tangent circle, i.e. the straight line OO' is perpendicular to the line laser scanner coordinate system OsAre parallel. At the moment, the O point is on-line in the coordinate system O of the laser scannersThe x and z coordinates are the same as the O' point, and the y coordinate is calculated according to the Pythagorean theorem
After the robot changes a posture, the measurement is carried out again, and the point O is in a robot base coordinate system ObThe following coordinates remain unchanged, so there is a calibration relationship:
wherein, Bt1、Bt2、Bt3、BtmRespectively representing homogeneous transformation matrixes of a robot end effector coordinate system to a robot base coordinate system in the 1 st, 2 nd, 3 rd and m-th measurements, X representing a hand-eye calibration matrix, and P representing a hand-eye calibration matrixs1、Ps2、Ps3、PsmRespectively represents the O point on-line laser scanner coordinate system O in the 1 st, 2 nd, 3 th and m-th measurementsPosition coordinates of down.
S3, obtaining a hand-eye calibration matrix representing the position relation between the line laser scanner and the robot end effector by solving the following objective functions by utilizing the calibration relation and adopting a nonlinear optimization method:
wherein X represents a hand-eye calibration matrix, m represents the total number of measurements, BtiRepresents the coordinate system O of the robot end effector in the ith measurementtTo robot base coordinate system ObOf a homogeneous transformation matrix, PsiIndicating the on-line laser scanner coordinate system O of the calibration point in the ith measurementsPosition coordinates of lower, Bt1Represents the robot end effector coordinate system O in the 1 st measurementtTo robot baseSystem of symbols ObOf a homogeneous transformation matrix, Ps1Indicating the on-line laser scanner coordinate system O of the calibration point in the 1 st measurementsPosition coordinates of down. B ist1、Bt2、Bt3、…、BtmAvailable from robotic machinery cabinets.
Psi＝(xi，yi，zi)
Wherein, PsiIndicating the on-line laser scanner coordinate system O of the calibration point in the ith measurementsPosition coordinate of lower, xi、yi、ziRespectively represents the coordinate system O of the on-line laser scanner of the calibration point in the ith measurementsX, y, z coordinates of'i、z′iRespectively representing the circle center of the tangent circle obtained in the ith measurement on-line laser scanner coordinate system OsX, z coordinates ofiThe radius of the tangent circle obtained in the ith measurement is shown, and R is the radius of the standard sphere.
The robot is controlled to change different postures, and the objective function can be solved by 5 groups of data under the condition of linear irrelevance.
Based on the fact that the line structure laser is limited, calibration accuracy and measurement efficiency are also affected by selection of calibration objects, a high-accuracy calibration ball with a known diameter is used as a hand-eye calibration target, and a hand-eye relation between a line laser scanner and a robot end effector is calibrated by fixing a target and changing the posture of the robot. The design standard ball is the calibration target, the center of the ball is the calibration point, the difficult problem that the laser surface needs to directly pass through the calibration point during calibration can be avoided, and the operation is convenient.
Under the actual application condition, the measured data has noise, so that the calibration relation is converted into a nonlinear optimization problem, an overall nonlinear least square method is adopted for solving, experimental data errors caused by robot shaking or line laser scanner precision can be effectively avoided, a rotating part and a translating part are solved at one time, and error transmission caused by a two-step method is also avoided.
The above-mentioned embodiments are merely illustrative of the preferred embodiments of the present invention, and do not limit the scope of the present invention, and various modifications and improvements made to the technical solution of the present invention by those skilled in the art without departing from the spirit of the present invention should fall within the protection scope defined by the claims of the present invention.
Claims (2)
1. A robot eye calibration method based on a line laser scanner, wherein the line laser scanner is fixed on a robot end effector, and the robot eye calibration method is characterized by comprising the following steps:
(1) taking the center of a standard ball fixed on one side of the robot as a calibration point;
(2) controlling the robot to act so that the line laser scanner obtains the position coordinates of the calibration point under the coordinate system of the line laser scanner in different postures;
(3) and (3) obtaining a hand-eye calibration matrix representing the position relation between the line laser scanner and the robot end effector by solving the following objective functions by adopting a nonlinear optimization method:
wherein X represents a hand-eye calibration matrix, m represents the total number of measurements, BtiRepresenting the homogeneous transformation matrix, P, of the robot end effector coordinate system to the robot base coordinate system in the ith measurementsiRepresenting the position coordinates of the calibration point in the ith measurement in the coordinate system of the line laser scanner, Bt1Represents the homogeneous transformation matrix of the robot end effector coordinate system to the robot base coordinate system in the 1 st measurement, Ps1The coordinates of the position of the calibration point in the 1 st measurement under the line laser scanner coordinate system are shown.
2. The robot eye calibration method based on the line laser scanner according to claim 1, wherein the step (2) specifically comprises:
(21) performing least square circle fitting on an arc line formed on the surface of a standard spherical body by a laser measuring line emitted by a line laser scanner to obtain the center and the radius of a tangent plane circle;
(22) and determining the position coordinates of the calibration point under the coordinate system of the online laser scanner by adopting the following formula according to the circle center and the radius of the tangent circle:
Psi＝(xi，yi，zi)
wherein, PsiRepresents the position coordinate, x, of the calibration point in the ith measurement in the coordinate system of the line laser scanneri、yi、ziRespectively represents x, y, z coordinates and x 'of the calibration point in the ith measurement in the coordinate system of the line laser scanner'i、z′iRespectively representing x, z coordinates of the center of a tangent circle obtained in the ith measurement under the coordinate system of the line laser scanner, riThe radius of the tangent circle obtained in the ith measurement is shown, and R is the radius of the standard sphere.
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Cited By (6)
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| CN113334383A (en) * | 2021-06-22 | 2021-09-03 | 华中科技大学 | Robot tail end tool offset calibration method based on line laser measuring instrument |
| CN113386136A (en) * | 2021-06-30 | 2021-09-14 | 华中科技大学 | Robot posture correction method and system based on standard spherical array target estimation |
| CN113427160A (en) * | 2021-06-29 | 2021-09-24 | 西安交通大学 | Self-adaptive welding method, system and equipment for welding mechanical arm and storage medium |
| CN113465531A (en) * | 2021-05-31 | 2021-10-01 | 合肥富煌君达高科信息技术有限公司 | Method and device for installing and debugging 3D profile measuring instrument |
| CN113551593A (en) * | 2021-05-31 | 2021-10-26 | 北京智机科技有限公司 | Line laser sensor calibration method for gluing robot |
| CN113681559A (en) * | 2021-08-24 | 2021-11-23 | 宁波光雷睿融智能系统有限公司 | Line laser scanning robot hand-eye calibration method based on standard cylinder |
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| CN113551593A (en) * | 2021-05-31 | 2021-10-26 | 北京智机科技有限公司 | Line laser sensor calibration method for gluing robot |
| CN113465531B (en) * | 2021-05-31 | 2023-04-07 | 合肥中科君达视界技术股份有限公司 | Method and device for installing and debugging 3D profile measuring instrument |
| CN113551593B (en) * | 2021-05-31 | 2023-09-15 | 深圳智机视觉科技有限公司 | Line laser sensor calibration method for gluing robot |
| CN113334383A (en) * | 2021-06-22 | 2021-09-03 | 华中科技大学 | Robot tail end tool offset calibration method based on line laser measuring instrument |
| CN113427160A (en) * | 2021-06-29 | 2021-09-24 | 西安交通大学 | Self-adaptive welding method, system and equipment for welding mechanical arm and storage medium |
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| CN113386136B (en) * | 2021-06-30 | 2022-05-20 | 华中科技大学 | Robot posture correction method and system based on standard spherical array target estimation |
| CN113681559A (en) * | 2021-08-24 | 2021-11-23 | 宁波光雷睿融智能系统有限公司 | Line laser scanning robot hand-eye calibration method based on standard cylinder |
| CN113681559B (en) * | 2021-08-24 | 2023-01-03 | 宁波光雷睿融智能系统有限公司 | Line laser scanning robot hand-eye calibration method based on standard cylinder |
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