CN113459108A - Hand-eye calibration method, system, device and medium based on interpolation compensation - Google Patents
Hand-eye calibration method, system, device and medium based on interpolation compensation Download PDFInfo
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- CN113459108A CN113459108A CN202111023987.5A CN202111023987A CN113459108A CN 113459108 A CN113459108 A CN 113459108A CN 202111023987 A CN202111023987 A CN 202111023987A CN 113459108 A CN113459108 A CN 113459108A
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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
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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
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1682—Dual arm manipulator; Coordination of several manipulators
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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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Abstract
The application relates to a hand-eye calibration method, a system, a device and a medium based on interpolation compensation, wherein a calibration result of hand-eye calibration, a first conversion matrix A from a camera to a calibration plate and a fourth conversion matrix B from a robot arm base to the tail end of a robot arm are obtained by eyes under an out-of-hand working condition; acquiring a plurality of fifth conversion matrixes A' from the camera to the calibration plate under the postures of the plurality of machine arms according to the calibration result and the fourth conversion matrix B; obtaining the difference value of each fifth conversion matrix A' and the first conversion matrix A to obtain a plurality of groups of error items; acquiring an adjacent error item of the target pose, and performing interpolation on the adjacent error item in the pose space to obtain a compensation value of the target pose; the compensation value and the target pose are added to obtain the compensated target pose, the problem that the positioning accuracy of the robot arm is not high due to the fact that errors exist in the obtained calibration result in the hand-eye calibration process is solved, and the positioning accuracy of the robot arm is improved.
Description
Technical Field
The present application relates to the field of machine vision technologies, and in particular, to a hand-eye calibration method, system, device, and medium based on interpolation compensation.
Background
In the field of machine vision, a mechanical arm needs to perform operations such as corresponding path planning according to signals given by a vision system, and the mechanical arm coordinate system and the vision coordinate system are two independent modules, so that the rotation and translation relation between the machine arm coordinate system and a camera coordinate system needs to be obtained through mechanical arm hand-eye calibration, namely a calibration result, and a vision identification result is transferred to the machine arm coordinate system according to the calibration result, so that the aim of accurate positioning is fulfilled. In the related art, an absolute positioning error exists in the whole reachable pose space of the robot arm, and the absolute positioning error introduces an error into an obtained calibration result in a hand-eye calibration process, so that the robot arm is low in positioning accuracy.
At present, an effective solution is not provided aiming at the problem that the positioning precision of a robot arm is not high due to the fact that an error exists in a calibration result obtained in a hand-eye calibration process in the related technology.
Disclosure of Invention
The embodiment of the application provides a hand-eye calibration method, a hand-eye calibration system, a hand-eye calibration device and a hand-eye calibration medium based on interpolation compensation, and aims to at least solve the problem that the positioning accuracy of a robot arm is not high due to the fact that errors exist in a calibration result obtained in a hand-eye calibration process in the related technology.
In a first aspect, an embodiment of the present application provides a hand-eye calibration method based on interpolation compensation, where the method includes:
under the working condition that the eyes are out of hand, obtaining a calibration result of hand-eye calibration, a first conversion matrix A from a camera to a calibration plate and a fourth conversion matrix B from a robot arm base to the tail end of a robot arm;
acquiring a plurality of fifth conversion matrixes A' from the cameras to the calibration plate under the postures of the plurality of machine arms according to the calibration result and the fourth conversion matrix B;
obtaining the difference value of each fifth conversion matrix A' and the first conversion matrix A to obtain a plurality of groups of error items;
acquiring a proximity error item of a target pose, and performing interpolation on the proximity error item in a pose space to obtain a compensation value of the target pose;
and adding the compensation value and the target pose to obtain a compensated target pose.
In some embodiments, the obtaining of the calibration result of the hand-eye calibration, the first conversion matrix a from the camera to the calibration board, and the fourth conversion matrix B from the base of the robot arm to the end of the robot arm includes:
and acquiring calibration results X and Y according to the calibration plate image and the AX = YB model, wherein A represents a first conversion matrix from the camera to the calibration plate, X represents a second conversion matrix from the base of the robot arm to the camera, Y represents a third conversion matrix from the tail end of the robot arm to the calibration plate, and B represents a fourth conversion matrix from the base of the robot arm to the tail end of the robot arm.
In some embodiments, obtaining the difference value of each of the fifth conversion matrices a' and the first conversion matrix a comprises:
and respectively resolving the fifth conversion matrix A' and the first conversion matrix A into a quaternion and a four-dimensional homogeneous vector, and then respectively calculating the difference.
In some embodiments, obtaining the difference value of each of the fifth conversion matrices a' and the first conversion matrix a comprises:
and taking the fifth conversion matrix A' and the first conversion matrix A as a special Euclidean group, and then utilizing the properties of the plum group to calculate the difference.
In some embodiments, the obtaining a proximity error term of the target pose, and performing pose-space interpolation on the proximity error term to obtain the compensation value of the target pose includes:
and acquiring a proximity error item of the target pose, and performing linear interpolation or spline interpolation on the proximity error item in a pose space to obtain a compensation value of the target pose.
In a second aspect, an embodiment of the present application further provides a hand-eye calibration method based on interpolation compensation, where the method includes:
under the working condition that eyes are on hands, a calibration result of the calibration of the eyes of the hands and a sixth conversion matrix A from a calibration board to a camera are obtained-1And a fourth transformation matrix B of the robot base to the robot end;
obtaining a plurality of seventh conversion matrixes A from the calibration plate to the camera under a plurality of machine arm postures according to the calibration result and the fourth conversion matrix B-1＇；
Obtaining each of the seventh transformation matrices A-1And the sixth conversion momentArray A-1Obtaining a plurality of groups of error terms according to the difference value;
acquiring a proximity error item of a target pose, and performing interpolation on the proximity error item in a pose space to obtain a compensation value of the target pose;
and adding the compensation value and the target pose to obtain a compensated target pose.
In a third aspect, an embodiment of the present application provides a hand-eye calibration system based on interpolation compensation, where the system includes a first obtaining module, a first difference module, and a first compensation module,
the first acquisition module is used for acquiring a calibration result of hand-eye calibration, a first conversion matrix A from a camera to a calibration plate and a fourth conversion matrix B from a robot arm base to the tail end of a robot arm under the condition that an eye is out of hand;
acquiring a plurality of fifth conversion matrixes A' from the cameras to the calibration plate under the postures of the plurality of machine arms according to the calibration result and the fourth conversion matrix B;
the first difference module is configured to obtain a difference between each fifth conversion matrix a' and the first conversion matrix a to obtain a plurality of groups of error terms;
the first compensation module is used for acquiring an adjacent error item of a target pose, performing interpolation on the adjacent error item in a pose space to obtain a compensation value of the target pose, and adding the compensation value and the target pose to obtain a compensated target pose.
In a fourth aspect, the present application provides a hand-eye calibration system based on interpolation compensation, the system includes a second obtaining module, a second difference module, and a second compensation module,
under the working condition that eyes are on hands, the second acquisition module is used for acquiring the calibration result of the calibration of the eyes and the sixth conversion matrix A from the calibration board to the camera-1And a fourth transformation matrix B of the robot base to the robot end;
obtaining a plurality of seventh conversion matrixes A from the calibration plate to the camera under a plurality of machine arm postures according to the calibration result and the fourth conversion matrix B-1＇；
The second difference module is configured to obtain each of the seventh transformation matrices a-1"difference from said sixth transformation matrix A", resulting in a plurality of sets of error terms;
the second compensation module is used for acquiring an adjacent error item of a target pose, performing interpolation on the adjacent error item in a pose space to obtain a compensation value of the target pose, and adding the compensation value and the target pose to obtain a compensated target pose.
In a fifth aspect, an embodiment of the present application provides an electronic device, which includes a memory, a processor, and a computer program stored on the memory and executable on the processor, and the processor, when executing the computer program, implements the interpolation compensation-based hand-eye calibration method according to the first aspect.
In a sixth aspect, the present application provides a storage medium, on which a computer program is stored, where the program is executed by a processor to implement the interpolation compensation-based hand-eye calibration method as described in the first aspect.
Compared with the related art, the hand-eye calibration method based on interpolation compensation provided by the embodiment of the application obtains the calibration result of the hand-eye calibration, the first conversion matrix A from the camera to the calibration plate and the fourth conversion matrix B from the robot arm base to the tail end of the robot arm under the condition that the eyes are outside the hands; acquiring a plurality of fifth conversion matrixes A' from the camera to the calibration plate under the postures of the plurality of machine arms according to the calibration result and the fourth conversion matrix B; obtaining the difference value of each fifth conversion matrix A' and the first conversion matrix A to obtain a plurality of groups of error items; acquiring an adjacent error item of the target pose, and performing interpolation on the adjacent error item in the pose space to obtain a compensation value of the target pose; the compensation value and the target pose are added to obtain the compensated target pose, the problem that the positioning accuracy of the robot arm is not high due to the fact that errors exist in the obtained calibration result in the hand-eye calibration process is solved, and the positioning accuracy of the robot arm is improved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:
FIG. 1 is a flowchart of a hand-eye calibration method based on interpolation compensation according to an embodiment of the present application;
FIG. 2 is a schematic view of an eye outside a hand according to an embodiment of the present application;
FIG. 3 is a schematic diagram of linear interpolation according to an embodiment of the present application;
FIG. 4 is a flowchart of another interpolation compensation-based hand-eye calibration method according to an embodiment of the present application;
FIG. 5 is a schematic view of an eye on a hand according to an embodiment of the present application;
FIG. 6 is a block diagram of a hand-eye calibration system based on interpolation compensation according to an embodiment of the present application;
fig. 7 is a block diagram of another hand-eye calibration system based on interpolation compensation according to an embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application will be described and illustrated below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments provided in the present application without any inventive step are within the scope of protection of the present application. Moreover, it should be appreciated that in the development of any such actual implementation, as in any engineering or design project, numerous implementation-specific decisions must be made to achieve the developers' specific goals, such as compliance with system-related and business-related constraints, which may vary from one implementation to another.
Reference in the specification to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the specification. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. Those of ordinary skill in the art will explicitly and implicitly appreciate that the embodiments described herein may be combined with other embodiments without conflict.
Unless defined otherwise, technical or scientific terms referred to herein shall have the ordinary meaning as understood by those of ordinary skill in the art to which this application belongs. Reference to "a," "an," "the," and similar words throughout this application are not to be construed as limiting in number, and may refer to the singular or the plural. The present application is directed to the use of the terms "including," "comprising," "having," and any variations thereof, which are intended to cover non-exclusive inclusions; for example, a process, method, system, article, or apparatus that comprises a list of steps or modules (elements) is not limited to the listed steps or elements, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus. Reference to "connected," "coupled," and the like in this application is not intended to be limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. Reference herein to "a plurality" means greater than or equal to two. "and/or" describes an association relationship of associated objects, meaning that three relationships may exist, for example, "A and/or B" may mean: a exists alone, A and B exist simultaneously, and B exists alone. Reference herein to the terms "first," "second," "third," and the like, are merely to distinguish similar objects and do not denote a particular ordering for the objects.
Example 1
The present embodiment provides a hand-eye calibration method based on interpolation compensation, and fig. 1 is a flowchart of the hand-eye calibration method based on interpolation compensation according to the embodiment of the present application, as shown in fig. 1, the method includes the following steps:
step S101, under the condition that the eyes are out of hand, a calibration result of hand-eye calibration, a first conversion matrix A from a camera to a calibration plate and a fourth conversion matrix B from a robot arm base to the tail end of a robot arm are obtained. In this embodiment, the first transformation matrix a is given by a calibration system of a camera, and the fourth transformation matrix B is given by a robot arm system, where an absolute positioning error is usually caused by a mechanical structure, a reading error of an encoder, and the like, and due to the existence of the absolute positioning error, an error exists in a calibration result of the hand-eye calibration.
Step S102, acquiring a plurality of fifth conversion matrixes A' from the camera to the calibration plate under the postures of the plurality of machine arms according to the calibration result and the fourth conversion matrix B; in this embodiment, the calibration result has an error, so the fifth transformation matrix a' also has an error.
Step S103, obtaining the difference value of each fifth conversion matrix A' and the first conversion matrix A to obtain a plurality of groups of error items; in this embodiment, the error of the first transformation matrix a is much smaller than that of the fifth transformation matrix a ', so that the difference between each of the fifth transformation matrices a' and the first transformation matrix a is obtained to obtain a series of error terms in space.
S104, acquiring an adjacent error item of the target pose, and performing pose spatial interpolation on the adjacent error item to obtain a compensation value of the target pose; the target pose is a pose obtained by transferring a camera identification result to a robot arm coordinate system according to a calibration result, the target pose has errors due to errors in the calibration result, the target pose needs to be compensated, adjacent error items of the target pose are obtained from a series of error items in the space, and interpolation on the pose space is carried out on the adjacent error items, so that a compensation value of the target pose can be obtained.
And step S105, adding the compensation value and the target pose to obtain the compensated target pose.
Compared with the prior art, the problem that the absolute positioning error exists in the whole reachable pose space of the robot arm, and the absolute positioning error can introduce an error into an obtained calibration result in the hand-eye calibration process, so that the positioning accuracy of the robot arm is not high is solved.
In some of these embodiments, FIG. 2 is a schematic illustration of an eye out of the hand according to embodiments of the present application, as shown in fig. 2, the camera is mounted in a stationary position, the calibration plate is fixed at the end of the arm, the camera arm moves along with it, a represents the first transformation matrix from the camera to the calibration plate, given by the camera calibration system (known), X represents the second transformation matrix from the base of the arm to the camera, for the item to be solved, Y represents the third transformation matrix from the end of the arm to the calibration plate, for the item to be solved, B represents the fourth transformation matrix from the base of the arm to the end of the arm, derived by the arm system (known), the calibration plate carried by the arm to different poses, the camera takes images of the calibration plate in multiple sets of poses of the arm, and obtaining a calibration result, namely obtaining a second conversion matrix X and a third conversion matrix Y according to the calibration plate image and the AX = YB model.
In some embodiments, obtaining the difference value of each fifth transformation matrix a' and the first transformation matrix a comprises: and respectively resolving the fifth conversion matrix A' and the first conversion matrix A into a quaternion and a four-dimensional homogeneous vector, and then respectively calculating the difference.
In some embodiments, obtaining the difference value of each fifth transformation matrix a' and the first transformation matrix a comprises: and taking the fifth conversion matrix A' and the first conversion matrix A as a special Euclidean group, and then utilizing the properties of the lie group or the algebraic properties of the lie group to calculate the difference.
In some embodiments, obtaining a proximity error term of the target pose, and performing pose-space interpolation on the proximity error term to obtain a compensation value of the target pose includes: and acquiring a proximity error item of the target pose, and performing linear interpolation or spline interpolation on the proximity error item in the pose space to obtain a compensation value of the target pose.
Illustratively, FIG. 3 is a schematic diagram of linear interpolation according to an embodiment of the present application, such as FIG. 3Shown as [ Rt]tarFor target pose, [ Rt]1To [ Rt]4Four sets of error terms are adjacent to the target pose,
to
And performing linear interpolation on the pose space on the four groups of adjacent error items to obtain a compensation value of the target pose.
Example 2
The present embodiment provides a hand-eye calibration method based on interpolation compensation, and fig. 4 is a flowchart of another hand-eye calibration method based on interpolation compensation according to an embodiment of the present application, as shown in fig. 4, the method includes the following steps:
step S401, under the working condition that eyes are on hands, a calibration result of the hand-eye calibration and a sixth conversion matrix A from a calibration board to a camera are obtained-1And a fourth transformation matrix B of the robot base to the robot end;
FIG. 5 is a schematic view of an eye on hand, as shown in FIG. 5, with the calibration plate fixed to the ground and the camera fixed near the end of the robotic arm, with the robotic arm moving, A, according to an embodiment of the present application-1A sixth transformation matrix representing the calibration plate to the camera, given by the camera calibration system (known); x represents an eighth conversion matrix from the base of the robot arm to the calibration plate and is an item to be solved; y represents a ninth transformation matrix from the tail end of the robot arm to the camera and is an item to be solved, B represents a fourth transformation matrix from the base of the robot arm to the tail end of the robot arm, the robot arm system gives (known) results, the robot arm drives the camera to shoot images of the calibration plate under different poses, and the images of the calibration plate and the A are obtained according to the images of the calibration plate-1And X = YB model, and obtaining a calibration result, namely obtaining a second conversion matrix X and a third conversion matrix Y.
Step S402, according to the calibration result and the fourth conversion matrix B, a plurality of seventh conversion matrixes A from the calibration board to the camera under a plurality of machine arm postures are obtained-1＇；
Step S403, obtaining each seventh transformation matrix A-1The first toSix transformation matrix A-1Obtaining a plurality of groups of error terms according to the difference value;
s404, acquiring an adjacent error item of the target pose, and performing pose spatial interpolation on the adjacent error item to obtain a compensation value of the target pose;
and S405, adding the compensation value and the target pose to obtain the compensated target pose.
Through the steps S401 to S405, the problem that in the related art, the robot arm has an absolute positioning error in the whole reachable pose space, and the absolute positioning error introduces an error into an obtained calibration result in the hand-eye calibration process, so that the robot arm is low in positioning accuracy is solved, and the positioning accuracy of the robot arm is improved.
It should be noted that the steps illustrated in the above-described flow diagrams or in the flow diagrams of the figures may be performed in a computer system, such as a set of computer-executable instructions, and that, although a logical order is illustrated in the flow diagrams, in some cases, the steps illustrated or described may be performed in an order different than here.
Example 3
The present embodiment further provides a hand-eye calibration system based on interpolation compensation, which is used to implement the foregoing embodiments and preferred embodiments, and the description of the system already made is omitted. As used hereinafter, the terms "module," "unit," "subunit," and the like may implement a combination of software and/or hardware for a predetermined function. Although the means described in the embodiments below are preferably implemented in software, an implementation in hardware, or a combination of software and hardware is also possible and contemplated.
Fig. 6 is a block diagram of a hand-eye calibration system based on interpolation compensation according to an embodiment of the present application, and as shown in fig. 6, the system includes a first obtaining module 61, a first difference module 62 and a first compensation module 63, where in an out-of-hand condition, the first obtaining module 61 is configured to obtain a calibration result of hand-eye calibration, a first conversion matrix a from a camera to a calibration board, and a fourth conversion matrix B from a robot base to a robot end; acquiring a plurality of fifth conversion matrixes A' from the camera to the calibration plate under the postures of the plurality of machine arms according to the calibration result and the fourth conversion matrix B; the first difference module 62 is configured to obtain a difference between each fifth conversion matrix a' and the first conversion matrix a to obtain a plurality of groups of error terms; the first compensation module 63 is configured to obtain an adjacent error term of the target pose, perform interpolation on the adjacent error term in the pose space to obtain a compensation value of the target pose, add the compensation value to the target pose to obtain a compensated target pose, solve the problem in the related art that an absolute positioning error exists in the whole reachable pose space of the robot arm, and the absolute positioning error introduces an error into an obtained calibration result in a hand-eye calibration process, so that the positioning accuracy of the robot arm is low, and improve the positioning accuracy of the robot arm.
Example 4
The present embodiment further provides a hand-eye calibration system based on interpolation compensation, which is used to implement the foregoing embodiments and preferred embodiments, and the description of the system already made is omitted. As used hereinafter, the terms "module," "unit," "subunit," and the like may implement a combination of software and/or hardware for a predetermined function. Although the means described in the embodiments below are preferably implemented in software, an implementation in hardware, or a combination of software and hardware is also possible and contemplated.
Fig. 7 is a block diagram of another hand-eye calibration system based on interpolation compensation according to an embodiment of the present application, and as shown in fig. 7, the system includes a second obtaining module 71, a second difference module 72, and a second compensation module 73, where in an eye on-hand condition, the second obtaining module 71 is configured to obtain a calibration result of the hand-eye calibration, and a sixth conversion matrix a from a calibration board to a camera-1And a fourth transformation matrix B of the robot base to the robot end; obtaining a plurality of seventh conversion matrixes A from the calibration plate to the camera under a plurality of machine arm postures according to the calibration result and the fourth conversion matrix B-1' of a compound of formula I; the second difference module 72 is used for obtaining each seventh transformation matrix A-1' AND sixth transformation matrix A-1Obtaining a plurality of groups of error terms according to the difference value; the second compensation module 73 is configured to obtain an adjacent error term of the target pose, perform interpolation on the adjacent error term in the pose space, and obtain the target poseAnd the compensation value is added with the target pose to obtain the compensated target pose, so that the problem that in the related technology, the robot arm has an absolute positioning error in the whole reachable pose space, and the absolute positioning error introduces an error into the obtained calibration result in the hand-eye calibration process, so that the robot arm is low in positioning accuracy is solved, and the positioning accuracy of the robot arm is improved.
The above modules may be functional modules or program modules, and may be implemented by software or hardware. For a module implemented by hardware, the modules may be located in the same processor; or the modules can be respectively positioned in different processors in any combination.
Example 5
The present embodiment also provides an electronic device comprising a memory having a computer program stored therein and a processor configured to execute the computer program to perform the steps of any of the above method embodiments.
Optionally, the electronic apparatus may further include a transmission device and an input/output device, wherein the transmission device is connected to the processor, and the input/output device is connected to the processor.
It should be noted that, for specific examples in this embodiment, reference may be made to examples described in the foregoing embodiments and optional implementations, and details of this embodiment are not described herein again.
In addition, in combination with the interpolation compensation-based hand-eye calibration method in the foregoing embodiments, the embodiments of the present application may provide a storage medium to implement. The storage medium having stored thereon a computer program; the computer program, when executed by a processor, implements any one of the interpolation compensation-based hand-eye calibration methods in the above embodiments.
In one embodiment, a computer device is provided, which may be a terminal. The computer device includes a processor, a memory, a network interface, a display screen, and an input device connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The network interface of the computer device is used for communicating with an external terminal through a network connection. The computer program is executed by a processor to implement a hand-eye calibration method based on interpolation compensation. The display screen of the computer equipment can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer equipment can be a touch layer covered on the display screen, a key, a track ball or a touch pad arranged on the shell of the computer equipment, an external keyboard, a touch pad or a mouse and the like.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in the embodiments provided herein may include non-volatile and/or volatile memory, among others. Non-volatile memory can include read-only memory (ROM), Programmable ROM (PROM), Electrically Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDRSDRAM), Enhanced SDRAM (ESDRAM), Synchronous Link DRAM (SLDRAM), Rambus Direct RAM (RDRAM), direct bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).
It should be understood by those skilled in the art that various features of the above-described embodiments can be combined in any combination, and for the sake of brevity, all possible combinations of features in the above-described embodiments are not described in detail, but rather, all combinations of features which are not inconsistent with each other should be construed as being within the scope of the present disclosure.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. A hand-eye calibration method based on interpolation compensation is characterized by comprising the following steps:
under the working condition that the eyes are out of hand, obtaining a calibration result of hand-eye calibration, a first conversion matrix A from a camera to a calibration plate and a fourth conversion matrix B from a robot arm base to the tail end of a robot arm;
acquiring a plurality of fifth conversion matrixes A' from the cameras to the calibration plate under the postures of the plurality of machine arms according to the calibration result and the fourth conversion matrix B;
obtaining the difference value of each fifth conversion matrix A' and the first conversion matrix A to obtain a plurality of groups of error items;
acquiring a proximity error item of a target pose, and performing interpolation on the proximity error item in a pose space to obtain a compensation value of the target pose;
and adding the compensation value and the target pose to obtain a compensated target pose.
2. The method of claim 1, wherein the obtaining of the calibration result of the hand-eye calibration, the first transformation matrix a from the camera to the calibration board, and the fourth transformation matrix B from the base of the robot arm to the end of the robot arm comprises:
and acquiring the calibration results X and Y according to the calibration plate image and the AX = YB model, wherein A represents a first conversion matrix from the camera to the calibration plate, X represents a second conversion matrix from the base of the robot arm to the camera, Y represents a third conversion matrix from the tail end of the robot arm to the calibration plate, and B represents a fourth conversion matrix from the base of the robot arm to the tail end of the robot arm.
3. The method of claim 1, wherein obtaining the difference of each of the fifth transformation matrices A' and the first transformation matrix A comprises:
and respectively resolving the fifth conversion matrix A' and the first conversion matrix A into a quaternion and a four-dimensional homogeneous vector, and then respectively calculating the difference.
4. The method of claim 1, wherein obtaining the difference of each of the fifth transformation matrices A' and the first transformation matrix A comprises:
and taking the fifth conversion matrix A' and the first conversion matrix A as a special Euclidean group, and then utilizing the properties of the plum group to calculate the difference.
5. The method of claim 1, wherein the obtaining a proximity error term of the target pose, and performing pose-space interpolation on the proximity error term to obtain a compensation value of the target pose comprises:
and acquiring a proximity error item of the target pose, and performing linear interpolation or spline interpolation on the proximity error item in a pose space to obtain a compensation value of the target pose.
6. A hand-eye calibration method based on interpolation compensation is characterized by comprising the following steps:
under the working condition that eyes are on hands, a calibration result of the calibration of the eyes of the hands and a sixth conversion matrix A from a calibration board to a camera are obtained-1And a fourth transformation matrix B of the robot base to the robot end;
obtaining a plurality of seventh conversion moments from the calibration plate to the camera under a plurality of machine arm postures according to the calibration result and the fourth conversion matrix BArray A-1＇；
Obtaining each of the seventh transformation matrices A-1And the sixth transformation matrix A-1Obtaining a plurality of groups of error terms according to the difference value;
acquiring a proximity error item of a target pose, and performing interpolation on the proximity error item in a pose space to obtain a compensation value of the target pose;
and adding the compensation value and the target pose to obtain a compensated target pose.
7. A hand-eye calibration system based on interpolation compensation is characterized by comprising a first acquisition module, a first difference module and a first compensation module,
the first acquisition module is used for acquiring a calibration result of hand-eye calibration, a first conversion matrix A from a camera to a calibration plate and a fourth conversion matrix B from a robot arm base to the tail end of a robot arm under the condition that an eye is out of hand;
acquiring a plurality of fifth conversion matrixes A' from the cameras to the calibration plate under the postures of the plurality of machine arms according to the calibration result and the fourth conversion matrix B;
the first difference module is configured to obtain a difference between each fifth conversion matrix a' and the first conversion matrix a to obtain a plurality of groups of error terms;
the first compensation module is used for acquiring an adjacent error item of a target pose, performing interpolation on the adjacent error item in a pose space to obtain a compensation value of the target pose, and adding the compensation value and the target pose to obtain a compensated target pose.
8. A hand-eye calibration system based on interpolation compensation is characterized by comprising a second acquisition module, a second difference module and a second compensation module,
under the working condition that eyes are on hands, the second acquisition module is used for acquiring the calibration result of the calibration of the eyes and the sixth conversion matrix A from the calibration board to the camera-1And a fourth transformation matrix B of the robot base to the robot end;
obtaining a plurality of seventh conversion matrixes A from the calibration plate to the camera under a plurality of machine arm postures according to the calibration result and the fourth conversion matrix B-1＇；
The second difference module is configured to obtain each of the seventh transformation matrices a-1"difference from said sixth transformation matrix A", resulting in a plurality of sets of error terms;
the second compensation module is used for acquiring an adjacent error item of a target pose, performing interpolation on the adjacent error item in a pose space to obtain a compensation value of the target pose, and adding the compensation value and the target pose to obtain a compensated target pose.
9. An electronic device comprising a memory and a processor, wherein the memory stores a computer program, and the processor is configured to execute the computer program to perform the interpolation compensation-based hand-eye calibration method according to any one of claims 1 to 5.
10. A storage medium, in which a computer program is stored, wherein the computer program is configured to execute the interpolation compensation-based hand-eye calibration method according to any one of claims 1 to 5 when the computer program runs.
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