CN114310869A - Robot eye calibration method, system and terminal - Google Patents
Robot eye calibration method, system and terminal Download PDFInfo
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Abstract
The robot eye calibration method, the system and the terminal are applied to a depth sensing device arranged on a robot. The invention solves the problems that the traditional robot hand-eye calibration method has large calculated amount, more teaching points, high requirement on the teaching points, low precision and the precision of alignment points limits the calibration precision of a hand-eye coordinate system, and most of the calibration is offline calibration. The robot hand-eye calibration method provided by the invention has the advantages of small calculated amount, full-automatic calibration, no need of accurate teaching and capability of obtaining the calibration accuracy which is the same as the accurate control of each axis of a hand-eye coordinate system. The method has the advantages of high economy and low labor cost, greatly improves the efficiency of calibration work, and can be widely applied to various environments such as factory sites, laboratories and the like.
Description
Technical Field
The invention belongs to the field of robots, and particularly relates to a robot hand-eye calibration method, a robot hand-eye calibration system and a robot hand-eye calibration terminal.
Background
At present, the calibration of the hands and eyes of the robot generally adopts a matrix transformation method, and utilizes sensors such as a specific tool, a correlation photoelectric sensor, a camera, a line laser and the like to acquire pose information of the robot from different poses of the same target point. And calculating a transformation matrix of the hand-eye coordinate system with the best convergence by using a least square method or an algorithm such as Levenberg-Marquardt and the like to finish calibration. The method has the advantages of large calculation amount, more teaching points and high requirement on the teaching points, and most of the calibration is offline calibration. In addition, the method has low precision, and the precision of the alignment point limits the calibration precision of the hand-eye coordinate system.
Disclosure of Invention
In view of the above disadvantages of the prior art, an object of the present invention is to provide a robot hand-eye calibration method, system and terminal, which are used to solve the problems that the existing robot hand-eye calibration method has a large calculation amount, many teaching points, high requirement for the teaching points, most of the calibration is offline calibration, the precision of the method is low, and the precision of the alignment points limits the calibration precision of the hand-eye coordinate system.
In order to achieve the above and other related objects, the present invention provides a method for calibrating a hand-eye of a robot, applied to a depth sensing device disposed on the robot, the method including: inputting tool coordinate system based on the depth sensing device and position information of at least one teaching point on a stereo calibration block obtained by the depth sensing device in the tool coordinate system; correcting teaching point position information of corrected teaching points corresponding to the teaching points on the three-dimensional calibration block under the tool coordinate system is respectively obtained according to the teaching point position information; obtaining motion key point position information of one or more motion key points of the three-dimensional calibration block under the tool coordinate system and motion planning information of motion of each motion key point on the three-dimensional calibration block according to the corrected teaching point position information; obtaining the position information of the measurement point of one or more measurement points on the three-dimensional calibration block under the initial hand-eye coordinate after the movement key points move for one or more times based on the movement planning information according to the position information of the movement key points and the movement planning information corresponding to the movement key points; respectively obtaining one or more deviation objective functions for calibrating each axis of the tool coordinate system according to the position information of each motion key point and the position information of one or more measuring points corresponding to each motion key point under the initial hand-eye coordinate, so as to respectively calculate one or more calibration deviation parameter values of each axis of the tool coordinate system; respectively judging whether one or more calibration deviation parameter values of each axis all reach the calibration precision obtained by the deviation objective function corresponding to each calibration deviation parameter value; if so, calibrating each axis of the tool coordinate system according to each calibration deviation parameter value to obtain a calibration hand-eye coordinate system.
In an embodiment of the present invention, the manner of obtaining the position information of the motion key point of the one or more motion key points in the stereoscopic calibration block in the tool coordinate system and the motion planning information of the motion key points moving on the stereoscopic calibration block according to the corrected teaching point position information includes: obtaining the position information of the motion key points on one or more feature surfaces of the three-dimensional module under the tool coordinate system according to the corrected teaching point position information and the appearance features of the three-dimensional calibration block; and obtaining motion planning information for calibrating the motion key points of each axis of the tool coordinate system to move on the three-dimensional calibration block according to the corrected teaching point position information.
In an embodiment of the present invention, the exercise planning information includes: one or more rotation angle values of the motion key points around respective axes of the tool coordinate system and/or one or more translation values of the motion key points translated along respective axes of the tool coordinate system.
In an embodiment of the present invention, the obtaining one or more deviation objective functions for calibrating each axis of the tool coordinate system according to the position information of each motion key point and the position information of the one or more measurement points corresponding to each motion key point in the initial hand-eye coordinate respectively, so as to calculate one or more calibration deviation parameter values of each axis of the tool coordinate system respectively includes: and obtaining one or more deviation objective functions which are used for calibrating each axis respectively and correspond to each axis respectively according to the position information of each motion key point and the position information of one or more measuring points corresponding to each motion key point in the initial coordinate system, so as to calculate one or more calibration deviation parameter values of each axis of the tool coordinate system calculated by the deviation objective functions of each axis of the tool coordinate system respectively.
In an embodiment of the present invention, the calibration deviation parameter values of each axis include: an off-angle value and/or an off-value for each axis of the tool coordinate system.
In an embodiment of the present invention, the manner of respectively determining whether all of the one or more calibration deviation parameter values of each axis reach the calibration accuracy obtained by the deviation objective function corresponding to each calibration deviation parameter value includes: respectively obtaining a calibration deviation parameter threshold value of each axis according to the deviation target function of each axis; and respectively comparing the calibration deviation parameter value of each axis with the corresponding calibration precision of the deviation parameter threshold value of each axis to judge whether one or more calibration deviation parameter values of each axis all reach the calibration precision.
In an embodiment of the present invention, the method further includes: if not, further calibrating the calibration parameter value which does not reach the calibration precision; wherein, the recalibration mode comprises: obtaining position information of one or more motion key points of the three-dimensional calibration block under the tool coordinate system and motion planning information of each motion key point moving on the three-dimensional calibration block according to the position information of the corrected teaching point corresponding to one or more calibration parameter values needing to be calibrated again; obtaining the position information of one or more measuring points of each motion key point after the motion of the motion key point based on the motion planning information according to the position information of each motion key point and the motion planning information corresponding to each motion key point; respectively obtaining one or more deviation objective functions for calibrating each axis of the tool coordinate system according to the position information of each motion key point and the position information of one or more measuring points corresponding to each motion key point, so as to respectively calculate one or more calibration deviation parameter values of each axis of the tool coordinate system; respectively judging whether one or more calibration deviation parameter values of each axis all reach the calibration precision obtained by the deviation objective function corresponding to each calibration deviation parameter value; if so, calibrating each axis of the tool coordinate system respectively according to each calibration deviation parameter value and the calibration parameter value reaching the calibration precision to obtain a calibration hand-eye coordinate system; if not, further calibrating the calibration parameter value which does not reach the calibration precision.
In an embodiment of the present invention, the depth sensing device includes: one or more of a structured light sensor, a point laser sensor, a line laser sensor, and a surface laser sensor.
In order to achieve the above objects and other related objects, the present invention provides a robot hand-eye calibration system, which is applied to a depth sensing device disposed on a robot; the system comprises: the input module is used for inputting a tool coordinate system based on the depth sensing device and position information of at least one teaching point on the stereoscopic calibration block, which is obtained by the depth sensing device, in the tool coordinate system; the teaching correction module is connected with the input module and is used for respectively obtaining corrected teaching point position information of corrected teaching points corresponding to the teaching points on the three-dimensional calibration block under the tool coordinate system according to the teaching point position information; the motion planning module is connected with the teaching correction module and used for obtaining motion key point position information of one or more motion key points of the three-dimensional calibration block under the tool coordinate system and motion planning information of motion of each motion key point on the three-dimensional calibration block according to the corrected teaching point position information; the measurement point acquisition module is connected with the motion planning module and used for acquiring the measurement point position information of one or more measurement points on the three-dimensional calibration block under the initial hand-eye coordinate after each motion key point moves for one or more times based on the motion planning information according to the position information of each motion key point and the motion planning information corresponding to each motion key point; the target function calculation module is connected with the motion planning module and the measuring point acquisition module and is used for respectively obtaining one or more deviation target functions for calibrating each axis of the tool coordinate system according to the position information of each motion key point and the position information of one or more measuring points corresponding to each motion key point under the initial hand-eye coordinate so as to respectively calculate one or more calibration deviation parameter values of each axis of the tool coordinate system; the judging module is connected with the target function calculating module and is used for respectively judging whether one or more calibration deviation parameter values of each axis all reach the calibration precision obtained by the deviation target function corresponding to each calibration deviation parameter value; and the calibration module is connected with the judgment module and used for calibrating each axis of the tool coordinate system according to each calibration deviation parameter value to obtain a calibration hand-eye coordinate system if all the calibration precision obtained by the deviation objective function corresponding to each calibration deviation parameter value is achieved.
To achieve the above and other related objects, the present invention provides a robot hand-eye calibration terminal, including: a memory for storing a computer program; and the processor is used for executing the robot eye calibration method.
As described above, the robot hand-eye calibration method, system and terminal of the present invention have the following advantages: the robot hand-eye calibration method provided by the invention has the advantages of small calculated amount, full-automatic calibration, no need of accurate teaching and capability of obtaining the calibration accuracy which is the same as the accurate control of each axis of a hand-eye coordinate system. The method has the advantages of high economy and low labor cost, greatly improves the efficiency of calibration work, and can be widely applied to various environments such as factory sites, laboratories and the like.
Drawings
Fig. 1 is a schematic flow chart illustrating a robot hand-eye calibration method according to an embodiment of the present invention.
Fig. 2 is a schematic structural diagram of a stereo calibration block according to an embodiment of the invention.
Fig. 3 is a flowchart illustrating a robot hand-eye calibration method according to an embodiment of the invention.
Fig. 4 is a schematic structural diagram of a robot hand-eye calibration system according to an embodiment of the present invention.
Fig. 5 is a schematic structural diagram of a robot hand-eye calibration terminal in an embodiment of the present invention.
Detailed Description
The embodiments of the present invention are described below with reference to specific embodiments, and other advantages and effects of the present invention will be easily understood by those skilled in the art from the disclosure of the present specification. The invention is capable of other and different embodiments and of being practiced or of being carried out in various ways, and its several details are capable of modification in various respects, all without departing from the spirit and scope of the present invention. It is to be noted that the features in the following embodiments and examples may be combined with each other without conflict.
It is noted that in the following description, reference is made to the accompanying drawings which illustrate several embodiments of the present invention. It is to be understood that other embodiments may be utilized and that mechanical, structural, electrical, and operational changes may be made without departing from the spirit and scope of the present invention. The following detailed description is not to be taken in a limiting sense, and the scope of embodiments of the present invention is defined only by the claims of the issued patent. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. Spatially relative terms, such as "upper," "lower," "left," "right," "lower," "below," "lower," "over," "upper," and the like, may be used herein to facilitate describing one element or feature's relationship to another element or feature as illustrated in the figures.
Throughout the specification, when a part is referred to as being "connected" to another part, this includes not only a case of being "directly connected" but also a case of being "indirectly connected" with another element interposed therebetween. In addition, when a certain part is referred to as "including" a certain component, unless otherwise stated, other components are not excluded, but it means that other components may be included.
The terms first, second, third, etc. are used herein to describe various elements, components, regions, layers and/or sections, but are not limited thereto. These terms are only used to distinguish one element, component, region, layer or section from another element, component, region, layer or section. Thus, a first element, component, region, layer or section discussed below could be termed a second element, component, region, layer or section without departing from the scope of the present invention.
Also, as used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context indicates otherwise. It will be further understood that the terms "comprises," "comprising," and/or "comprising," when used in this specification, specify the presence of stated features, operations, elements, components, items, species, and/or groups, but do not preclude the presence, or addition of one or more other features, operations, elements, components, items, species, and/or groups thereof. The terms "or" and/or "as used herein are to be construed as inclusive or meaning any one or any combination. Thus, "A, B or C" or "A, B and/or C" means "any of the following: a; b; c; a and B; a and C; b and C; A. b and C ". An exception to this definition will occur only when a combination of elements, functions or operations are inherently mutually exclusive in some way.
The embodiment of the invention provides a robot hand-eye calibration method, which solves the problems that the traditional robot hand-eye calibration method has large calculation amount, more teaching points and high requirement on the teaching points, most of calibration is offline calibration, the method has low precision, and the precision of alignment points limits the calibration precision of a hand-eye coordinate system. The robot hand-eye calibration method provided by the invention has the advantages of small calculated amount, full-automatic calibration, no need of accurate teaching and capability of obtaining the calibration accuracy which is the same as the accurate control of each axis of a hand-eye coordinate system. The method has the advantages of high economy and low labor cost, greatly improves the efficiency of calibration work, and can be widely applied to various environments such as factory sites, laboratories and the like.
Embodiments of the present invention will be described in detail below with reference to the accompanying drawings so that those skilled in the art can easily implement the embodiments of the present invention. The present invention may be embodied in many different forms and is not limited to the embodiments described herein.
Fig. 1 is a schematic flow chart showing a robot hand-eye calibration method in an embodiment of the present invention.
The depth sensing device is applied to the robot;
alternatively, the type of robot may be any one, for example, an industrial articulated robot.
Optionally, the depth sensing device includes, but is not limited to, one or more depth sensing devices of a structured light sensor, a point laser sensor, a line laser sensor, and a surface laser sensor, which are not limited in this application.
The method comprises the following steps:
step S11: inputting tool coordinate system based on the depth sensing device and position information of at least one teaching point on the stereo calibration block in the tool coordinate system obtained by the depth sensing device.
Optionally, a tool coordinate system obtained by using the vision sensor as a reference is input, and position information of at least one teaching point formed by the optical signal of the vision sensor on a solid body in the tool coordinate system is input. Preferably, the number of the teaching points is 1 or 2, and the position and the posture of the robot can be determined by only roughly teaching 1 or 2 teaching points, so that the manual operation of calibration is simplified.
Optionally, the location information includes: coordinates of at least one teach point on the stereometric block in the tool coordinate system.
Optionally, the stereo calibration block is a three-dimensional stereo block, including: one or more appearance characteristics; wherein the appearance characteristics are related to one or more of a shape, size, position, and pose of the volumetric calibration block. It should be noted that the shape, size, position and placement state of the stereo calibration block are set according to the requirement, and are not limited in the present invention. For example, the solid calibration block is shown in fig. 2, the upper plane is a grinding plane, and two sides of the solid calibration block are provided with 45-degree inclined grinding planes.
Step S12: and obtaining corrected teaching point position information of corrected teaching points corresponding to the teaching points on the three-dimensional calibration block in the tool coordinate system according to the teaching point position information.
Optionally, based on the teaching correction matrix, correcting the position information of each teaching point to obtain corrected teaching point position information of a corrected teaching point corresponding to each teaching point on the stereo calibration block in the tool coordinate system, so as to obtain a more accurate teaching point. And the teaching correction matrix is obtained according to the position information of the uncorrected teaching points counted before and the accurate teaching position information.
Optionally, based on a teaching correction model, correcting the position information of each teaching point to obtain corrected teaching point position information of a corrected teaching point corresponding to each teaching point on the stereo calibration block in the tool coordinate system, so as to obtain a more accurate teaching point.
Optionally, the teaching correction model is formed by training a plurality of teaching correction samples. Wherein the teaching correction samples include: position information of the teaching points is not corrected, and position information of the corrected teaching points is corrected. The teaching modification model training adopts one or more networks including but not limited to PreResnet, CNN, RNN, LSTM, Hopfield network, BMN and DBN.
S13: and obtaining the position information of one or more motion key points of the three-dimensional calibration block under the tool coordinate system and the motion planning information of the motion key points moving on the three-dimensional calibration block according to the corrected teaching point position information.
Optionally, the manner of obtaining, according to the corrected teaching point position information, motion key point position information of one or more motion key points in the stereoscopic calibration block in the tool coordinate system and motion planning information of each motion key point moving on the stereoscopic calibration block includes: obtaining the position information of the motion key points on one or more feature surfaces of the three-dimensional module under the tool coordinate system according to the corrected teaching point position information and the appearance features of the three-dimensional calibration block; and obtaining motion planning information for calibrating the motion key points of each axis of the tool coordinate system to move on the three-dimensional calibration block according to the corrected teaching point position information.
Specifically, according to the corrected teaching point position information, obtaining the position information of the motion key points of the depth sensing device on one or more feature surfaces of the stereo calibration block under the tool coordinate system; and obtaining motion planning information for calibrating the motion key points of each axis of the tool coordinate system to move on the three-dimensional calibration block according to the corrected teaching point position information.
It should be noted that the number of the motion key points is not only related to the corrected teaching point position information of the depth sensing device, but also related to the characteristic surface of the three-dimensional calibration block.
Optionally, the generation of the motion key point is based on the corrected teaching point position information, and a point where a normal of a visible light signal emitted by the depth sensing device is perpendicular to each feature plane of the stereo calibration block is the motion key point. As shown in fig. 2, the upper plane is a grinding plane, two sides of the upper plane are provided with 45-degree bevel grinding planes, and the plane and the two bevels are respectively characteristic planes. And a point P1 obtained by the laser normal line sent by the laser depth sensor based on the corrected teaching point position information being vertical to the upper plane and a point P2 obtained by the laser normal line being vertical to the two inclined planes are motion key points P3.
Optionally, the exercise planning information includes: one or more rotation angle values of the motion key points around respective axes of the tool coordinate system and/or one or more translation values of the motion key points translated along respective axes of the tool coordinate system.
And the obtained rotation angles of the key points around each axis of the tool coordinate system are only rotated once if the obtained rotation angles are one description, and are rotated for multiple times if the obtained rotation angles are multiple. Similarly, the obtained translation value of each motion key point translated along each axis of the tool coordinate system is only translated once if the obtained translation value is one description, and is translated for multiple times if the obtained translation value is multiple.
For example, the obtained key point P1 is rotated by 180 degrees around the Z-axis of the current hand-eye coordinate system, or the obtained key point P2 is translated by 2cm in the Z-axis direction of the hand-eye coordinate system.
Step S14: and obtaining the position information of the measurement point of one or more measurement points on the three-dimensional calibration block under the initial hand-eye coordinate after the movement key points move for one or more times based on the movement planning information according to the position information of the movement key points and the movement planning information corresponding to the movement key points.
Optionally, the positions to which the motion key points move one or more times respectively are positions of one or more measurement points corresponding to the motion key points according to the motion planning information corresponding to the motion key points; and the number of the measuring points is related to the motion planning information corresponding to each motion key point.
That is, after the motion key point is moved, one or more measurement points corresponding to the motion key point can be obtained. Wherein each movement forms a measuring point.
Optionally, the measurement points include: rotating and/or translating the measurement points; wherein the rotation measurement point is obtained from the motion key point through a rotation angle value about an axis in the tool coordinate system; the translational measurement point is obtained by translating a translation value along an axis in the tool coordinate system.
Step S15: and respectively obtaining one or more deviation objective functions for calibrating each axis of the tool coordinate system according to the position information of each motion key point and the position information of one or more measuring points corresponding to each motion key point under the initial hand-eye coordinate, so as to respectively calculate one or more calibration deviation parameter values of each axis of the tool coordinate system.
Optionally, the obtaining, according to the position information of each motion key point and the position information of the one or more measurement points corresponding to each motion key point in the initial hand-eye coordinate, one or more deviation objective functions for calibrating each axis of the tool coordinate system, and the manner of calculating one or more calibration deviation parameter values of each axis of the tool coordinate system respectively includes: and obtaining one or more deviation objective functions which are used for calibrating each axis respectively and correspond to each axis respectively according to the position information of each motion key point and the position information of one or more measuring points corresponding to each motion key point in the initial coordinate system, so as to calculate one or more calibration deviation parameter values of each axis of the tool coordinate system calculated by the deviation objective functions of each axis of the tool coordinate system respectively.
Specifically, one or more deviation objective functions for respectively calibrating each axis and respectively corresponding to each axis are obtained according to the position information of each motion key point and the position information of the corresponding one or more measurement points of each motion key point in the initial coordinate system, wherein the measurement points are obtained through one or more times of motion; and calculating one or more calibration deviation parameter values for calibrating each axis of the tool coordinate system according to the deviation objective function of each axis of the initial hand-eye coordinate.
It should be noted that the number of the measuring points may be one or more, and may also be a shape and size of an outline and/or a point cloud formed by a plurality of measuring points, wherein the specific shape and size are not limited in this application.
Optionally, the one or more deviation objective functions for calibrating the axes of the tool coordinate system are obtained from position information of one or more measurement points obtained from one or more movements of each movement key point, so as to obtain one or more calibration parameter values for calibrating the axes. Under the condition that a plurality of measurement points are obtained through one or more movements of a movement key point for calibrating one axis in the tool coordinate system, one deviation objective function is obtained for calibrating each deviation parameter value of each axis; the deviation target function is formed by iteration according to functions of multiple movements, the calibration accuracy is higher by the method, and the accuracy obtained by the deviation target function is more accurate.
Optionally, the calibration deviation parameter values of each axis include: an off-angle value and/or an off-value for each axis of the tool coordinate system.
Specifically, one or more deviation objective functions for respectively calibrating each axis and respectively corresponding to each axis are obtained according to the position information of each motion key point and the position information of one or more measurement points corresponding to each motion key point in the initial coordinate system, so as to respectively calculate one or more deviation angle values and/or deviation values of each axis of the tool coordinate system calculated by the deviation objective function of each axis of the tool coordinate system.
It should be noted that, if the deviation parameter values include: one or more deviation angle values and deviation values for each axis of the tool coordinate system, a deviation objective function for the deviation parameter values for each axis is calculated to be 6.
Step S16: respectively judging whether one or more calibration deviation parameter values of each axis all reach the calibration precision obtained by the deviation objective function corresponding to each calibration deviation parameter value;
optionally, the manner of respectively determining whether all of the one or more calibration deviation parameter values of each axis reach the calibration accuracy obtained by the deviation objective function corresponding to each calibration deviation parameter value includes:
respectively obtaining a calibration deviation parameter threshold value of each axis according to the deviation target function of each axis; and respectively comparing the calibration deviation parameter value of each axis with the corresponding calibration precision of the deviation parameter threshold value of each axis to judge whether one or more calibration deviation parameter values of each axis all reach the calibration precision.
It should be noted that the calibration deviation parameter values of the axes of the tool coordinate system must respectively reach the calibration accuracy corresponding to the axes, and then the values are considered to reach the standard, otherwise, the values are not considered to reach the standard.
Step S17: if so, calibrating each axis of the tool coordinate system according to each calibration deviation parameter value to obtain a calibration hand-eye coordinate system.
Optionally, if one or more calibration deviation parameter values of each axis all reach the calibration precision obtained by the deviation objective function corresponding to each calibration deviation parameter value, stopping the calibration of each axis, and calibrating each axis of the tool coordinate system according to each calibration deviation parameter value to obtain a calibration hand-eye coordinate system.
Optionally, angle calibration and translation calibration are performed on each axis of the tool coordinate system according to the deviation value and the deviation value in each calibration deviation parameter value, so as to obtain a calibration hand-eye coordinate system.
Optionally, the method further includes: if not, further calibrating the calibration parameter value which does not reach the calibration precision; wherein, the recalibration mode comprises:
obtaining position information of one or more motion key points of the three-dimensional calibration block under the tool coordinate system and motion planning information of each motion key point moving on the three-dimensional calibration block according to the position information of the corrected teaching point corresponding to one or more calibration parameter values needing to be calibrated again;
obtaining the position information of one or more measuring points of each motion key point after the motion of the motion key point based on the motion planning information according to the position information of each motion key point and the motion planning information corresponding to each motion key point;
respectively obtaining one or more deviation objective functions for calibrating each axis of the tool coordinate system according to the position information of each motion key point and the position information of one or more measuring points corresponding to each motion key point, so as to respectively calculate one or more calibration deviation parameter values of each axis of the tool coordinate system;
respectively judging whether one or more calibration deviation parameter values of each axis all reach the calibration precision obtained by the deviation objective function corresponding to each calibration deviation parameter value;
if so, calibrating each axis of the tool coordinate system respectively according to each calibration deviation parameter value and the calibration parameter value reaching the calibration precision to obtain a calibration hand-eye coordinate system;
if not, further calibrating the calibration parameter value which does not reach the calibration precision.
In order to better describe the robot eye calibration method, the description is made with reference to an embodiment.
Example 1: a robot hand-eye calibration method is applied to a six-axis robot, and the six-axis robot comprises the following steps: the laser is disposed on the six-axis robot, and a schematic flow chart of hand-eye calibration is shown in fig. 3.
The method comprises the following steps:
inputting tool coordinate system (x-axis, y-axis and z-axis) based on the clamped laser and position information of at least one teaching point on a stereo calibration block obtained by the clamped laser under the tool coordinate system; the upper plane of the three-dimensional calibration block is a grinding plane, and two sides of the three-dimensional calibration block are provided with 45-degree inclined grinding planes.
Correcting the position information of each teaching point respectively to obtain corrected teaching point position information of corrected teaching points corresponding to each teaching point on the three-dimensional calibration block in the tool coordinate system;
a point P1 obtained by the holding laser based on the corrected teaching point position information, wherein the normal line of the laser is vertical to the upper plane, and a point P2 obtained by vertical two inclined planes, wherein P3 is a movement key point and movement planning information corresponding to each movement key point and moving on the three-dimensional calibration block;
based on the motion planning information of each motion key point, rotating the point P1 by 180 degrees around the z axis of the current hand-eye coordinate system to obtain the position information of the point P1'; translating the point P2 by 2cm along the z-axis and x-axis directions of the hand-eye coordinate system respectively to obtain the position information of the measuring points P2 'and P2'; respectively rotating the point P2 for 180 degrees around the z-axis direction of the hand-eye coordinate system to obtain the position information of a measuring point P2'; rotating the point P3 by 180 degrees around the z axis of the hand-eye coordinate system to obtain the position information of the point P3'; rotating the point P3 by 180 degrees along the x axis of the hand-eye coordinate system to obtain the position information of the point P3';
respectively calculating deviation target functions of the rotation direction of the three axes x/y/z and the translation direction of the three axes x/y/z according to the position information of P1, P1 ', P2, P2', P2, P2 ', P2, P2', P3, P3 ', P3 and P3', and calculating deviation parameter values of all the axes according to the deviation target functions;
respectively judging whether one or more calibration deviation parameter values of each axis all reach the calibration precision obtained by the deviation objective function corresponding to each calibration deviation parameter value;
if so, calibrating each axis of the tool coordinate system according to each calibration deviation parameter value to obtain a calibration hand-eye coordinate system;
if not, further calibrating the calibration parameter value which does not reach the calibration precision.
Similar to the principle of the above embodiment, the invention provides a robot hand-eye calibration system.
Specific embodiments are provided below in conjunction with the attached figures:
fig. 4 shows a schematic structural diagram of a robot hand-eye calibration system in an embodiment of the present invention.
The system comprises:
be applied to and locate depth sensing device on the robot, the system includes:
the system comprises:
an input module 41, configured to input tool coordinate system based on the depth sensing device and position information of at least one teach point on the stereo calibration block obtained by the depth sensing device in the tool coordinate system;
a teaching correction module 42, connected to the input module 41, for obtaining corrected teaching point position information of corrected teaching points corresponding to the teaching points on the stereoscopic calibration block in the tool coordinate system according to the teaching point position information;
a motion planning module 43, connected to the teaching correction module 42, configured to obtain, according to the corrected teaching point position information, position information of a motion key point of one or more motion key points in the stereoscopic calibration block in the tool coordinate system and motion planning information of motion of each motion key point on the stereoscopic calibration block;
a measurement point obtaining module 44, connected to the motion planning module 43, configured to obtain, according to the position information of each motion key point and the motion planning information corresponding to each motion key point, position information of a measurement point of one or more measurement points on the three-dimensional calibration block in the initial hand-eye coordinate, where each motion key point is moved for one or more times based on the motion planning information;
an objective function calculating module 45, connected to the motion planning module 43 and the measurement point obtaining module 44, configured to obtain one or more deviation objective functions for calibrating each axis of the tool coordinate system according to the position information of each motion key point and the position information of one or more measurement points corresponding to each motion key point in the initial hand-eye coordinate, so as to calculate one or more calibration deviation parameter values of each axis of the tool coordinate system;
a determining module 46, connected to the objective function calculating module 45, for respectively determining whether one or more calibration deviation parameter values of each axis all reach the calibration accuracy obtained by the deviation objective function corresponding to each calibration deviation parameter value;
and the calibration module 47 is connected to the determination module 46, and is configured to calibrate each axis of the tool coordinate system according to each calibration deviation parameter value, if all the calibration accuracies obtained by the deviation objective function corresponding to each calibration deviation parameter value are achieved, so as to obtain a calibrated hand-eye coordinate system.
Optionally, the input module 41 inputs a tool coordinate system obtained by taking the vision sensor as a reference, and inputs position information of at least one teach point formed by the optical signal of the vision sensor on a solid in the tool coordinate system. Preferably, the number of the teaching points is 1 or 2, and the position and the posture of the robot can be determined by only roughly teaching 1 or 2 teaching points, so that the manual operation of calibration is simplified.
Optionally, based on the teaching correction matrix, the teaching correction module 42 corrects the position information of each teaching point to obtain corrected teaching point position information of a corrected teaching point corresponding to each teaching point on the stereoscopic calibration block in the tool coordinate system, so as to obtain a more accurate teaching point. And the teaching correction matrix is obtained according to the position information of the uncorrected teaching points counted before and the accurate teaching position information.
Optionally, based on the teaching correction model, the teaching correction module 42 corrects the position information of each teaching point to obtain corrected teaching point position information of a corrected teaching point corresponding to each teaching point on the stereoscopic calibration block in the tool coordinate system, so as to obtain a more accurate teaching point.
Optionally, the teaching correction model is formed by training a plurality of teaching correction samples. Wherein the teaching correction samples include: position information of the teaching points is not corrected, and position information of the corrected teaching points is corrected. The teaching modification model training adopts one or more networks including but not limited to PreResnet, CNN, RNN, LSTM, Hopfield network, BMN and DBN.
Optionally, the motion planning module 43 obtains, according to the corrected teaching point position information and the appearance feature of the stereo calibration block, position information of a motion key point of the motion key point on one or more feature surfaces of the stereo module in the tool coordinate system; and obtaining motion planning information for calibrating the motion key points of each axis of the tool coordinate system to move on the three-dimensional calibration block according to the corrected teaching point position information. Specifically, the motion planning module 43 obtains, according to the corrected teaching point position information, position information of motion key points of the depth sensing device on one or more feature surfaces of the stereo calibration block in the tool coordinate system; and obtaining motion planning information for calibrating the motion key points of each axis of the tool coordinate system to move on the three-dimensional calibration block according to the corrected teaching point position information.
It should be noted that the number of the motion key points is not only related to the corrected teaching point position information of the depth sensing device, but also related to the characteristic surface of the three-dimensional calibration block.
Optionally, the generation of the motion key point is based on the corrected teaching point position information, and a point where a normal of a visible light signal emitted by the depth sensing device is perpendicular to each feature plane of the stereo calibration block is the motion key point.
Optionally, the exercise planning information includes: one or more rotation angle values of the motion key points around respective axes of the tool coordinate system and/or one or more translation values of the motion key points translated along respective axes of the tool coordinate system.
And the obtained rotation angles of the key points around each axis of the tool coordinate system are only rotated once if the obtained rotation angles are one description, and are rotated for multiple times if the obtained rotation angles are multiple. Similarly, the obtained translation value of each motion key point translated along each axis of the tool coordinate system is only translated once if the obtained translation value is one description, and is translated for multiple times if the obtained translation value is multiple.
Optionally, the measurement point obtaining module 44 makes the positions to which the motion key points respectively move one or more times according to the motion planning information corresponding to the motion key points as the positions of one or more measurement points corresponding to the motion key points; and the number of the measuring points is related to the motion planning information corresponding to each motion key point.
That is, after the motion key point is moved, one or more measurement points corresponding to the motion key point can be obtained. Wherein each movement forms a measuring point.
Optionally, the measurement points include: rotating and/or translating the measurement points; wherein the rotation measurement point is obtained from the motion key point through a rotation angle value about an axis in the tool coordinate system; the translational measurement point is obtained by translating a translation value along an axis in the tool coordinate system.
Optionally, the objective function calculating module 45 obtains one or more deviation objective functions for calibrating each axis and corresponding to each axis respectively according to the position information of each motion key point and the position information of one or more measurement points corresponding to each motion key point in the initial coordinate system, so as to calculate one or more calibrated deviation parameter values of each axis of the tool coordinate system calculated by the deviation objective function of each axis of the tool coordinate system respectively.
Specifically, the objective function calculation module 45 obtains one or more deviation objective functions for respectively calibrating each axis and respectively corresponding to each axis according to the position information of each motion key point and the position information of the corresponding one or more measurement points of each motion key point in the initial coordinate system, which is obtained through one or more motions; and calculating one or more calibration deviation parameter values for calibrating each axis of the tool coordinate system according to the deviation objective function of each axis of the initial hand-eye coordinate.
Optionally, the objective function calculation module 45 obtains one or more deviation objective functions for calculating axes of the tool coordinate system from the position information of the one or more measurement points obtained from one or more movements of each movement key point, so as to obtain one or more calibration parameter values for calibrating the axes. Under the condition that a plurality of measurement points are obtained through one or more movements of a movement key point for calibrating one axis in the tool coordinate system, one deviation objective function is obtained for calibrating each deviation parameter value of each axis; the deviation target function is formed by iteration according to functions of multiple movements, the calibration accuracy is higher by the method, and the accuracy obtained by the deviation target function is more accurate.
Optionally, the calibration deviation parameter values of each axis include: an off-angle value and/or an off-value for each axis of the tool coordinate system.
Specifically, the objective function calculating module 45 obtains one or more deviation objective functions for respectively calibrating each axis and respectively corresponding to each axis according to the position information of each motion key point and the position information of one or more measurement points corresponding to each motion key point in the initial coordinate system, so as to respectively calculate one or more deviation angle values and/or deviation values of each axis of the tool coordinate system calculated by the deviation objective function of each axis of the tool coordinate system.
It should be noted that, if the deviation parameter values include: one or more deviation angle values and deviation values for each axis of the tool coordinate system, a deviation objective function for the deviation parameter values for each axis is calculated to be 6.
Optionally, the manner of determining, by the determining module 46, whether all of the one or more calibration deviation parameter values of each axis reach the calibration accuracy obtained by the deviation objective function corresponding to each calibration deviation parameter value includes:
the determination module 46 obtains a calibration deviation parameter threshold of each axis according to the deviation objective function of each axis; and respectively comparing the calibration deviation parameter value of each axis with the corresponding calibration precision of the deviation parameter threshold value of each axis to judge whether one or more calibration deviation parameter values of each axis all reach the calibration precision.
It should be noted that the calibration deviation parameter values of the axes of the tool coordinate system must respectively reach the calibration accuracy corresponding to the axes, and then the values are considered to reach the standard, otherwise, the values are not considered to reach the standard.
Optionally, the calibration module 47 finds that, if all of one or more calibration deviation parameter values of each axis reach the calibration accuracy obtained by the deviation objective function corresponding to each calibration deviation parameter value, the calibration of each axis is stopped, and each axis of the tool coordinate system is calibrated according to each calibration deviation parameter value, so as to obtain a calibration hand-eye coordinate system.
Optionally, the calibration module 47 performs angle calibration and translation calibration on each axis of the tool coordinate system according to the deviation value and the deviation value in each calibration deviation parameter value, so as to obtain a calibration hand-eye coordinate system.
Optionally, the system further includes: the recalibration module is used for further calibrating the calibration parameter values which do not reach the calibration precision if one or more calibration deviation parameter values of each axis do not all reach the calibration precision obtained by the deviation objective function corresponding to each calibration deviation parameter value; wherein, the recalibration mode comprises:
obtaining position information of one or more motion key points of the three-dimensional calibration block under the tool coordinate system and motion planning information of each motion key point moving on the three-dimensional calibration block according to the position information of the corrected teaching point corresponding to one or more calibration parameter values needing to be calibrated again;
obtaining the position information of one or more measuring points of each motion key point after the motion of the motion key point based on the motion planning information according to the position information of each motion key point and the motion planning information corresponding to each motion key point;
respectively obtaining one or more deviation objective functions for calibrating each axis of the tool coordinate system according to the position information of each motion key point and the position information of one or more measuring points corresponding to each motion key point, so as to respectively calculate one or more calibration deviation parameter values of each axis of the tool coordinate system;
respectively judging whether one or more calibration deviation parameter values of each axis all reach the calibration precision obtained by the deviation objective function corresponding to each calibration deviation parameter value;
if so, calibrating each axis of the tool coordinate system respectively according to each calibration deviation parameter value and the calibration parameter value reaching the calibration precision to obtain a calibration hand-eye coordinate system;
if not, further calibrating the calibration parameter value which does not reach the calibration precision.
Fig. 5 shows a schematic structural diagram of the robot eye calibration terminal 50 in the embodiment of the present invention.
The robot eye calibration terminal 50 includes: a memory 51 and a processor 52, the memory 51 for storing computer programs; the processor 52 runs a computer program to implement the robot hand-eye calibration method as described in fig. 1.
Optionally, the number of the memories 51 may be one or more, the number of the processors 52 may be one or more, and fig. 5 is an example.
Optionally, the processor 52 in the robot eye calibration terminal 50 may load one or more instructions corresponding to the process of the application program into the memory 51 according to the steps described in fig. 1, and the processor 52 runs the application program stored in the first memory 51, so as to implement various functions in the robot eye calibration method described in fig. 1.
Optionally, the memory 51 may include, but is not limited to, a high speed random access memory, a non-volatile memory. Such as one or more magnetic disk storage devices, flash memory devices, or other non-volatile solid-state storage devices; the Processor 52 may include, but is not limited to, a Central Processing Unit (CPU), a Network Processor (NP), and the like; the Integrated Circuit may also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, a discrete Gate or transistor logic device, or a discrete hardware component.
Optionally, the Processor 52 may be a general-purpose Processor, and includes a Central Processing Unit (CPU), a Network Processor (NP), and the like; the Integrated Circuit may also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, a discrete Gate or transistor logic device, or a discrete hardware component.
The invention further provides a computer-readable storage medium, in which a computer program is stored, and when the computer program runs, the robot hand-eye calibration method shown in fig. 1 is implemented. The computer-readable storage medium may include, but is not limited to, floppy diskettes, optical disks, CD-ROMs (compact disc-read only memories), magneto-optical disks, ROMs (read-only memories), RAMs (random access memories), EPROMs (erasable programmable read only memories), EEPROMs (electrically erasable programmable read only memories), magnetic or optical cards, flash memory, or other type of media/machine-readable medium suitable for storing machine-executable instructions. The computer readable storage medium may be a product that is not accessed by the computer device or may be a component that is used by an accessed computer device.
In summary, the robot hand-eye calibration method, the system and the terminal provided by the invention are used for solving the problems that the existing robot hand-eye calibration method is large in calculation amount, more in teaching points, high in requirement on the teaching points, low in precision and limited in calibration precision of a hand-eye coordinate system due to the precision of alignment points, and most of calibration is offline calibration. The invention has small calculated amount and full-automatic calibration, and only needs to roughly teach two points manually. The teaching requirement is low, accurate teaching is not needed, and teaching points are corrected through the precision of the calibration block and the precision of the sensor. The precision is high, and the calibration precision can be accurately controlled for each axis of the hand-eye coordinate system by an iterative calculation method. The calibration precision of the hand and the eye in the current experiment is equivalent to the precision of a robot, a plurality of groups of different initial set values are given and can be stably converged to a standard hand and eye coordinate system, and the error can be less than +/-0.1mm and +/-0.05 degrees. The application range is wide, and the industrial joint robot can be applied. Depth sensors such as line laser and point laser can have similar calculation methods; the economy is high, and the human cost is low, and the hardware cost is thousand yuan grades, only needs basic communication software of robot, grinding platform, computer. Therefore, the invention effectively overcomes various defects in the prior art and has high industrial utilization value.
The foregoing embodiments are merely illustrative of the principles of the present invention and its efficacy, and are not to be construed as limiting the invention. Any person skilled in the art can modify or change the above-mentioned embodiments without departing from the spirit and scope of the present invention. Accordingly, it is intended that all equivalent modifications or changes which can be made by those skilled in the art without departing from the spirit and technical spirit of the present invention be covered by the claims of the present invention.
Claims (10)
1. A robot hand-eye calibration method is characterized by being applied to a depth sensing device arranged on a robot, and the method comprises the following steps:
inputting tool coordinate system based on the depth sensing device and position information of at least one teaching point on a stereo calibration block obtained by the depth sensing device in the tool coordinate system;
correcting teaching point position information of corrected teaching points corresponding to the teaching points on the three-dimensional calibration block under the tool coordinate system is respectively obtained according to the teaching point position information;
obtaining motion key point position information of one or more motion key points of the three-dimensional calibration block under the tool coordinate system and motion planning information of motion of each motion key point on the three-dimensional calibration block according to the corrected teaching point position information;
obtaining the position information of the measurement point of one or more measurement points on the three-dimensional calibration block under the initial hand-eye coordinate after the movement key points move for one or more times based on the movement planning information according to the position information of the movement key points and the movement planning information corresponding to the movement key points;
respectively obtaining one or more deviation objective functions for calibrating each axis of the tool coordinate system according to the position information of each motion key point and the position information of one or more measuring points corresponding to each motion key point under the initial hand-eye coordinate, so as to respectively calculate one or more calibration deviation parameter values of each axis of the tool coordinate system;
respectively judging whether one or more calibration deviation parameter values of each axis all reach the calibration precision obtained by the deviation objective function corresponding to each calibration deviation parameter value;
if so, calibrating each axis of the tool coordinate system according to each calibration deviation parameter value to obtain a calibration hand-eye coordinate system.
2. The robot hand-eye calibration method according to claim 1, wherein the obtaining of the position information of the motion key points of one or more motion key points in the stereoscopic calibration block in the tool coordinate system and the motion planning information of the motion key points moving on the stereoscopic calibration block according to the corrected teaching point position information comprises:
obtaining the position information of the motion key points on one or more feature surfaces of the three-dimensional module under the tool coordinate system according to the corrected teaching point position information and the appearance features of the three-dimensional calibration block;
and obtaining motion planning information for calibrating the motion key points of each axis of the tool coordinate system to move on the three-dimensional calibration block according to the corrected teaching point position information.
3. A robot eye calibration method according to claim 1 or 2, wherein the motion planning information comprises: one or more rotation angle values of the motion keypoints around one or more axes of the tool coordinate system, respectively, and/or one or more translation values of the motion keypoints translated along one or more axes of the tool coordinate system, respectively.
4. The method according to claim 1, wherein the obtaining one or more deviation objective functions for calibrating the axes of the tool coordinate system according to the position information of the motion key points and the position information of the one or more measurement points corresponding to the motion key points in the initial hand-eye coordinate system, respectively, to calculate one or more calibration deviation parameter values of the axes of the tool coordinate system, respectively, comprises:
and obtaining one or more deviation objective functions which are used for calibrating each axis respectively and correspond to each axis respectively according to the position information of each motion key point and the position information of one or more measuring points corresponding to each motion key point in the initial coordinate system, so as to calculate one or more calibration deviation parameter values of each axis of the tool coordinate system calculated by the deviation objective functions of each axis of the tool coordinate system respectively.
5. A robot hand-eye calibration method as claimed in claim 1 or 4, wherein the calibration deviation parameter values of each axis comprise: an off-angle value and/or an off-value for each axis of the tool coordinate system.
6. The method for calibrating a robot hand and eye according to claim 1, wherein the determining whether the one or more calibration deviation parameter values of each axis all reach the calibration accuracy obtained from the deviation objective function corresponding to each calibration deviation parameter value comprises:
respectively obtaining a calibration deviation parameter threshold value of each axis according to the deviation target function of each axis;
and respectively comparing the calibration deviation parameter value of each axis with the calibration precision corresponding to the deviation parameter threshold value of each axis to judge whether one or more calibration deviation parameter values of each axis all reach the calibration precision.
7. A robotic eye calibration method as claimed in claim 1, wherein the method further comprises: if not, further calibrating the calibration parameter value which does not reach the calibration precision; wherein, the recalibration mode comprises:
obtaining position information of one or more motion key points of the three-dimensional calibration block under the tool coordinate system and motion planning information of each motion key point moving on the three-dimensional calibration block according to the position information of the corrected teaching point corresponding to one or more calibration parameter values needing to be calibrated again;
obtaining the position information of one or more measuring points of each motion key point after the motion of the motion key point based on the motion planning information according to the position information of each motion key point and the motion planning information corresponding to each motion key point;
respectively obtaining one or more deviation objective functions for calibrating each axis of the tool coordinate system according to the position information of each motion key point and the position information of one or more measuring points corresponding to each motion key point, so as to respectively calculate one or more calibration deviation parameter values of each axis of the tool coordinate system;
respectively judging whether one or more calibration deviation parameter values of each axis all reach the calibration precision obtained by the deviation objective function corresponding to each calibration deviation parameter value;
if so, calibrating each axis of the tool coordinate system respectively according to each calibration deviation parameter value and the calibration parameter value reaching the calibration precision to obtain a calibration hand-eye coordinate system;
if not, the axis of the calibration parameter value which does not reach the calibration precision is further calibrated.
8. A robotic eye calibration method as claimed in claim 1 wherein said depth sensing means comprises: one or more of a structured light sensor, a point laser sensor, a line laser sensor, and a surface laser sensor.
9. A robot hand-eye calibration system is characterized by being applied to a depth sensing device arranged on a robot, and the system comprises:
the input module is used for inputting a tool coordinate system based on the depth sensing device and position information of at least one teaching point on the stereoscopic calibration block, which is obtained by the depth sensing device, in the tool coordinate system;
the teaching correction module is connected with the input module and is used for respectively obtaining corrected teaching point position information of corrected teaching points corresponding to the teaching points on the three-dimensional calibration block under the tool coordinate system according to the teaching point position information; the motion planning module is connected with the teaching correction module and used for obtaining motion key point position information of one or more motion key points of the three-dimensional calibration block under the tool coordinate system and motion planning information of motion of each motion key point on the three-dimensional calibration block according to the corrected teaching point position information;
the measurement point acquisition module is connected with the motion planning module and used for acquiring the measurement point position information of one or more measurement points on the three-dimensional calibration block under the initial hand-eye coordinate after each motion key point moves for one or more times based on the motion planning information according to the position information of each motion key point and the motion planning information corresponding to each motion key point;
the target function calculation module is connected with the motion planning module and the measuring point acquisition module and is used for respectively obtaining one or more deviation target functions for calibrating each axis of the tool coordinate system according to the position information of each motion key point and the position information of one or more measuring points corresponding to each motion key point under the initial hand-eye coordinate so as to respectively calculate one or more calibration deviation parameter values of each axis of the tool coordinate system;
the judging module is connected with the target function calculating module and is used for respectively judging whether one or more calibration deviation parameter values of each axis all reach the calibration precision obtained by the deviation target function corresponding to each calibration deviation parameter value;
and the calibration module is connected with the judgment module and used for calibrating each axis of the tool coordinate system according to each calibration deviation parameter value to obtain a calibration hand-eye coordinate system if all the calibration precision obtained by the deviation objective function corresponding to each calibration deviation parameter value is achieved.
10. A robot hand-eye calibration terminal is characterized by comprising:
a memory for storing a computer program;
a processor for performing the robotic eye calibration method of any one of claims 1 to 8.
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