CN114310869B - Robot hand-eye calibration method, system and terminal - Google Patents
Robot hand-eye calibration method, system and terminal Download PDFInfo
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Abstract
The robot hand-eye calibration method, the system and the terminal are applied to a depth sensing device arranged on a robot. The method solves the problems that the existing robot hand-eye calibration method is large in calculated amount, more in teaching points and high in requirement on the teaching points, most of calibration is off-line calibration, the method is low in precision, and the precision of the 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 the calibration precision which is identical to the precision control of each axis of the hand-eye coordinate system can be obtained. The method has the advantages of high economy, low labor cost, great improvement of the efficiency of calibration work, and wide application in 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 terminal.
Background
At present, a matrix transformation method is generally adopted for calibrating the eyes of a robot, and the pose information of the robot on the same target point under different poses is obtained by utilizing a specific tool, a correlation photoelectric sensor, a camera, line laser and other sensors. And calculating a transformation matrix of the optimal converged hand-eye coordinate system through a least square method or a Levenberg-Marquardt algorithm and the like to finish calibration. The method has the advantages of large calculated amount, more teaching points, high requirement on the teaching points and off-line calibration of most of calibration. In addition, the method has low precision, and the precision of the alignment points limits the calibration precision of the hand-eye coordinate system.
Disclosure of Invention
In view of the above-mentioned drawbacks of the prior art, the present invention aims to provide a robot hand-eye calibration method, a system and a terminal, which are used for solving the problems that the existing robot hand-eye calibration method has large calculation amount, more teaching points, high requirement on the teaching points, most of calibration is off-line calibration, the method has low precision, and the precision of the alignment points limits the calibration precision of a hand-eye coordinate system.
To achieve the above and other related objects, the present invention provides a robot hand-eye calibration method applied to a depth sensing device provided on a robot, the method comprising: inputting a tool coordinate system based on the depth sensing device and position information of at least one teaching point on a three-dimensional calibration block, which is obtained by the depth sensing device, under the tool coordinate system; 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 position information of the teaching points; obtaining the position information of the motion key points 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 position information of the correction teaching points; obtaining the position information of one or more measuring points on the three-dimensional calibration block under the initial hand-eye coordinates after each motion key point moves for one time 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; 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 measurement points corresponding to each motion key point under the initial hand-eye coordinates so as to respectively calculate one or more calibration deviation parameter values of each axis of the tool coordinate system; judging whether one or more calibration deviation parameter values of each shaft all reach the calibration precision obtained by a deviation objective function corresponding to each calibration deviation parameter value or not respectively; if yes, 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 method for obtaining the motion key point position information of the 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 includes: obtaining the position information of the motion key points on one or more characteristic surfaces of the three-dimensional module under the tool coordinate system according to the position information of the correction teaching points and the appearance characteristics of the three-dimensional calibration block; and obtaining motion planning information for calibrating motion of each motion key point of each axis of the tool coordinate system on the three-dimensional calibration block according to the position information of the corrected teaching points.
In one embodiment of the present invention, the motion planning information includes: the motion keypoints are respectively translated along one or more rotation angle values of each axis of the tool coordinate system and/or one or more translation values of each motion keypoint along each axis of the tool coordinate system.
In an embodiment of the present invention, the method for 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 measurement points corresponding to each motion key point under the initial hand-eye coordinates, so as to respectively calculate one or more calibration deviation parameter values of each axis of the tool coordinate system includes: and obtaining one or more deviation objective functions for calibrating each axis respectively 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 under 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 function of each axis of the tool coordinate system respectively.
In an embodiment of the present invention, the calibration deviation parameter value of each axis includes: the tool coordinate system has an offset value and/or an offset value for each axis.
In an embodiment of the present invention, the method for respectively determining whether one or more calibration deviation parameter values of each shaft all 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 shaft according to the deviation objective function of each shaft; and comparing the calibration deviation parameter value of each shaft with the corresponding calibration precision of the deviation parameter threshold value of each shaft respectively to judge whether one or more calibration deviation parameter values of each shaft all reach the calibration precision.
In an embodiment of the invention, the method further comprises: if not, recalibrating the calibration parameter values which do not reach the calibration precision; wherein, the recalibration mode includes: obtaining the position information of the motion key points 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 position information of the correction teaching points respectively corresponding to one or more calibration parameter values needing to be recalibrated; obtaining the position information of one or more measurement 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 measurement 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; judging whether one or more calibration deviation parameter values of each shaft all reach the calibration precision obtained by a deviation objective function corresponding to each calibration deviation parameter value or not respectively; if yes, calibrating each axis of the tool coordinate system according to each calibration deviation parameter value and the calibration parameter value reaching the calibration precision, and obtaining a calibration hand-eye coordinate system; if not, recalibrating the calibration parameter values which do not reach the calibration precision.
In an embodiment of the invention, the depth sensing device includes: a structured light sensor, a spot laser sensor, a line laser sensor, and a surface laser sensor.
To achieve the above and other related objects, the present invention provides a robot hand-eye calibration system applied to a depth sensing device provided on a robot; the system comprises: the input module is used for inputting a tool coordinate system based on the depth sensing device and the position information of at least one teaching point on the three-dimensional calibration block, which is obtained by the depth sensing device, under the tool coordinate system; the teaching correction module is connected with the input module and used for respectively obtaining the position information of the correction teaching points corresponding to the teaching points on the three-dimensional calibration block under the tool coordinate system according to the position information of the teaching points; the motion planning module is connected with the teaching correction module and is used for obtaining the motion key point 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; the measuring point acquisition module is connected with the motion planning module and is used for acquiring the measuring point position information of one or more measuring points on the three-dimensional calibration block under the initial hand-eye coordinates after each motion key point moves for one time or more times respectively 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 objective 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 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 coordinates 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 objective function calculating module and is used for judging whether one or more calibration deviation parameter values of each shaft all reach the calibration precision obtained by the deviation objective function corresponding to each calibration deviation parameter value or not; and the calibration module is connected with the judging module and used for respectively 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 accuracy obtained by the deviation objective function corresponding to each calibration deviation parameter value is reached.
To achieve the above and other related objects, the present invention provides a robot hand-eye calibration terminal, comprising: a memory for storing a computer program; and the processor is used for executing the robot hand-eye calibration method.
As described above, the robot hand-eye calibration method, the robot hand-eye calibration system and the terminal have the following beneficial effects: 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 the calibration precision which is identical to the precision control of each axis of the hand-eye coordinate system can be obtained. The method has the advantages of high economy, low labor cost, great improvement of the efficiency of calibration work, and wide application in various environments such as factory sites, laboratories and the like.
Drawings
Fig. 1 is a flow chart of a robot hand-eye calibration method according to an embodiment of the invention.
Fig. 2 is a schematic structural diagram of a stereoscopic calibration block according to an embodiment of the invention.
Fig. 3 is a flow chart of 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 invention.
Fig. 5 is a schematic structural diagram of a robot hand-eye calibration terminal according to an embodiment of the invention.
Detailed Description
Other advantages and effects of the present invention will become apparent to those skilled in the art from the following disclosure, which describes the embodiments of the present invention with reference to specific examples. The invention may be practiced or carried out in other embodiments that depart from the specific details, and the details of the present description may be modified or varied from the spirit and scope of the present invention. It should be noted that the following embodiments and features in the embodiments may be combined with each other without conflict.
In the following description, reference is made to the accompanying drawings, which illustrate several embodiments of the 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," "above," "upper," and the like, may be used herein to facilitate a description of one element or feature as illustrated in the figures relative to another element or feature.
Throughout the specification, when a portion is said to be "connected" to another portion, this includes not only the case of "direct connection" but also the case of "indirect connection" with other elements interposed therebetween. In addition, when a certain component is said to be "included" in a certain section, unless otherwise stated, other components are not excluded, but it is meant that other components may be included.
The first, second, and third terms are used herein to describe various portions, components, regions, layers and/or sections, but are not limited thereto. These terms are only used to distinguish one portion, component, region, layer or section from another portion, component, region, layer or section. Thus, a first portion, component, region, layer or section discussed below could be termed a second portion, component, region, layer or section without departing from the scope of the present invention.
Furthermore, 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," "includes," and/or "including" specify the presence of stated features, operations, elements, components, items, categories, and/or groups, but do not preclude the presence, presence or addition of one or more other features, operations, elements, components, items, categories, and/or groups. 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, A is as follows; b, a step of preparing a composite material; c, performing operation; 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 in some way inherently mutually exclusive.
The embodiment of the invention provides a robot hand-eye calibration method, which solves the problems that the existing robot hand-eye calibration method is large in calculated amount, more in teaching points and high in requirement on the teaching points, most of calibration is off-line calibration, the method is low in precision, and the precision of the 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 the calibration precision which is identical to the precision control of each axis of the hand-eye coordinate system can be obtained. The method has the advantages of high economy, low labor cost, great improvement of the efficiency of calibration work, and wide application in various environments such as factory sites, laboratories and the like.
The embodiments of the present invention will be described in detail below with reference to the attached drawings so that those skilled in the art to which the present invention pertains can easily implement the present invention. This invention may be embodied in many different forms and is not limited to the embodiments described herein.
As shown in fig. 1, a flow chart of a robot hand-eye calibration method in an embodiment of the invention is shown.
The depth sensing device is applied to the depth sensing device arranged on the robot;
alternatively, the type of robot may be any, for example, an industrial articulated robot.
Optionally, the depth sensing device includes, but is not limited to, one or more of a structured light sensor, a point laser sensor, a line laser sensor, and a surface laser sensor, without limitation in this application.
The method comprises the following steps:
step S11: and inputting a tool coordinate system based on the depth sensing device and position information of at least one teaching point on the three-dimensional calibration block, which is obtained by the depth sensing device, under the tool coordinate system.
Optionally, a tool coordinate system obtained by taking 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 in a three-dimensional manner in the tool coordinate system is input. Preferably, the number of the teaching points is 1 or 2, and the position and the gesture of the robot can be determined only by roughly teaching 1 or 2 teaching points, so that the manual operation of calibration is simplified.
Optionally, the location information includes: and at least one teaching point on the three-dimensional calibration block is at the coordinate of the tool coordinate system.
Optionally, the three-dimensional calibration block is a three-dimensional block, including: one or more appearance features; wherein the appearance characteristic is related to one or more of the shape, size, position and placement state of the stereoscopic calibration block. It should be noted that the shape, size, position and placement state of the three-dimensional calibration block are set according to the requirements, and are not limited in the present invention. For example, as shown in fig. 2, 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 plane grinding planes.
Step S12: and respectively obtaining the corrected teaching point position information of the corrected teaching points corresponding to the teaching points on the three-dimensional calibration block under the tool coordinate system according to the position information of the teaching points.
Optionally, based on the teaching correction matrix, correcting the position information of each teaching point to obtain the position information of the corrected teaching point of each teaching point corresponding to the three-dimensional calibration block under the tool coordinate system, so as to obtain more accurate teaching points. 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 the position information of the corrected teaching point of each teaching point corresponding to the three-dimensional calibration block under the tool coordinate system, so as to obtain a more accurate teaching point.
Optionally, the teaching correction model is trained by a plurality of teaching correction samples. Wherein the teaching correction sample includes: the position information of the teaching points is not corrected, and the corrected teaching points are corrected. The network employed for training the teaching correction model includes, but is not limited to, one or more of a PreResnet, CNN, RNN, LSTM, hopfield network, a BMN, and a DBN.
S13: and obtaining the position information of the motion key points of the 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 position information of the correction teaching points.
Optionally, the method for obtaining the position information of the motion key points of the 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 position information of the correction teaching points includes: obtaining the position information of the motion key points on one or more characteristic surfaces of the three-dimensional module under the tool coordinate system according to the position information of the correction teaching points and the appearance characteristics of the three-dimensional calibration block; and obtaining motion planning information for calibrating motion of each motion key point of each axis of the tool coordinate system on the three-dimensional calibration block according to the position information of the corrected teaching points.
Specifically, according to the corrected teaching point position information, obtaining the movement key point position information of the movement key points of the depth sensing device on one or more characteristic surfaces of the three-dimensional calibration block under the tool coordinate system; and obtaining motion planning information for calibrating motion of each motion key point of each axis of the tool coordinate system on the three-dimensional calibration block according to the position information of the corrected teaching points.
It should be noted that the number of the motion key points is related to not only the position information of the corrected teaching points of the depth sensing device, but also the feature planes of the three-dimensional calibration block.
Optionally, the generation of the motion key points is based on the position information of the correction teaching points, and points, perpendicular to each feature plane of the three-dimensional calibration block, of the normal line of the visible light signal sent by the depth sensing device are motion key points. As shown in fig. 2, the upper plane is a grinding plane, two sides of the upper plane are provided with 45-degree inclined grinding planes, and the plane and the two inclined planes are respectively characteristic planes. And a point P1 obtained by the laser normal line emitted by the laser depth sensor based on the position information of the correction teaching point and perpendicular to the upper plane and a point P2 obtained by the perpendicular two inclined planes are motion key points.
Optionally, the motion planning information includes: the motion keypoints are respectively translated along one or more rotation angle values of each axis of the tool coordinate system and/or one or more translation values of each motion keypoint along each axis of the tool coordinate system.
The obtained rotation angles of the key points around each axis of the tool coordinate system are rotated once if one description is given, and rotated multiple times if a plurality of key points are given. Similarly, the obtained translation value of each motion key point along each axis of the tool coordinate system translates only once if one instruction is given, and translates multiple times if multiple instructions are given.
For example, the obtained key point P1 is rotated 180 degrees around the Z axis of the current hand-eye coordinate system, or the obtained key point P2 is translated 2cm in the Z axis direction of the hand-eye coordinate system.
Step S14: and obtaining the position information of the measuring points of one or more measuring points on the three-dimensional calibration block under the initial hand-eye coordinates after each motion key point moves for one time 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.
Optionally, according to the motion planning information corresponding to each motion key point, the positions to which each motion key point moves for one time or multiple times are the positions of one or multiple measurement points corresponding to each motion key point; the number of the measurement points is related to motion planning information corresponding to each motion key point.
That is, the motion keypoints may be moved to obtain one or more measurement points corresponding to the motion keypoints. Wherein each movement forms a measurement point.
Optionally, the measuring point includes: rotating the measurement point and/or translating the measurement point; 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 translation 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 measurement points corresponding to each motion key point under the initial hand-eye coordinates so as to respectively calculate one or more calibration deviation parameter values of each axis of the tool coordinate system.
Optionally, the method for 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 measurement points corresponding to each motion key point under the initial hand-eye coordinates, so as to respectively calculate one or more calibration deviation parameter values of each axis of the tool coordinate system includes: and obtaining one or more deviation objective functions for calibrating each axis respectively 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 under 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 function of each axis of the tool coordinate system respectively.
Specifically, 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 under the initial coordinate system, which are obtained by one or more motions, obtaining one or more deviation objective functions for respectively calibrating each axis and respectively corresponding to each axis; one or more calibration deviation parameter values for calibrating each axis of the tool coordinate system are calculated according to the deviation objective function of each axis of the initial hand-eye coordinates.
It should be noted that the number of the measurement points may be one or more, and may also be a contour and/or a point cloud with a certain shape and size formed by a plurality of measurement points, where the specific shape and size are not limited in the present application.
Optionally, one or more deviation objective functions for calibrating the axes of the tool coordinate system are obtained from the position information of one or more measurement points obtained by one or more movements of each movement key point to obtain one or more calibration parameter values for calibrating the axes. Under the condition of a plurality of measuring points obtained by one or more movements of a movement key point of one shaft in the tool coordinate system, the obtained deviation objective function for calibrating each deviation parameter value of each shaft is one; the deviation objective function is iterated according to the function of multiple movements, so that the calibration accuracy is higher, and the accuracy is obtained by the deviation objective function.
Optionally, the calibration deviation parameter value of each shaft includes: the tool coordinate system has an offset value and/or an offset value for each axis.
Specifically, one or more deviation objective functions for calibrating each axis respectively and corresponding to each axis respectively 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 under the initial coordinate system, so as to 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 respectively.
It should be noted that if the deviation parameter value includes: and calculating the deviation objective function of the deviation parameter values of each axis to be 6 if one or more deviation angle values and deviation values of each axis of the tool coordinate system are calculated.
Step S16: judging whether one or more calibration deviation parameter values of each shaft all reach the calibration precision obtained by a deviation objective function corresponding to each calibration deviation parameter value or not respectively;
optionally, the method for respectively determining 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 includes:
Respectively obtaining a calibration deviation parameter threshold value of each shaft according to the deviation objective function of each shaft; and comparing the calibration deviation parameter value of each shaft with the corresponding calibration precision of the deviation parameter threshold value of each shaft respectively to judge whether one or more calibration deviation parameter values of each shaft all reach the calibration precision.
It should be noted that it is necessary that the calibration deviation parameter values of the axes of the tool coordinate system respectively reach the calibration accuracy corresponding to the values, so that the standard can be considered to be reached, otherwise, the standard is considered not to be reached.
Step S17: if yes, 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 accuracy obtained by the deviation objective function corresponding to each calibration deviation parameter value, stopping calibrating each axis, and calibrating each axis of the tool coordinate system according to each calibration deviation parameter value to obtain a calibrated hand-eye coordinate system.
Optionally, performing angle calibration and translational calibration on each axis of the tool coordinate system according to the offset angle value and the offset value in each calibration offset parameter value, so as to obtain a calibration hand-eye coordinate system.
Optionally, the method further comprises: if not, recalibrating the calibration parameter values which do not reach the calibration precision; wherein, the recalibration mode includes:
obtaining the position information of the motion key points 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 position information of the correction teaching points respectively corresponding to one or more calibration parameter values needing to be recalibrated;
obtaining the position information of one or more measurement 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 measurement 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;
judging whether one or more calibration deviation parameter values of each shaft all reach the calibration precision obtained by a deviation objective function corresponding to each calibration deviation parameter value or not respectively;
If yes, calibrating each axis of the tool coordinate system according to each calibration deviation parameter value and the calibration parameter value reaching the calibration precision, and obtaining a calibration hand-eye coordinate system;
if not, recalibrating the calibration parameter values which do not reach the calibration precision.
To better describe the robot hand-eye calibration method, an embodiment is described.
Example 1: the robot hand-eye calibration method is applied to a six-axis robot, and the six-axis robot comprises: the laser is provided on the six-axis robot, and as shown in fig. 3, a flow chart of hand-eye calibration is shown.
The method comprises the following steps:
inputting a tool coordinate system (x-axis, y-axis and z-axis) based on the holding laser and position information of at least one teaching point on a three-dimensional calibration block obtained by the holding 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 plane grinding planes.
Respectively correcting the position information of each teaching point to obtain the position information of the corrected teaching point corresponding to each teaching point on the three-dimensional calibration block under the tool coordinate system;
The point P1 obtained by the laser normal line emitted by the holding laser based on the position information of the correction teaching point and perpendicular to the upper plane and the point P2 obtained by the two perpendicular inclined planes are motion key points and motion planning information corresponding to the motion key points and moving on the three-dimensional calibration block;
based on the motion planning information of each motion key point, rotating the P1 point by 180 degrees around the z-axis of the current hand-eye coordinate system to obtain the position information of the P1' point of the measurement point; translating the P2 point along the z axis and the x axis of the hand-eye coordinate system by 2cm respectively to obtain the position information of the P2 'and P2' points of the measurement points; rotating the P2 point by 180 degrees around the z-axis direction of the hand-eye coordinate system respectively to obtain the position information of the P2' point of the measurement point; rotating the P3 point around the z axis of the hand-eye coordinate system by 180 degrees to obtain the position information of the P3' point of the measuring point; rotating the P3 point 180 degrees along the x axis of the hand-eye coordinate system to obtain the position information of a P3' point of the measuring point;
according to P1 and P1', P2 and P2", P2 and P2'", P3 and P3', P3 and P3' position information respectively calculate the deviation objective function of the x/y/z triaxial rotation direction and the x/y/z triaxial translation direction, and calculate the deviation parameter value of each axis according to the deviation objective function;
judging whether one or more calibration deviation parameter values of each shaft all reach the calibration precision obtained by a deviation objective function corresponding to each calibration deviation parameter value or not respectively;
If yes, 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, recalibrating the calibration parameter values which do not reach the calibration precision.
Similar to the principles of the embodiments described above, the present invention provides a robotic hand-eye calibration system.
Specific embodiments are provided below with reference to the accompanying drawings:
fig. 4 shows a schematic structural diagram of a robot hand-eye calibration system according to an embodiment of the present invention.
The system comprises:
applied to a depth sensing device provided on a robot, the system comprising:
the system comprises:
an input module 41 for inputting a tool coordinate system based on the depth sensing device and position information of at least one teaching point on the three-dimensional calibration block under the tool coordinate system obtained by the depth sensing device;
a teaching correction module 42, connected to the input module 41, for respectively obtaining corrected teaching point position information of the corrected teaching points corresponding to the teaching points on the three-dimensional calibration block under the tool coordinate system according to the position information of the teaching points;
the motion planning module 43 is connected with the teaching correction module 42 and is used for obtaining the motion key point 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 each motion key point moving on the three-dimensional calibration block according to the corrected teaching point position information;
The measurement point obtaining module 44 is connected to the motion planning module 43, and is configured to obtain, according to the position information of each motion key point and the motion planning information corresponding to each motion key point, the position information of one or more measurement points on the three-dimensional calibration block after one or more motions of each motion key point are respectively based on the motion planning information, where the measurement points are under the initial hand-eye coordinates;
an objective function calculation module 45, coupled 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 under the initial hand-eye coordinates, 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 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 with the judging module 46, and is used for respectively calibrating each axis of the tool coordinate system according to each calibration deviation parameter value to obtain a calibrated hand-eye coordinate system if all the calibration accuracy obtained by the deviation objective function corresponding to each calibration deviation parameter value is reached.
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 teaching point formed in a three-dimensional manner by the optical signal of the vision sensor in the tool coordinate system. Preferably, the number of the teaching points is 1 or 2, and the position and the gesture of the robot can be determined only by 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 the position information of the corrected teaching point on the three-dimensional calibration block under the tool coordinate system, so as to obtain a more accurate teaching point. 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 the position information of the corrected teaching point on the three-dimensional calibration block under the tool coordinate system, so as to obtain a more accurate teaching point.
Optionally, the teaching correction model is trained by a plurality of teaching correction samples. Wherein the teaching correction sample includes: the position information of the teaching points is not corrected, and the corrected teaching points are corrected. The network employed for training the teaching correction model includes, but is not limited to, one or more of a PreResnet, CNN, RNN, LSTM, hopfield network, a BMN, and a DBN.
Optionally, the motion planning module 43 obtains motion key point position information of the motion key points on one or more feature planes of the stereo module under the tool coordinate system according to the corrected teaching point position information and the appearance features of the stereo calibration block; and obtaining motion planning information for calibrating motion of each motion key point of each axis of the tool coordinate system on the three-dimensional calibration block according to the position information of the corrected teaching points. Specifically, the motion planning module 43 obtains, according to the corrected teaching point position information, motion key point position information of the motion key points of the depth sensing device on one or more feature planes of the three-dimensional calibration block under the tool coordinate system; and obtaining motion planning information for calibrating motion of each motion key point of each axis of the tool coordinate system on the three-dimensional calibration block according to the position information of the corrected teaching points.
It should be noted that the number of the motion key points is related to not only the position information of the corrected teaching points of the depth sensing device, but also the feature planes of the three-dimensional calibration block.
Optionally, the generation of the motion key points is based on the position information of the correction teaching points, and points, perpendicular to each feature plane of the three-dimensional calibration block, of the normal line of the visible light signal sent by the depth sensing device are motion key points.
Optionally, the motion planning information includes: the motion keypoints are respectively translated along one or more rotation angle values of each axis of the tool coordinate system and/or one or more translation values of each motion keypoint along each axis of the tool coordinate system.
The obtained rotation angles of the key points around each axis of the tool coordinate system are rotated once if one description is given, and rotated multiple times if a plurality of key points are given. Similarly, the obtained translation value of each motion key point along each axis of the tool coordinate system translates only once if one instruction is given, and translates multiple times if multiple instructions are given.
Optionally, the measurement point obtaining module 44 makes the positions to which each motion key point moves one or more times respectively be the positions of one or more measurement points corresponding to each motion key point according to the motion planning information corresponding to each motion key point; the number of the measurement points is related to motion planning information corresponding to each motion key point.
That is, the motion keypoints may be moved to obtain one or more measurement points corresponding to the motion keypoints. Wherein each movement forms a measurement point.
Optionally, the measuring point includes: rotating the measurement point and/or translating the measurement point; 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 translation 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 respectively and corresponding to each axis respectively according to the position information of each motion key point and the position information of the measurement point of the one or more measurement points corresponding to each motion key point under 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 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 calibrating each axis respectively and corresponding to each axis respectively 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 under the initial coordinate system, which are obtained by one or more motions; one or more calibration deviation parameter values for calibrating each axis of the tool coordinate system are calculated according to the deviation objective function of each axis of the initial hand-eye coordinates.
Optionally, the objective function calculation module 45 obtains one or more deviation objective functions for calculating the axes of the tool coordinate system from the position information of one or more measurement points obtained by 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 of a plurality of measuring points obtained by one or more movements of a movement key point of one shaft in the tool coordinate system, the obtained deviation objective function for calibrating each deviation parameter value of each shaft is one; the deviation objective function is iterated according to the function of multiple movements, so that the calibration accuracy is higher, and the accuracy is obtained by the deviation objective function.
Optionally, the calibration deviation parameter value of each shaft includes: the tool coordinate system has an offset value and/or an offset value for each axis.
Specifically, the objective function calculation module 45 obtains one or more deviation objective functions for calibrating each axis respectively and corresponding to each axis respectively according to the position information of each motion key point and the position information of the measurement point of the one or more measurement points corresponding to each motion key point under the initial coordinate system, so as to 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 respectively.
It should be noted that if the deviation parameter value includes: and calculating the deviation objective function of the deviation parameter values of each axis to be 6 if one or more deviation angle values and deviation values of each axis of the tool coordinate system are calculated.
Optionally, the determining module 46 determines 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, respectively, including:
the judging module 46 obtains the calibration deviation parameter threshold value of each shaft according to the deviation objective function of each shaft; and comparing the calibration deviation parameter value of each shaft with the corresponding calibration precision of the deviation parameter threshold value of each shaft respectively to judge whether one or more calibration deviation parameter values of each shaft all reach the calibration precision.
It should be noted that it is necessary that the calibration deviation parameter values of the axes of the tool coordinate system respectively reach the calibration accuracy corresponding to the values, so that the standard can be considered to be reached, otherwise, the standard is considered not to be reached.
Optionally, the calibration module 47 finds that if 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, 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 calibrated hand-eye coordinate system.
Optionally, the calibration module 47 performs angle calibration and translational calibration on each axis of the tool coordinate system according to the offset angle value and the offset value in each calibration deviation parameter value, so as to obtain a calibration hand-eye coordinate system.
Optionally, the system further comprises: the recalibration module is used for finding out that if one or more calibration deviation parameter values of each shaft do not all reach the calibration precision obtained by the deviation objective function corresponding to each calibration deviation parameter value, recalibrating the calibration parameter values which do not reach the calibration precision; wherein, the recalibration mode includes:
obtaining the position information of the motion key points 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 position information of the correction teaching points respectively corresponding to one or more calibration parameter values needing to be recalibrated;
obtaining the position information of one or more measurement 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 measurement 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;
Judging whether one or more calibration deviation parameter values of each shaft all reach the calibration precision obtained by a deviation objective function corresponding to each calibration deviation parameter value or not respectively;
if yes, calibrating each axis of the tool coordinate system according to each calibration deviation parameter value and the calibration parameter value reaching the calibration precision, and obtaining a calibration hand-eye coordinate system;
if not, recalibrating the calibration parameter values which do not reach the calibration precision.
Fig. 5 shows a schematic structural diagram of a robot hand-eye calibration terminal 50 in an embodiment of the present invention.
The robot hand-eye calibration terminal 50 includes: memory 51 and processor 52 the memory 51 is for storing a computer program; the processor 52 runs a computer program to implement the robot hand-eye calibration method as described in fig. 1.
Alternatively, the number of the memories 51 may be one or more, and the number of the processors 52 may be one or more, and one is taken as an example in fig. 5.
Optionally, the processor 52 in the robot eye calibration terminal 50 loads 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, high speed random access memory, nonvolatile memory. Such as one or more 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 (Central Processing Unit, CPU for short), a network processor (Network Processor, NP for short), etc.; but also digital signal processors (Digital Signal Processing, DSP for short), application specific integrated circuits (Application Specific Integrated Circuit, ASIC for short), field-programmable gate arrays (Field-Programmable Gate Array, FPGA for short) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.
Alternatively, the processor 52 may be a general-purpose processor, including a central processing unit (Central Processing Unit, CPU for short), a network processor (Network Processor, NP for short), etc.; but also digital signal processors (Digital Signal Processing, DSP for short), application specific integrated circuits (Application Specific Integrated Circuit, ASIC for short), field-programmable gate arrays (Field-Programmable Gate Array, FPGA for short) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.
The invention also provides a computer readable storage medium storing a computer program which when run implements the robot eye calibration method as shown in fig. 1. The computer-readable storage medium may include, but is not limited to, floppy diskettes, optical disks, CD-ROMs (compact disk-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 an article of manufacture that is not accessed by a computer device or may be a component used by an accessed computer device.
In summary, the robot hand-eye calibration method, the system and the terminal are used for solving the problems that the existing robot hand-eye calibration method is large in calculated amount, more in teaching points, high in requirement on the teaching points, low in accuracy of the method and limited in calibration accuracy of a hand-eye coordinate system due to the fact that most of calibration is offline calibration. The invention has small calculated amount and full-automatic calibration, and only needs to manually and roughly teach two points. The teaching requirement is low, accurate teaching is not needed, and the 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 precisely controlled on each axis of the hand-eye coordinate system by an iterative calculation method. In the current experiment, the hand-eye calibration precision is equivalent to the robot precision, multiple groups of different initial setting values are given, the hand-eye calibration precision can be stably converged to a standard hand-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. Similar calculation methods can be adopted for the depth sensors such as line laser, point laser and the like; the method has the advantages of high economy, low labor cost and thousands of hardware cost, and only needs basic communication software, a grinding platform and a computer of the robot. Therefore, the invention effectively overcomes various defects in the prior art and has high industrial utilization value.
The above embodiments are merely illustrative of the principles of the present invention and its effectiveness, and are not intended to limit the invention. Modifications and variations may be made to the above-described embodiments by those skilled in the art without departing from the spirit and scope of the invention. It is therefore intended that all equivalent modifications and changes made by those skilled in the art without departing from the spirit and technical spirit of the present invention shall be covered by the appended claims.
Claims (10)
1. A robot hand-eye calibration method, characterized in that it is applied to a depth sensing device provided on a robot, the method comprising:
inputting a tool coordinate system based on the depth sensing device and position information of at least one teaching point on a three-dimensional calibration block, which is obtained by the depth sensing device, under the tool coordinate system;
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 position information of the teaching points;
obtaining the position information of the motion key points 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 position information of the correction teaching points;
Obtaining the position information of one or more measuring points on the three-dimensional calibration block under the initial hand-eye coordinates after each motion key point moves for one time 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;
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 measurement points corresponding to each motion key point under the initial hand-eye coordinates so as to respectively calculate one or more calibration deviation parameter values of each axis of the tool coordinate system;
judging whether one or more calibration deviation parameter values of each shaft all reach the calibration precision obtained by a deviation objective function corresponding to each calibration deviation parameter value or not respectively;
if yes, 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 means for obtaining the motion key point position information of the one or more motion key points in the three-dimensional calibration block and the motion planning information of the motion key points on the three-dimensional calibration block according to the corrected teaching point position information comprises:
Obtaining the position information of the motion key points on one or more characteristic surfaces of the three-dimensional module under the tool coordinate system according to the position information of the correction teaching points and the appearance characteristics of the three-dimensional calibration block;
and obtaining motion planning information for calibrating motion of each motion key point of each axis of the tool coordinate system on the three-dimensional calibration block according to the position information of the corrected teaching points.
3. The robot hand-eye calibration method according to claim 1 or 2, wherein the motion planning information includes: the motion keypoints may be rotated about one or more axes of the tool coordinate system by one or more rotation angle values and/or translated along one or more axes of the tool coordinate system by one or more translation values, respectively.
4. The robot hand-eye calibration method according to claim 1, wherein the means for obtaining one or more deviation objective functions for calibrating each axis of the tool coordinate system based on the motion key point position information and the measurement point position information of one or more measurement points corresponding to each motion key point in the initial hand-eye coordinates, respectively, to calculate one or more calibration deviation parameter values of each axis of the tool coordinate system, respectively, comprises:
And obtaining one or more deviation objective functions for calibrating each axis respectively 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 under an 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 function of each axis of the tool coordinate system respectively.
5. The robot hand-eye calibration method according to claim 1 or 4, wherein the calibration deviation parameter values of the respective axes include: the tool coordinate system has an offset value and/or an offset value for each axis.
6. The robot hand-eye calibration method according to claim 1, wherein the means for determining whether the 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 comprises:
respectively obtaining a calibration deviation parameter threshold value of each shaft according to the deviation objective function of each shaft;
and comparing the calibration deviation parameter value of each shaft with the calibration precision corresponding to the deviation parameter threshold value of each shaft respectively to judge whether one or more calibration deviation parameter values of each shaft all reach the calibration precision.
7. The robot hand-eye calibration method of claim 1, further comprising: if not, recalibrating the calibration parameter values which do not reach the calibration precision; wherein, the recalibration mode includes:
obtaining the position information of the motion key points 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 position information of the correction teaching points respectively corresponding to one or more calibration parameter values needing to be recalibrated;
obtaining the position information of one or more measurement 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 measurement 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;
judging whether one or more calibration deviation parameter values of each shaft all reach the calibration precision obtained by a deviation objective function corresponding to each calibration deviation parameter value or not respectively;
If yes, calibrating each axis of the tool coordinate system according to each calibration deviation parameter value and the calibration parameter value reaching the calibration precision, and obtaining a calibration hand-eye coordinate system;
if not, further calibrating the axis which does not reach the calibration parameter value of the calibration precision.
8. The robot hand-eye calibration method of claim 1, wherein the depth sensing device comprises: a structured light sensor, a spot laser sensor, a line laser sensor, and a surface laser sensor.
9. A robotic eye calibration system for use with a depth sensing device disposed on a robot, the system comprising:
the input module is used for inputting a tool coordinate system based on the depth sensing device and the position information of at least one teaching point on the three-dimensional calibration block, which is obtained by the depth sensing device, under the tool coordinate system;
the teaching correction module is connected with the input module and used for respectively obtaining the position information of the correction teaching points corresponding to the teaching points on the three-dimensional calibration block under the tool coordinate system according to the position information of the teaching points;
The motion planning module is connected with the teaching correction module and is used for obtaining the motion key point 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;
the measuring point acquisition module is connected with the motion planning module and is used for acquiring the measuring point position information of one or more measuring points on the three-dimensional calibration block under the initial hand-eye coordinates after each motion key point moves for one time or more times respectively 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 objective 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 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 coordinates 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 objective function calculating module and is used for judging whether one or more calibration deviation parameter values of each shaft all reach the calibration precision obtained by the deviation objective function corresponding to each calibration deviation parameter value or not;
and the calibration module is connected with the judging module and used for respectively 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 accuracy obtained by the deviation objective function corresponding to each calibration deviation parameter value is reached.
10. The robot hand-eye calibration terminal is characterized by comprising:
a memory for storing a computer program;
a processor for performing the robot hand-eye calibration method according to any one of claims 1 to 8.
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| CN108122257A (en) * | 2016-11-28 | 2018-06-05 | 沈阳新松机器人自动化股份有限公司 | A kind of Robotic Hand-Eye Calibration method and device |
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