CN113825980A - 机器人手眼标定方法、装置、计算设备、介质以及产品 - Google Patents

机器人手眼标定方法、装置、计算设备、介质以及产品 Download PDF

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CN113825980A
CN113825980A CN201980096398.4A CN201980096398A CN113825980A CN 113825980 A CN113825980 A CN 113825980A CN 201980096398 A CN201980096398 A CN 201980096398A CN 113825980 A CN113825980 A CN 113825980A
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camera
calibration
laser
robot arm
calibration plate
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CN113825980B (zh
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贺银增
陈颀潇
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Siemens Ltd China
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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
    • B25J9/1692—Calibration of manipulator
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B25J19/021—Optical sensing devices
    • B25J19/023—Optical sensing devices including video camera means
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/20—Analysis of motion
    • 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
    • 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
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39057—Hand eye calibration, eye, camera on hand, end effector
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10004—Still image; Photographic image
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10028—Range image; Depth image; 3D point clouds
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30204—Marker
    • G06T2207/30208—Marker matrix
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30244—Camera pose

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  • Engineering & Computer Science (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Multimedia (AREA)
  • Manipulator (AREA)

Abstract

一种机器人手眼标定方法、装置、计算设备、存储介质以及计算机程序产品。机器人手眼标定方法包括：坐标记录步骤：控制机器人手臂(102)末端依次移动至标定板(108)上方的至少三个预定位置，在每一个预定位置处：控制设置在机器人手臂(102)上的激光器(104)在标定板上投影，记录投影时机器人手臂(102)末端端点在机器人坐标系下的坐标，并且控制机器人手臂(102)末端上的相机(106)对标定板(108)上的投影进行拍摄并记录该投影在相机坐标系下的坐标；以及变换矩阵计算步骤：根据所记录的标定板(108)上的至少三个投影在相机坐标系下的坐标和每次投影时机器人手臂(102)末端端点在机器人坐标系下的坐标来计算标定变换矩阵。

Description

PCT国内申请，说明书已公开。

Claims (16)

  1. PCT国内申请，权利要求书已公开。
CN201980096398.4A 2019-07-19 2019-07-19 机器人手眼标定方法、装置、计算设备以及介质 Active CN113825980B (zh)

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CN112907682B (zh) * 2021-04-07 2022-11-25 歌尔光学科技有限公司 一种五轴运动平台的手眼标定方法、装置及相关设备
CN113664835B (zh) * 2021-09-15 2022-10-14 杭州景吾智能科技有限公司 机器人自动手眼标定方法与系统
CN113843792B (zh) * 2021-09-23 2024-02-06 四川锋准机器人科技有限公司 一种手术机器人的手眼标定方法
CN114652299B (zh) * 2022-02-25 2024-06-21 天键医疗科技(广东)有限公司 3d耳道扫描系统误差修正方法
CN115488883B (zh) * 2022-09-06 2023-11-07 群青华创(南京)智能科技有限公司 机器人手眼标定方法、装置及系统
CN116038701B (zh) * 2022-12-30 2023-12-05 北京中科原动力科技有限公司 一种四轴机械臂的手眼标定方法及装置
DE102023105674A1 (de) 2023-03-07 2024-09-12 Isios Gmbh Verfahren und Anordnung zur Kompensation nicht-geometrischer Fehlereinflüsse auf eine Roboterabsolutgenauigkeit mittels eines Laser-Sensor-Systems
CN116160454A (zh) * 2023-03-28 2023-05-26 重庆智能机器人研究院 机器人末端平面视觉“手-眼”标定算法模型
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CN113825980B (zh) 2024-04-09
US20220250248A1 (en) 2022-08-11
EP3974779A1 (en) 2022-03-30
WO2021012124A1 (zh) 2021-01-28
EP3974779A4 (en) 2023-01-11

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