CN113781558A - Robot vision locating method with decoupled posture and position - Google Patents
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Abstract
The invention belongs to the field of robot vision, and particularly discloses a robot vision position finding method with decoupled posture and position, which comprises the following steps: s1, carrying out position calibration through the target to obtain the position depth d of the target0Calibrating the actual offset of the moving unit pixel under the depth; s2, adjusting the posture of the robot according to the normal vector of the plane where the target object is located, and enabling the tail end of the robot to be parallel to the plane where the target object is located; s3, acquiring a camera image, and identifying the pixel coordinates and the depth value d of the target object under the current depth1Obtaining a centering compensation vector, and adjusting the robot to enable the target object to be located in the center of the camera image; then moving the robot in the depth direction to a calibrated height d0(ii) a And S4, acquiring the camera image again to obtain a locating compensation vector, and adjusting the robot according to the locating compensation vector to enable the robot to reach the target object. The calibration process of the invention has simple operation and high positioning accuracy, and improves the vision of the robotThe operability and accuracy of the seek position are sensed.
Description
Technical Field
The invention belongs to the field of robot vision, and particularly relates to a robot vision position finding method with decoupled posture and position.
Background
With the development and the development of the intelligent manufacturing concept, the robot is widely applied to systems such as automatic assembly, digital flexible manufacturing and the like. The robot vision locating technology is an important part, and the quality of the vision locating technology directly and accurately locates the subsequent working position, so that the reasonability of the scheme is influenced. The robot vision locating technology has a plurality of application scenes, such as an aircraft skin automatic drilling and riveting system, a robot on an industrial production line for identifying and grabbing targets, a mobile robot vision navigation map building field and the like, and has very wide application prospects.
According to the installation mode of the camera, the robot visual positioning mode can be divided into two main types: the eyes are on the hands, namely the camera is arranged at the tail end of the mechanical arm and moves along with the movement of the mechanical arm; the eyes are outside the hands, and the camera is installed outside the mechanical arm and is fixed relative to the base of the mechanical arm and does not move along with the movement of the mechanical arm. Before visual positioning, a visual system is often required to be calibrated, a checkerboard is taken as a calibration tool in a mainstream calibration method, but the checkerboard occupies a certain space and is usually difficult to be placed in the visual field of a camera with a workpiece, so that calibration can be only carried out before production. The existing robot hand-eye calibration, especially the high-precision calibration, often has the problems of complicated calibration operation, complex calculation principle and overhigh time cost.
Disclosure of Invention
Aiming at the defects or the improvement requirements of the prior art, the invention provides a robot vision locating method with decoupled posture and position, aiming at simplifying the robot vision calibration process, improving the accuracy and the reliability of robot vision location and solving the problems of low calibration efficiency and low location precision at present.
In order to achieve the purpose, the invention provides a robot vision locating method with decoupled posture and position, which comprises the following steps:
s1, carrying out position calibration through the target to obtain the position depth of the target as the calibration depth d0And the actual offset of the moving unit pixel at the nominal depth
S2, teaching the robot, enabling a camera at the tail end of the robot to face a target object, obtaining a normal vector of a plane where the target object is located according to point cloud information of the target object obtained by the camera, and adjusting the posture of the robot according to the normal vector to enable the tail end of the robot to be parallel to the plane where the target object is located;
s3, acquiring camera image, recognizing pixel coordinates (U, V) of target object at current depth and depth value d from target object plane to camera1(ii) a According to the nominal depth d0And the actual offset
To a depth d1Actual shift amount of moving unit pixel
And then according to the actual offset
And the pixel coordinates (U, V) of the target object obtain a centering compensation vector, and the robot is adjusted in the horizontal direction according to the centering compensation vector to ensure that the target object is positioned in the center of the camera image; then moving the robot in the depth direction to a calibrated height d0；
And S4, acquiring the camera image again, identifying the pixel coordinates (U ', V') of the target object at the current depth to further obtain a locating compensation vector, and adjusting the robot according to the locating compensation vector to enable the robot to reach the target object to finish the visual locating of the robot.
As a further stepPreferably, in step S2, the obtaining of the normal vector of the plane where the target object is located specifically includes the following steps: enabling a camera at the tail end of the robot to face a target object, dividing a point cloud convex hull according to point cloud information of the target object, acquired by the camera, moving the tail end of the robot to enable the convex hull to wrap a target workpiece plane, fitting a plane equation by the point cloud divided by the convex hull, and further obtaining a normal vector of the plane where the target object is located
More preferably, in step S2, the vector is calculated from the normal vector
The method for adjusting the robot posture specifically comprises the following steps:
firstly, the normal vector
The conversion to the robot base coordinate system is expressed as:
wherein the content of the first and second substances,
a rotation matrix representing the end coordinate system to the base coordinate system,
a rotation matrix representing a camera coordinate system to an end coordinate system;
then according to
Sum vector
(0,0 obtaining robot rotation axis
And corner
And then will rotate
And converting the data into quaternions to obtain tail end attitude adjustment parameters of the robot, and inputting the parameters into the robot to adjust the attitude of the robot.
More preferably, in step S3, the actual offset amount
The specific calculation formula is as follows:
further preferably, in step S3, the compensation vector is found
The specific calculation formula is as follows:
wherein width and depth represent the image width and height, respectively.
Further preferably, in step S4, the position-finding compensation vector
The specific calculation formula is as follows:
wherein (u)0,v0) And when the position is calibrated, the target pixel coordinate in the initial state is obtained.
Preferably, in step S1, the position calibration by the target specifically includes the following steps:
s11, mounting a camera and a test touch rod at the tail end of the robot, and enabling the tail end of the test touch rod to be seen in the field of view of the camera; moving the robot in a teaching mode to enable the tail end of the test touch rod to coincide with the target, and then moving away the test touch rod to obtain the pixel coordinate (u) of the target0,v0) Depth value d of target position0；
S12, keeping the posture and the height of the robot unchanged, horizontally moving the robot, and calibrating to obtain the actual offset caused by the pixel coordinates of the moving unit in the x and y directions
More preferably, in step S12, the actual offset amount is acquired
The method comprises the following steps: moving the robot horizontally while keeping the attitude and height of the robot constant, and reading the end coordinates (x) of the robot at the first position1,y1,z1) Identified target pixel coordinates (u)1,v1) (ii) a End coordinate (x) at the second position2,y2,z2) Identified target pixel coordinates (u)2,v2) Finding the actual offset in the x and y directions caused by moving the unit pixel coordinate at that depth
Generally, compared with the prior art, the above technical solution conceived by the present invention mainly has the following technical advantages:
1. the invention only calibrates the actual offset caused by unit pixel points in the fixed depth plane, decouples the posture and the position of the robot, processes the attitude and the position step by step, and realizes the accurate locating of the target by centering compensation, depth compensation and locating compensation, has low calibration time cost and simple operation, is suitable for various locating and operating scenes, and greatly improves the accuracy and the reliability of the visual locating of the robot.
2. When the attitude of the robot is adjusted, the point cloud convex hull is divided according to the point cloud information, the tail end of the robot is moved to enable the convex hull to wrap the plane of the target workpiece, then the point cloud divided by the convex hull is used for fitting a plane equation, a normal vector perpendicular to the plane where the target object is located can be obtained quickly and accurately, and then attitude parameters of the tail end of the robot are obtained through conversion, so that the attitude of the robot is adjusted.
Drawings
FIG. 1 is a schematic diagram of an environmental application of a robot vision locating method with decoupled posture and position according to an embodiment of the present invention;
FIG. 2 is a schematic view of an integrated fixture of a depth camera and a trial touch apparatus according to an embodiment of the invention;
fig. 3 is a flowchart of a robot vision locating method for decoupling posture and position according to an embodiment of the present invention.
The same reference numbers will be used throughout the drawings to refer to the same or like elements or structures, wherein: the method comprises the following steps of 1-a robot body, 2-a depth camera, 3-a normal vector, 4-a plane to be processed, 5-an integrated clamp and 6-a test feeler lever.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
The robot vision locating method with the decoupled posture and position, provided by the embodiment of the invention, as shown in fig. 3, comprises the following steps:
s1, position calibration is carried out, as shown in figures 1 and 2, an integrated clamp 5 is installed at the tail end of the robot body 1, a depth camera 2 and a test touch rod 6 are installed on the integrated clamp 5, the tail end of the test touch rod can be seen in the field of view of the depth camera, and calibration is carried outPixel coordinate (u) of the end of the feeler lever0,v0) Reading the depth value of the target position as d0(ii) a The method specifically comprises the following steps:
s11, designing an integrated clamp of the depth camera and the trial touch device, wherein the plane of the depth camera is parallel to the plane of the tail end of the robot, and the center of the trial touch rod is horizontally deviated from the tail end dpoleThe length of the other direction is lpoleInstalling a clamp to control the tail end of the robot to be vertical to a horizontal plane;
s12, placing a calibration plate on the horizontal plane, attaching a positioning target on the calibration plate, moving the robot in a teaching mode without changing the tail end posture of the robot, enabling the tail end of the test touch rod to be just overlapped with the target, moving the test touch rod away, reading and obtaining a target pixel coordinate record (u & ltu & gt)0,v0) And the depth value of the target position is recorded as d0。
S2, keeping the posture and height of the robot unchanged, horizontally moving the robot, and calibrating to obtain the depth d0Moving the unit pixel coordinates downward causes actual offsets in the x and y directions
Calculating the field angle of the camera; the method specifically comprises the following steps:
s21: keeping the attitude and height of the robot constant, moving the robot horizontally, reading the end coordinates (x) of the robot at a first position1,y1,z1) Identified target pixel coordinates (u)1,v1) (ii) a End coordinate (x) at the second position2,y2,z2) Identified target pixel coordinates (u)2,v2) Finding the actual offset in the x and y directions caused by moving the unit pixel coordinate at that depth
S22, the angle of view is calculated by the following equation: horizontal field angle
Vertical field of view
Wherein width and depth represent the image width and height, respectively, in pixel units.
S3, removing the trial feeler lever after completing the position calibration, and deviating the center of the tool end from the tail end of the robot (t)x,ty,tz) The value is determined by the tool end clamp size; teaching a robot to enable a camera to face a workpiece (namely a target object), dividing a point cloud convex hull according to point cloud information acquired by the camera, moving the tail end of the robot to enable the convex hull area to be target workpiece plane point cloud data, and fitting a plane equation by the point cloud divided by the convex hull to obtain a normal vector
Specifically, the shape of the divided point cloud convex hull can be a polygon, a circle and other two-dimensional figures, and the required area is smaller than the size of a point cloud imaging area of a target workpiece plane;
then the normal vector
Converting the attitude parameters into tail end attitude parameters of the robot, and inputting the tail end attitude parameters into the robot to adjust the attitude so that the tail end of the robot is parallel to the plane of the workpiece; the method specifically comprises the following steps:
the normal vector
The conversion to the robot base coordinate system is expressed as:
wherein the content of the first and second substances,
a rotation matrix representing the end coordinate system to the base coordinate system, derived from the robot pose,
a rotation matrix representing a coordinate system of the camera to a terminal coordinate system, determined by a mounting manner of the camera;
will be provided with
Orthogonalized sum vector
Calculating dot product and cross product to obtain robot rotating shaft
And corner
Will rotate
Conversion to quaternion q0(qx,qy,qz,qw) And indicating that the tail end of the robot is parallel to the plane of the workpiece as a parameter for adjusting the tail end posture of the robot and inputting the robot to adjust the posture.
S4, acquiring a camera image, identifying the pixel coordinates (U, V) of the target object at the current depth, and acquiring the depth value d from the workpiece plane to the camera1At this depth d1The actual offset for moving down one pixel can be obtained by the following two equations:
x offset:
y offset:
calculating a compensation vector for centering the robot according to the position information, and enabling the target object to be located in the center of the camera image; specifically, the centering compensation vector is
Conversion to base seatSign board
Obtaining a current position of a robot
Then find the coordinate of the center position under the robot base as
Adjusting the robot in the horizontal direction according to the coordinates to enable the target object to be located in the center of the camera image; then move the robot d in the depth direction1-d0Distance to a nominal height d0And completing the centering compensation and the depth compensation.
S5, recognizing the coordinates (U ', V') of the target pixel again to obtain the position-finding compensation vector of the robot
To the tool end
Conversion to base coordinates
Obtaining a current position of a robot
The coordinates of the target point under the robot base are
And controlling the robot to reach a target point to complete the visual position finding of the robot.
It will be understood by those skilled in the art that the foregoing is only a preferred embodiment of the present invention, and is not intended to limit the invention, and that any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (8)
1. A robot vision locating method with decoupled posture and position is characterized by comprising the following steps:
s1, carrying out position calibration through the target to obtain the position depth of the target as the calibration depth d0And the actual offset of the moving unit pixel at the nominal depth
S2, teaching the robot, enabling a camera at the tail end of the robot to face a target object, obtaining a normal vector of a plane where the target object is located according to point cloud information of the target object obtained by the camera, and adjusting the posture of the robot according to the normal vector to enable the tail end of the robot to be parallel to the plane where the target object is located;
s3, acquiring camera image, recognizing pixel coordinates (U, V) of target object at current depth and depth value d from target object plane to camera1(ii) a According to the nominal depth d0And the actual offset
To a depth d1Actual shift amount of moving unit pixel
And then according to the actual offset
And the pixel coordinates (U, V) of the target object obtain a centering compensation vector, and the robot is adjusted in the horizontal direction according to the centering compensation vector to ensure that the target object is positioned in the center of the camera image; then moving the robot in the depth direction to a calibrated height d0；
And S4, acquiring the camera image again, identifying the pixel coordinates (U ', V') of the target object at the current depth to further obtain a locating compensation vector, and adjusting the robot according to the locating compensation vector to enable the robot to reach the target object to finish the visual locating of the robot.
2. The pose and position decoupled robot vision localization method of claim 1, wherein the step S2 of obtaining the normal vector of the plane where the target object is located comprises the following steps: enabling a camera at the tail end of the robot to face a target object, dividing a point cloud convex hull according to point cloud information of the target object, acquired by the camera, moving the tail end of the robot to enable the convex hull to wrap a target workpiece plane, fitting a plane equation by the point cloud divided by the convex hull, and further obtaining a normal vector of the plane where the target object is located
3. The pose and position decoupled robot vision localization method of claim 2, wherein in step S2, according to normal vector
The method for adjusting the robot posture specifically comprises the following steps:
firstly, the normal vector
The conversion to the robot base coordinate system is expressed as:
wherein the content of the first and second substances,
a rotation matrix representing the end coordinate system to the base coordinate system,
a rotation matrix representing a camera coordinate system to an end coordinate system;
then according to
Sum vector
(0,0 obtaining robot rotation axis
And corner
And then will rotate
And converting the data into quaternions to obtain tail end attitude adjustment parameters of the robot, and inputting the parameters into the robot to adjust the attitude of the robot.
4. The pose and position decoupled robot vision localization method of claim 1, wherein in step S3, the actual offset is
The specific calculation formula is as follows:
5. the pose and position decoupled robot vision localization method of claim 4, wherein in step S3, the compensation vector is centered
The specific calculation formula is as follows:
wherein width and depth represent the image width and height, respectively.
6. The pose and position decoupled robot vision localization method of claim 1, wherein in step S4, a localization compensation vector
The specific calculation formula is as follows:
wherein (u)0,v0) And when the position is calibrated, the target pixel coordinate in the initial state is obtained.
7. The pose-and-position decoupled robot vision localization method according to any of claims 1-6, wherein in step S1, performing position calibration through the target specifically comprises the following steps:
s11, mounting a camera and a test touch rod at the tail end of the robot, and enabling the tail end of the test touch rod to be seen in the field of view of the camera; moving the robot in a teaching mode to enable the tail end of the test touch rod to coincide with the target, and then moving away the test touch rod to obtain the pixel coordinate (u) of the target0,v0) Depth value d of target position0；
S12, keeping the posture and the height of the robot unchanged, horizontally moving the robot, and calibrating to obtain the actual offset caused by the pixel coordinates of the moving unit in the x and y directions
8. The pose and position decoupled robot vision localization method of claim 7, wherein in step S12, an actual offset is obtained
The method comprises the following steps: moving the robot horizontally while keeping the attitude and height of the robot constant, and reading the end coordinates (x) of the robot at the first position1,y1,z1) Identified target pixel coordinates (u)1,v1) (ii) a End coordinate (x) at the second position2,y2,z2) Identified target pixel coordinates (u)2,v2) Finding the actual offset in the x and y directions caused by moving the unit pixel coordinate at that depth
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