CN114794667A - Tool calibration method, system, device, electronic equipment and readable storage medium - Google Patents
Tool calibration method, system, device, electronic equipment and readable storage medium Download PDFInfo
- Publication number
- CN114794667A CN114794667A CN202210346029.XA CN202210346029A CN114794667A CN 114794667 A CN114794667 A CN 114794667A CN 202210346029 A CN202210346029 A CN 202210346029A CN 114794667 A CN114794667 A CN 114794667A
- Authority
- CN
- China
- Prior art keywords
- tool
- calibration
- identification
- coordinate system
- position information
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Classifications
-
- A—HUMAN NECESSITIES
- A43—FOOTWEAR
- A43D—MACHINES, TOOLS, EQUIPMENT OR METHODS FOR MANUFACTURING OR REPAIRING FOOTWEAR
- A43D25/00—Devices for gluing shoe parts
- A43D25/18—Devices for applying adhesives to shoe parts
- A43D25/183—Devices for applying adhesives to shoe parts by nozzles
-
- A—HUMAN NECESSITIES
- A43—FOOTWEAR
- A43D—MACHINES, TOOLS, EQUIPMENT OR METHODS FOR MANUFACTURING OR REPAIRING FOOTWEAR
- A43D119/00—Driving or controlling mechanisms of shoe machines; Frames for shoe machines
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
- G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
-
- A—HUMAN NECESSITIES
- A43—FOOTWEAR
- A43D—MACHINES, TOOLS, EQUIPMENT OR METHODS FOR MANUFACTURING OR REPAIRING FOOTWEAR
- A43D2200/00—Machines or methods characterised by special features
- A43D2200/10—Fully automated machines, i.e. machines working without human intervention
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10004—Still image; Photographic image
- G06T2207/10012—Stereo images
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30108—Industrial image inspection
- G06T2207/30164—Workpiece; Machine component
Abstract
The application discloses a tool calibration method, a system, a device, electronic equipment and a readable storage medium, wherein the tool is connected to the tail end of a driving mechanism, the tail end of the tool can be detachably connected with a calibration piece, an identification feature is arranged on the calibration piece, a feature point of the identification feature is positioned on the central axis of the tool and coincides with the central point of the tool, and the method comprises the following steps: controlling a camera to acquire image data of the identification features, and acquiring first position information of the feature points in a camera coordinate system based on the image data; acquiring second position information of the tail end of the driving mechanism under a base coordinate system of the driving mechanism, and acquiring a conversion relation between a camera coordinate system and the base coordinate system; and determining third position information of the tool in a terminal coordinate system of the driving mechanism according to the first position information, the second position information and the conversion relation so as to finish tool calibration. According to the method, the tools of different tool center points can be calibrated, the tool calibration flow can be optimized, and the calibration accuracy can be improved.
Description
Technical Field
The present application relates to the field of mechanical automation technologies, and in particular, to a tool calibration method, a tool calibration system, a tool calibration apparatus, an electronic device, and a computer-readable storage medium.
Background
In the shoe industry, shoe gluing automation is receiving increasing attention. At present, most of automatic gluing schemes need to fix a glue gun at the tail end of a mechanical arm to realize automatic gluing. For more precise glue application, the glue gun Tool needs to be calibrated, that is, a position coordinate relationship between a Tool Center Point (TCP) and a coordinate system of the end of the mechanical arm is obtained, wherein the Tool center Point of the glue gun refers to a virtual Point formed by extending from a nozzle center (i.e., the end of the glue gun) to the glue application plane along the axial direction. The existing tool calibration generally adopts a four-point method, a six-point method and the like. For a glue gun, the center point of the tool is generally on the glue spraying axis, but the position of the center point of the tool can be changed according to different requirements.
Currently, in practical applications, tool calibration generally requires a professional operator to teach a mechanical arm in a mode of multiple point alignment. The whole process is complicated and time-consuming, certain constraint is imposed on the point taught by an operator, and if the operation is improper, the calibration result is possibly inaccurate. In addition, when a glue gun is calibrated, the actual center point of the tool changes due to the change of the glue spraying height, and in practice, the changed calibration result is usually estimated according to the known calibration result and the variation of the glue spraying height.
Disclosure of Invention
In order to solve the above problems, the present application provides a tool calibration method, a tool calibration system, a tool calibration device, an electronic device, and a computer-readable storage medium, which can flexibly calibrate a tool with a tool center point changeable along a central axis, optimize a tool calibration process, and improve calibration accuracy.
The technical scheme adopted by the application is as follows: providing a tool calibration method, wherein the tool is connected to the tail end of a driving mechanism, the tail end of the tool is detachably connected with a calibration piece, an identification feature is arranged on the calibration piece, and a feature point of the identification feature is positioned on the central axis of the tool and is coincided with the central point of the tool;
the method comprises the following steps: controlling a camera to acquire image data of the identification features, and acquiring first position information of the feature points in a camera coordinate system based on the image data; acquiring second position information of the tail end of the driving mechanism under a base coordinate system of the driving mechanism, and acquiring a conversion relation between a camera coordinate system and the base coordinate system; and determining third position information of the tool in a terminal coordinate system of the driving mechanism according to the first position information, the second position information and the conversion relation so as to finish tool calibration.
Optionally, controlling the camera to acquire image data of the identification feature, and acquiring first position information of the feature point in a camera coordinate system based on the image data, includes: controlling the tail end of the driving mechanism to move to a preset area, and triggering a camera to shoot and acquire three-dimensional image data of the identification characteristics; and processing the three-dimensional image data, acquiring a 3D coordinate of the feature point in a camera coordinate system, acquiring a posture matrix for identifying the feature, and further acquiring first position information of the feature point in the camera coordinate system.
Optionally, the gesture matrix of the identification feature is a preset third-order identity matrix.
Optionally, the pose matrix identifying the features is acquired based on three-dimensional image data, including: processing the three-dimensional image data, and fitting an identification plane where the identification features are located; obtaining a unit normal vector of the identification plane as a unit vector n of the Z axis z And arbitrarily taking a unit vector in the identification plane as an X-axis unit vector n x (ii) a Obtaining a Y-axis unit vector n according to space vector orthogonal calculation y ＝n z ×n x (ii) a Obtaining a posture matrix (n) of the feature points of the identification features under a camera coordinate system based on the X-axis unit vector, the Y-axis unit vector and the Z-axis unit vector x ,n y ,n z )。
Optionally, the calibration piece comprises a fixing mechanism and an identification mechanism, the fixing mechanism is detachably connected with the tail end of the tool, one end of the identification mechanism is provided with an identification feature, and the other end of the identification mechanism is movably connected with the fixing mechanism, so that when the central point of the tool changes along the central axis of the tool, a feature point on the calibration piece changes along with the change of the central point and keeps coincident with the central point of the tool; the position of the marker mechanism is adjusted so that the feature point on the index remains coincident with the center point of the tool.
Another technical scheme adopted by the application is as follows: the tool calibration system comprises a first acquisition module, a second acquisition module and a calibration module, wherein the first acquisition module is used for controlling a camera to acquire image data of the identification feature and acquiring first position information of the feature point under a camera coordinate system based on the image data; the second acquisition module is used for acquiring second position information of the tail end of the driving mechanism under a base coordinate system of the driving mechanism and acquiring a conversion relation between a camera coordinate system and the base coordinate system; and the calibration module is used for determining third position information of the tool in a terminal coordinate system of the driving mechanism according to the first position information, the second position information and the conversion relation so as to finish tool calibration.
Optionally, the calibration piece includes a fixing mechanism and an identification mechanism, the fixing mechanism is detachably connected to the end of the tool, one end of the identification mechanism is provided with an identification feature, and the other end of the identification mechanism is movably connected to the fixing mechanism, so that when the central point of the tool changes along the central axis of the tool, the feature point on the calibration piece changes along with the change of the central point of the tool and keeps coinciding with the central point of the tool.
Another technical scheme adopted by the application is as follows: a tool calibration arrangement is provided, wherein the tool calibration arrangement comprises a calibration piece for performing the tool calibration method as described above.
Another technical scheme adopted by the application is as follows: an electronic device is provided, the electronic device comprising a processor and a memory coupled to the processor; the processor calls the program data stored in the memory to execute the tool calibration method.
Another technical scheme adopted by the application is as follows: there is provided a computer readable storage medium having stored therein program data which, when executed by a processor, is adapted to carry out the tool calibration method as described above.
Be different from prior art, the instrument among the instrument calibration method that this application provided is connected at actuating mechanism terminally, and the end of instrument can be dismantled and connect the calibration piece, is provided with the identification characteristic on the calibration piece, and the characteristic point of identification characteristic lies in the central axis of instrument, and coincides with the central point of instrument, and the method includes: controlling a camera to acquire image data of the identification features, and acquiring first position information of the feature points in a camera coordinate system based on the image data; acquiring second position information of the tail end of the driving mechanism under a base coordinate system of the driving mechanism, and acquiring a conversion relation between a camera coordinate system and the base coordinate system; and determining third position information of the tool in a terminal coordinate system of the driving mechanism according to the first position information, the second position information and the conversion relation so as to finish tool calibration. According to the tool calibration method, on one hand, the characteristic point on the calibration piece is overlapped with the central point of the tool by arranging the calibration piece with the identification characteristic, the pose relation between the tool and the camera is acquired by identifying the identification characteristic through the camera, and then the fixed hand-eye calibration relation between the driving mechanism and the camera is combined, so that the tool with the tool central point changeable along the central axis can be accurately and quickly calibrated, and the calibration accuracy is greatly improved; on the other hand, the tool is calibrated through the feature points, the position information of the tail end of the driving mechanism and the conversion relation between the camera coordinate system and the base coordinate system, complex point alignment is not needed, the tool calibration can be completed only by acquiring effective identification feature image data once through camera sampling, and the tool calibration process is effectively optimized.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts. Wherein:
FIG. 1 is a schematic diagram of a tool calibration system according to an embodiment of the present disclosure;
FIG. 2 is a schematic structural view of an embodiment of the targeting member provided herein;
FIG. 3 is a schematic structural view of an embodiment of an inner barrel provided herein;
FIG. 4 is a schematic flow chart diagram illustrating an embodiment of feature point maintenance and tool center point registration;
FIG. 5 is a schematic diagram of an embodiment of a glue application height of a tool provided herein;
FIG. 6 is a schematic flow chart diagram illustrating a first embodiment of a tool calibration method provided herein;
FIG. 7 is a flowchart illustrating an embodiment of step S21;
FIG. 8 is a flowchart illustrating an embodiment of step S212 of the present application;
FIG. 9 is a schematic diagram of a tool calibration system provided herein;
FIG. 10 is a schematic structural diagram of a tool calibration device provided herein;
fig. 11 is a schematic structural diagram of an electronic device provided in the present application;
FIG. 12 is a schematic structural diagram of an embodiment of a computer-readable storage medium provided in the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. It is to be understood that the specific embodiments described herein are merely illustrative of and not restrictive on the broad application. It should be further noted that, for the convenience of description, only some of the structures related to the present application are shown in the drawings, not all of the structures. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
Reference in the application to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the application. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It is explicitly and implicitly understood by one skilled in the art that the embodiments described herein can be combined with other embodiments.
The steps in the embodiments of the present application are not necessarily processed according to the described step sequence, and may be optionally rearranged in a random manner, or steps in the embodiments may be deleted, or steps in the embodiments may be added according to requirements.
The term "and/or" in embodiments of the present application refers to any and all possible combinations including one or more of the associated listed items. It is also to be noted that: when used in this specification, the term "comprises/comprising" specifies the presence of stated features, integers, steps, operations, elements and/or components but does not preclude the presence or addition of one or more other features, integers, steps, operations, elements and/or components and/or groups thereof.
The terms "first", "second", etc. in this application are used to distinguish between different objects and not to describe a particular order. Furthermore, the terms "include" and "have," as well as any variations thereof, are intended to cover non-exclusive inclusions. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those steps or elements but may alternatively include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
In addition, although the terms "first", "second", etc. are used several times in this application to describe various data (or various elements or various applications or various instructions or various operations), etc., these data (or elements or applications or instructions or operations) should not be limited by these terms. These terms are only used to distinguish one data (or element or application or instruction or operation) from another data (or element or application or instruction or operation). For example, the first position information may be referred to as second position information, and the second position information may also be referred to as first position information, only the ranges of which are included are different, without departing from the scope of the present application, and the first position information and the second position information are each a set of various position and orientation information, only that they are not the same set of position and orientation information.
Referring to fig. 1, fig. 1 is a schematic structural diagram of an embodiment of a tool calibration system 10 provided in the present application, including: a tool 11, a drive mechanism 12 and a scale 13. Wherein, the tool 11 is connected to the end of the driving mechanism 12, the end of the tool 11 is detachably connected to the index 13, the index 13 is provided with an identification feature (not shown in fig. 1), and the feature point of the identification feature is located on the central axis 11a of the tool 11 and coincides with the central point of the tool 11.
Optionally, the tool 11 is a glue gun installed at the tail end of the gluing robot, the tail end of the glue gun is in threaded connection with a nozzle, and the nozzle can be detached and replaced for meeting different glue spraying caliber requirements.
Alternatively, the tool 11 may be connected to a container with glue and a controller, and configured to suck the glue solution in the container according to a glue spraying instruction sent by the controller, and release the glue solution at the end of the tool 11, so as to implement the spraying function of the tool calibration system 10.
Alternatively, the driving mechanism 12 is a mechanical arm of a gluing robot having at least three movable joints thereon (e.g., the driving mechanism 12 may be a three-axis mechanical arm, a four-axis mechanical arm, a six-axis mechanical arm, etc., and in the embodiment shown in fig. 1, the three-axis mechanical arm), and the driving mechanism 12 is adapted for adjustment of the position and angle of the tool 11. As shown in fig. 1, the first movable joint 12a of the driving mechanism 12 is vertically fixed on the support plate, and a base coordinate system (B) of the driving mechanism 12 is established with a central point of a connection between the first movable joint 12a and the support plate as a coordinate. The tool 11 is attached to the end of the robot arm (i.e., the end of the third moveable joint 12b in fig. 1). Alternatively, the driving mechanism 12 may be fixedly connected to the tool 11 in a clamping manner, or may be fixedly connected to the tool 11 by bolt fastening. Optionally, the driving mechanism 12 is further connected to a control device, the control device controls the driving mechanism 12 to move along a certain spatial trajectory, and the driving mechanism 12 drives the tool 11 to move together during the movement, so as to adjust the position and angle of the tool 11, so that the tool 11 completes the spraying processing task of the tool calibration system 10 at a preset angle and position.
Referring to fig. 2, fig. 2 is a schematic structural diagram of an embodiment of the marking member provided in the present application, and the marking member 13 includes a fixing mechanism and an identification mechanism. Wherein, fixed establishment includes urceolus 131, and identification mechanism includes inner tube 132, and urceolus 131 one end can be dismantled with the instrument end and be connected, urceolus 131 other end and inner tube 132 swing joint, and the inner tube 132 other end is provided with sign characteristic 133. Since the inner cylinder 132 and the outer cylinder 131 are movably connected, when the central point of the tool 11 is changed along the central axis 11a of the tool 11, the connection relationship between the inner cylinder 132 and the outer cylinder 131 can be adjusted, so that the characteristic point 133a on the index piece 13 is changed along with the change, and is kept to be coincident with the central point of the tool 11.
Alternatively, the outer cylinder 131 and the tool 11 may be fixedly connected in a clamping manner, or may be fixedly connected by fastening with a bolt. For the tool 11 to be a glue gun with a detachable nozzle, the connection end of the outer cylinder 131 to the tool 11 may be configured to conform to the connection end of the nozzle to the glue gun, and if the nozzle is screwed to the external thread of the glue gun through an internal thread, the outer cylinder 131 is also configured to have an internal thread corresponding to the nozzle.
Optionally, the inner barrel 132 is telescopically coupled to the outer barrel 131. The inner cylinder 132 is sleeved inside the outer cylinder 131, the axes of the inner cylinder 132 and the outer cylinder 131 are located at the same position, and the inner cylinder 132 can move in a telescopic manner on the axes so as to be capable of extending and retracting between the inside and the outside of the outer cylinder 131. Furthermore, the scale mark 132a is arranged on the outer wall of the inner cylinder 132, the scale mark 132a is used for displaying the length of the inner cylinder 132 extending out of the outer cylinder 131, the distance of the central point of the tool calibration system 10 extending along the central axis of the tool can be obtained through the length of the inner cylinder 132 extending out of the outer cylinder 131 and the distance of the zero point position of the scale line from the tail end of the tool, and the length of the inner cylinder 132 extending out of the outer cylinder 131 can be adaptively changed according to the tool central point of different requirements of the tool calibration system 10. Here, the telescopic connection of the inner cylinder 132 and the outer cylinder 131 may be a screw connection. In one embodiment, at the connection between the inner cylinder 132 and the outer cylinder 131, the inner cylinder 132 is provided with an external thread with a certain length and the outer cylinder 131 is provided with a corresponding internal thread, and the external thread is matched with the internal thread, so that the length of the inner cylinder 132 extending out of the outer cylinder 131 can be changed by rotating the inner cylinder 132 clockwise or counterclockwise; in other embodiments, a rotating motor may be fixed in the outer cylinder 131, and the rotating motor is connected with the inner cylinder 132 to automatically control the telescopic length; in other embodiments, the telescopic connection can also be realized through a slot structure, a convex tooth with a certain length is arranged at the joint of the inner cylinder 132 along the axial direction to be meshed with a groove in the outer cylinder 131, and the telescopic connection is realized by pushing and pulling along the axial direction; or the contact surfaces of the inner and outer cylinders are flat surfaces, and a push-pull structure is fixed in the outer cylinder 131, and the expansion and contraction is achieved by pushing and pulling the inner cylinder 132 in the axial direction by a push-pull structure such as an air cylinder. Other structures capable of extending and contracting may also be suitable for connecting the inner cylinder 132 and the outer cylinder 131, which are not described herein.
Alternatively, the end of the inner cylinder 132 is a cylinder, the identification feature 133 is a calibration pattern attached to a bottom surface of the inner cylinder 132, the feature point 133a of the calibration pattern is located at the center of the bottom surface of the cylinder, so that the feature point 133a of the calibration pattern is located on the central axis 11a of the tool 11, and the positional relationship between the outer cylinder 131 and the inner cylinder 132 is adjusted so that the feature point 133a of the calibration pattern is located at the same position as the tool center point of the tool 11. The identification feature 133 can be a specific pattern adhered, sprayed or engraved on the bottom surface of the inner cylinder 132, and includes dots, rings, checkerboards, and the like.
Referring to fig. 3, fig. 3 is a schematic structural diagram of an embodiment of the inner cylinder provided in the present application, wherein the end of the inner cylinder 132 is a cone, the identification feature 133 is located at the top end of the cone, and the feature point 133a is the vertex of the cone, so that the feature point 133a of the identification feature 133 is located on the central axis 11a of the tool 11, and the positional relationship between the outer cylinder 131 and the inner cylinder 132 can be adjusted so that the feature point 133a of the calibration pattern is located at the same position as the tool center point of the tool 11.
The tool calibration system 10 needs to calibrate the tool 11 fixed at the end of the driving mechanism 12, that is, obtain the pose relationship of the Tool Center Point (TCP) in the coordinate system at the end of the driving mechanism 12. For the tool 11, the tool center point is generally on its central axis, but the position of the tool center point may vary depending on the actual work requirements. For the gluing robot, the tool 11 is a glue gun, and the tool center point thereof is a virtual point formed by extending from the nozzle center to the gluing plane along the axial direction. In performing tool calibration, it is necessary to keep the feature point 133a of the identification feature 133 coincident with the center point of the tool 11.
Referring to fig. 4, fig. 4 is a flow chart illustrating an embodiment of feature point keeping and tool center point coincidence according to the present application. The method comprises the following steps:
step S1: the actual position of the centre point of the tool on the centre axis of the tool is obtained.
The center point of the tool 11 is on the central axis of the tool, and the related process parameters can be obtained according to the actual operation requirements, and the related process parameters are converted into the actual position of the center point of the tool (the distance between the center point of the tool and the end of the tool) on the central axis of the tool.
In particular, for gluing operations, the distance between the centre point of the tool and the end of the tool is generally the glue application height. The glue spraying height is directly obtained by calculation according to the technological requirements of operation, for example, the required glue spraying height can be obtained by calculation according to the required glue spraying width, the glue spraying pressure and the caliber of a nozzle.
Step S2: the position of the marker mechanism is adjusted so that the feature point on the index remains coincident with the center point of the tool.
Referring to fig. 5, fig. 5 is a schematic structural diagram of an embodiment of the gluing height of the tool provided by the present application, wherein the end 11a of the tool 11 is connected to one side of the outer cylinder 131 of the calibration piece 13, and the effective length of the outer cylinder 131 is L 0 That is, when the outer cylinder 131 is fixed to the end of the tool, the length from the end of the tool to the start point of the outer cylinder scale is L 0 At this time, the display scale (i.e., the extension length) of the inner tube 132 is L 1 The glue application height of the tool 11 is L 0 +L 1 . Wherein, L is more than or equal to 0 1 ≤L max 。
Optionally, as shown in fig. 1, a camera 14 is disposed in front of the tool calibration system 10, the camera 14 may be a 3D camera or a binocular camera, a lens of the camera 14 faces the tool 11, and an included angle between the optical axis of the tool 11 and the optical axis of the camera 14 may be 90-180 degrees. A camera coordinate system (C) is established with the lens center of the camera 14 as the origin of coordinates, which can be used to capture image data of the identification feature 133 of the landmark 13 on the tool 11, which can be a depth image (depth image). The depth image may be referred to as a range image (range image) and is an image in which a distance (depth) value from the camera 14 to each point in a scene is a pixel value. Optionally, the method for the camera 14 to acquire the depth image of the calibration piece 13 includes: the laser radar depth imaging method, the computer stereo vision imaging method, the coordinate measuring machine method, the moire fringe method, the structured light method, and the like, which are not particularly limited herein. The depth image may directly reflect the geometry of the visible surface of the scale 13.
Referring to fig. 6, fig. 6 is a schematic flow chart of a first embodiment of the tool calibration method provided in the present application. The method is applied to the gluing device in the embodiment, and comprises the following steps:
step S11: and controlling the camera to acquire image data of the identification feature, and acquiring first position information of the feature point in a camera coordinate system based on the image data.
Specifically, the camera acquires image data of the identification feature, and the system analyzes the acquired image data to obtain distance information and pixel coordinate information of a feature point of the identification feature in the calibration piece, so as to determine first position information of the identification feature in a camera coordinate system of the camera. Wherein the first position information is used for representing the pose relationship of the identification feature in a camera coordinate system of the camera.
Optionally, the camera may be a 3D camera or a 2D camera and the image data may be a depth map, a point cloud map or a general 2D image, depending on the characteristics of the identified features.
Specifically, for an identification feature having only one feature point, a 3D camera may be utilized to obtain distance information and pixel coordinate information of the feature point of the identification feature in the calibration piece.
For the identification feature that needs to obtain more known information, such as an identification feature including a plurality of feature points, distance information of the feature points may be obtained by other methods, or a 2D camera may be used to obtain pixel coordinate information of the feature points of the identification feature in the calibration piece.
Step S12: and acquiring second position information of the tail end of the driving mechanism under a base coordinate system of the driving mechanism, and acquiring a conversion relation between a camera coordinate system and the base coordinate system.
Specifically, a plurality of sensors are arranged on the driving mechanism and used for acquiring the pose relation of the tail end of the driving mechanism relative to the base coordinate system of the driving mechanism and acquiring second position information of the tail end of the driving mechanism under the base coordinate system of the driving mechanism according to the pose relation.
Further, the position of the camera in the base coordinate system of the driving mechanism is relatively fixed, for a system with eyes outside the hand, the conversion relation between the camera coordinate system and the base coordinate system (namely the hand-eye calibration relation) can be obtained by the existing hand-eye calibration method, the conversion relation is set as a default value, and the subsequent tool calibration only needs to read or directly input the value for calculation.
Step S13: and determining third position information of the tool in a terminal coordinate system of the driving mechanism according to the first position information, the second position information and the conversion relation so as to finish tool calibration.
Specifically, third position information of the tool in the terminal coordinate system of the driving mechanism can be determined by using the first position information, the second position information and the hand-eye calibration relationship, the third position information is used for representing the pose relationship of the tool in the terminal coordinate system of the driving mechanism, and the tool can be calibrated through the pose relationship.
Be different from prior art, the instrument among the instrument calibration method that this application provided is connected at actuating mechanism terminal, and the terminal detachable connection of instrument marks the piece, is provided with the identification characteristic on marking the piece, and the characteristic point of identification characteristic lies in the central axis of instrument, and with the coincidence of the central point of instrument, this method includes: controlling a camera to acquire image data of the identification features, and acquiring first position information of the feature points in a camera coordinate system based on the image data; acquiring second position information of the tail end of the driving mechanism under a base coordinate system of the driving mechanism, and acquiring a conversion relation between a camera coordinate system and the base coordinate system; and determining third position information of the tool in a terminal coordinate system of the driving mechanism according to the first position information, the second position information and the conversion relation so as to finish tool calibration. According to the tool calibration method, on one hand, the characteristic point on the calibration piece is overlapped with the central point of the tool by arranging the calibration piece with the identification characteristic, the pose relation between the tool and the camera is acquired by identifying the identification characteristic through the camera, and then the fixed hand-eye calibration relation between the driving mechanism and the camera is combined, so that the tool with the tool central point changeable along the central axis can be accurately and quickly calibrated, and the calibration accuracy is greatly improved; on the other hand, the tool is calibrated through the feature points, the position information of the tail end of the driving mechanism and the conversion relation between the camera coordinate system and the base coordinate system, complex point alignment is not needed, the tool calibration can be completed only by acquiring effective identification feature image data once through camera sampling, and the tool calibration process is effectively optimized.
The above optional embodiments are combined, and further optimized and expanded based on the above technical solutions, so as to obtain a second embodiment of the tool calibration method provided by the present application, where the method is applied to the tool calibration system in the above embodiment, and the method includes:
step S21: and controlling the camera to acquire image data of the identification feature, and acquiring first position information of the feature point in a camera coordinate system based on the image data.
Referring to fig. 7, fig. 7 is a schematic flowchart illustrating an embodiment of step S21 in the present application. Step S21 may specifically include the following:
step S211: and controlling the tail end of the driving mechanism to move to a preset area, and triggering the camera to shoot and acquire three-dimensional image data of the identification characteristics.
Specifically, the tool calibration system rotates the end of the driving mechanism to a preset area, so that the identification feature is located in the center of the field of view of the camera, and the acquired image is clear and has small focusing deformation, that is, the identification plane is approximately parallel to the camera shooting plane, where the identification plane is a plane perpendicular to the central axis of the tool. For a fixed operation station, the camera is generally fixed at a certain position of the operation station, so that when the calibration piece is not replaced, the preset area is determined only once in a manual teaching mode, and subsequent tool calibration can be used as a reference.
Step S212: and processing the three-dimensional image data, acquiring a 3D coordinate of the feature point in a camera coordinate system, acquiring a posture matrix for identifying the feature, and further acquiring first position information of the feature point in the camera coordinate system.
In one embodiment, a pose matrix identifying features is acquired based on three-dimensional image data.
For the situation that tool posture calibration is needed, a posture matrix of the identification features needs to be acquired according to the three-dimensional image data.
Referring to fig. 8, fig. 8 is a schematic flowchart illustrating an embodiment of step S212 in the present application. Step S212 may specifically include the following:
step A1: and processing the three-dimensional image data, and fitting the identification plane where the identification features are located.
Optionally, for a situation that an identification plane where the identification feature is located actually exists, such as an identification pattern where the identification feature is a cylindrical bottom surface, first, Point Cloud data of the identification feature is obtained according to the identified identification feature, and plane fitting may be performed on the three-dimensional Point Cloud data by directly using a PCL tool (Point Cloud Library) through a RANSAC algorithm (Random Sample Consensus), and other plane fitting algorithms may also be used, which is not described herein again.
The RANSAC algorithm basically assumes that a point cloud data sample contains correct data (iners, data which can be described by a model) and also contains abnormal data (outliers, data which is far away from a normal range and cannot adapt to a mathematical model), that is, data sets contain noise. These outlier data may be due to erroneous measurements, erroneous assumptions, erroneous calculations, etc. And fitting the point cloud data through a RANSAC algorithm, manually setting a threshold, judging invalid data if the distance between the point cloud data and the fitted identification plane exceeds the point of the threshold, fitting a plurality of identification planes randomly, and selecting the identification plane with the most effective data points in the identification planes as the identification plane where the identification features are finally fitted.
Optionally, for a situation that the identification plane where the identification feature is located does not actually exist, for example, the identification feature is the top end of a cone, and the identification plane is a plane where the vertex of the cone is located and parallel to the bottom surface of the cone, a curve equation of a standard cone needs to be obtained by fitting according to the obtained point cloud data by using a least square method and the like, so that vertex information and identification plane information are obtained.
Step A2: obtaining a unit normal vector of the identification plane as a unit vector n of the Z axis z And arbitrarily taking a unit vector in the identification plane as an X-axis unit vector n x 。
Step A3: obtaining a Y-axis unit vector n according to space vector orthogonal calculation y ＝n z ×n x 。
Step A4: obtaining a posture matrix (n) of the feature points of the identification features under a camera coordinate system based on the X-axis unit vector, the Y-axis unit vector and the Z-axis unit vector x ,n y ,n z )。
Step A5: and obtaining first position information of the feature point in a camera coordinate system according to the attitude matrix and the 3D coordinates.
Specifically, the attitude matrix of the feature point in the camera coordinate system is (n) x ,n y ,n z ) And the 3D coordinate is (Xc, Yc, Zc), the first position information is (H) 1 ) Including feature points on the camera mountThe attitude part information under the mark system is (n) x ,n y ,n z ) The position part information is (Xc, Yc, Zc).
In another embodiment, the gesture matrix of the identification feature is a predetermined third order identity matrix.
For situations where tool pose calibration is not required, the pose matrix of the default signature is typically a third order identity matrix.
Step S22: and acquiring second position information of the tail end of the driving mechanism under a base coordinate system of the driving mechanism, and acquiring a conversion relation between a camera coordinate system and the base coordinate system.
In particular, second position information (H) of the end of the drive mechanism in the base coordinate system of the drive mechanism 2 ) The device can be directly read out through the controller reading of the driving mechanism or calculated according to the reading of a plurality of sensors of the driving mechanism and a kinematic model of the driving mechanism. For example, for a fixed station, the 3D camera and the mechanical arm base of the tool calibration system are fixed in position, after the glue gun and the calibration tool are installed, the tail end of the mechanical arm is controlled to move through manual teaching, so that the feature point of the identification feature is imaged in the middle of the visual field of the 3D camera and the imaging is the clearest, and the indication number of the mechanical arm controller is the second position information (H) of the tail end of the driving mechanism under the base coordinate system of the driving mechanism (H) 2 )。
Further, the position of the 3D camera in the base coordinate system of the driving mechanism is relatively fixed, i.e. the transformation relationship between the camera coordinate system and the base coordinate system can be determined according to the pose of the 3D camera relative to the base coordinate system of the driving mechanism.
Step S23: and determining third position information of the tool in a terminal coordinate system of the driving mechanism according to the first position information, the second position information and the conversion relation so as to finish tool calibration.
Specifically, the calculation formula of the tool calibration is as follows:
wherein H 1 Indicating signIdentifying first position information of the feature in a camera coordinate system; h 0 The conversion relation (namely the hand-eye calibration relation) between the camera coordinate system and the driving mechanism base coordinate system is represented, namely the pose of the camera under the driving mechanism base coordinate system; h 2 -1 An inverse matrix representing the second position information, namely the pose of the drive mechanism base under the end coordinate system of the drive mechanism; h t And representing third position information of the characteristic point in the tool under the coordinate system of the end of the driving mechanism, namely the result of tool calibration.
Be different from prior art, the instrument among the instrument calibration method that this application provided is connected at actuating mechanism terminally, and the end of instrument can be dismantled and connect the calibration piece, is provided with the identification characteristic on the calibration piece, and the characteristic point of identification characteristic lies in the central axis of instrument, and coincides with the central point of instrument, and the method includes: controlling a camera to acquire image data of the identification features, and acquiring first position information of the feature points in a camera coordinate system based on the image data; acquiring second position information of the tail end of the driving mechanism under a base coordinate system of the driving mechanism, and acquiring a conversion relation between a camera coordinate system and the base coordinate system; and determining third position information of the tool in a terminal coordinate system of the driving mechanism according to the first position information, the second position information and the conversion relation so as to finish tool calibration. According to the tool calibration method, on one hand, the characteristic point on the calibration piece is overlapped with the central point of the tool by arranging the calibration piece with the identification characteristic, the pose relation between the tool and the camera is acquired by identifying the identification characteristic through the camera, and then the fixed hand-eye calibration relation between the driving mechanism and the camera is combined, so that the tool with the tool central point changeable along the central axis can be accurately and quickly calibrated, and the calibration accuracy is greatly improved; on the other hand, the tool is calibrated through the feature points, the position information of the tail end of the driving mechanism and the conversion relation between the camera coordinate system and the base coordinate system, complex point alignment is not needed, the tool calibration can be completed only by acquiring effective identification feature image data once through camera sampling, and the tool calibration process is effectively optimized.
Referring to fig. 9, fig. 9 is a schematic structural diagram of a tool calibration system 20 provided in the present application, and the tool calibration system includes a first obtaining module 21, a second obtaining module 22, and a calibration module 23. Wherein, the tool of the tool calibration system 20 is connected to the end of the driving mechanism, the end of the tool is detachably connected to the calibration piece, and the calibration piece is provided with an identification feature, the feature point of the identification feature is located on the central axis of the tool and coincides with the central point of the tool.
The first obtaining module 21 is configured to control a camera to obtain image data of the identification feature, and obtain first position information of the feature point in a camera coordinate system based on the image data.
Specifically, the tool calibration system 20 controls the camera to capture a shot image, and obtains image data of the identification feature, and then the tool calibration system analyzes the image data to obtain distance information and coordinate information of a feature point of the identification feature in the calibration piece, so as to determine first position information of the identification feature in a camera coordinate system of the camera. Wherein the first position information is used for representing the pose relationship of the identification feature in a camera coordinate system of the camera.
Optionally, the camera may be a 3D camera or a 2D camera and the image data may be a depth map, a point cloud map or a generic 2D image, depending on the feature points identifying the features.
The second obtaining module 22 is configured to obtain second position information of the end of the driving mechanism in a base coordinate system of the driving mechanism, and obtain a conversion relationship between a camera coordinate system and the base coordinate system.
Specifically, a plurality of sensors are disposed on the driving mechanism for acquiring a pose relationship of the driving mechanism end with respect to a base coordinate system of the driving mechanism, and according to the pose relationship, the tool calibration system 20 acquires second position information of the driving mechanism end under the base coordinate system of the driving mechanism.
Further, the position of the camera in the base coordinate system of the driving mechanism is relatively fixed, and for the system with eyes outside the hand, the conversion relationship between the camera coordinate system and the base coordinate system (i.e., the hand-eye calibration relationship) can be obtained by the existing hand-eye calibration method, and is set as a default value, i.e., the tool calibration system 20 only needs to obtain the value for calculation.
The calibration module 23 is configured to determine third position information of the tool in the terminal coordinate system of the driving mechanism according to the first position information, the second position information, and the conversion relationship, so as to complete tool calibration.
Specifically, the tool calibration system 20 may determine third position information of the tool in the driving mechanism end coordinate system by using the first position information, the second position information, and the hand-eye calibration relationship, where the third position information is used to represent a pose relationship of the tool in the driving mechanism end coordinate system, and thus, the tool calibration can be completed through the pose relationship.
With continued reference to fig. 9, the tool calibration system 20 further includes a calibration adjustment module 24. The calibration piece adjusting module 24 is configured to obtain an actual position of the center point of the tool on the central axis of the tool, and adjust the position of the identification mechanism so that the feature point on the calibration piece is kept coincident with the center point of the tool.
Wherein, the marking piece comprises a fixing mechanism and an identification mechanism. The fixing mechanism is detachably connected with the tail end of the tool, one end of the identification mechanism is provided with an identification feature, and the other end of the identification mechanism is movably connected with the fixing mechanism, so that when the central point of the tool changes along the central axis of the tool, the feature point on the fixing piece changes along with the change of the central point of the tool, and the feature point keeps coincident with the central point of the tool.
Referring to fig. 10, fig. 10 is a schematic structural diagram of a tool calibration device provided in the present application, and the tool calibration device 30 includes a calibration piece 31, where the calibration piece 31 is the same as or similar to the calibration piece in the above embodiments, and is not described herein again.
Optionally, in an embodiment, the calibration element 31 is applied to a tool calibration system, in which a tool is connected to the end of the driving mechanism, the end of the tool is detachably connected to the calibration element, the calibration element is provided with an identification feature, and a feature point of the identification feature is located on a central axis of the tool and coincides with a central point of the tool, the method includes: controlling a camera to acquire image data of the identification features, and acquiring first position information of the feature points in a camera coordinate system based on the image data; acquiring second position information of the tail end of the driving mechanism under a base coordinate system of the driving mechanism, and acquiring a conversion relation between a camera coordinate system and the base coordinate system; and determining third position information of the tool in a terminal coordinate system of the driving mechanism according to the first position information, the second position information and the conversion relation so as to finish tool calibration.
Referring to fig. 11, fig. 11 is a schematic structural diagram of an electronic device 100 provided in the present application, where the electronic device 100 includes a processor 101 and a memory 102 connected to the processor 101, where the memory 102 stores program data, and the processor 101 retrieves the program data stored in the memory 102 to execute the tool calibration method.
Optionally, in an embodiment, the processor 101 is applied to a tool calibration system, in which a tool is connected to an end of the driving mechanism, the end of the tool is detachably connected to a calibration member, the calibration member is provided with an identification feature, and a feature point of the identification feature is located on a central axis of the tool and coincides with a central point of the tool, the method includes: controlling a camera to acquire image data of the identification features, and acquiring first position information of the feature points in a camera coordinate system based on the image data; acquiring second position information of the tail end of the driving mechanism under a base coordinate system of the driving mechanism, and acquiring a conversion relation between a camera coordinate system and the base coordinate system; and determining third position information of the tool in a terminal coordinate system of the driving mechanism according to the first position information, the second position information and the conversion relation so as to finish tool calibration.
The processor 101 may also be referred to as a Central Processing Unit (CPU). The processor 101 may be an electronic chip having signal processing capabilities. The processor 101 may also be a general purpose processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other programmable logic device, discrete gate or transistor logic, discrete hardware components. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The storage 102 may be a memory bank, a TF card, etc., and may store all information in the electronic device 100, including the input raw data, the computer program, the intermediate operation result, and the final operation result, all stored in the storage 102. Which stores and retrieves information based on the location specified by the processor 101. With the memory 102, the electronic device 100 has a memory function to ensure normal operation. The storage 102 of the electronic device 100 may be classified into a main storage (internal storage) and an auxiliary storage (external storage) according to the purpose, and there is a classification method into an external storage and an internal storage. The external memory is usually a magnetic medium, an optical disk, or the like, and can store information for a long period of time. The memory refers to a storage component on the main board, which is used for storing data and programs currently being executed, but is only used for temporarily storing the programs and the data, and the data is lost when the power is turned off or the power is cut off.
In the several embodiments provided in the present application, it should be understood that the disclosed method and apparatus may be implemented in other ways. For example, the above-described embodiment of the electronic device 100 is only illustrative, and for example, the first position information of the feature point in the camera coordinate system is determined according to the image data, the conversion relationship between the camera coordinate system and the base coordinate system is determined, and the like, which is only an aggregate manner, and there may be another partitioning manner in practical implementation, for example, the second position information in the base coordinate system of the driving mechanism and the conversion relationship between the camera coordinate system and the base coordinate system may be combined or may be aggregated into another system, or some features may be omitted or not executed.
In addition, functional units (such as tools, driving mechanisms and the like) in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
Referring to fig. 12, fig. 12 is a schematic structural diagram of an embodiment of a computer-readable storage medium provided by the present application, and the computer-readable storage medium 110 stores therein program instructions 111 capable of implementing all the methods described above.
The unit in which the functional units in the embodiments of the present application are integrated may be stored in the computer-readable storage medium 110 if it is implemented in the form of a software functional unit and sold or used as a separate product. Based on such understanding, the technical solution of the present application may be embodied in the form of a software product, and the computer-readable storage medium 110 includes several instructions in a program instruction 111 to enable a computer device (which may be a personal computer, a system server, or a network device, etc.), an electronic device (such as MP3, MP4, etc., and may also be a mobile terminal such as a mobile phone, a tablet computer, a wearable device, etc., or a desktop computer, etc.), or a processor (processor) to execute all or part of the steps of the method of the embodiments of the present application.
Optionally, in an embodiment, the program instructions 111 are applied to a tool calibration system, in which a tool is connected to an end of a driving mechanism, the end of the tool is detachably connected to a calibration member, the calibration member is provided with an identification feature, and a feature point of the identification feature is located on a central axis of the tool and coincides with a central point of the tool, the method includes: controlling a camera to acquire image data of the identification features, and acquiring first position information of the feature points in a camera coordinate system based on the image data; acquiring second position information of the tail end of the driving mechanism under a base coordinate system of the driving mechanism, and acquiring a conversion relation between a camera coordinate system and the base coordinate system; and determining third position information of the tool in a terminal coordinate system of the driving mechanism according to the first position information, the second position information and the conversion relation so as to finish tool calibration.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-readable storage media 110 (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It is to be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by the computer-readable storage medium 110. These computer-readable storage media 110 may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the program instructions 111, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer-readable storage media 110 may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the program instructions 111 stored in the computer-readable storage media 110 produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer-readable storage media 110 may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the program instructions 111 that execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In one embodiment, these programmable data processing devices include a processor and memory thereon. The processor may also be referred to as a CPU (Central Processing Unit). The processor may be an electronic chip having signal processing capabilities. The processor may also be a general purpose processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other programmable logic device, discrete gate or transistor logic, discrete hardware components. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory may be a memory stick, TF card, etc. that stores and retrieves information based on the location specified by the processor. The memory is classified into a main memory (internal memory) and an auxiliary memory (external memory) according to the purpose, and also into an external memory and an internal memory. The external memory is usually a magnetic medium, an optical disk, or the like, and can store information for a long period of time. The memory refers to a storage component on the main board, which is used for storing data and programs currently being executed, but is only used for temporarily storing the programs and the data, and the data is lost when the power is turned off or the power is cut off.
The above description is only an embodiment of the present application, and is not intended to limit the scope of the present application, and all equivalent structures or equivalent processes performed according to the contents of the specification and the drawings, or applied directly or indirectly to other related technical fields, are all included in the scope of the present application.
Claims (10)
1. A method for calibrating a tool, wherein the tool is connected to the end of a driving mechanism, the end of the tool is detachably connected with a calibrating piece, the calibrating piece is provided with an identification feature, the feature point of the identification feature is positioned on the central axis of the tool and is coincided with the central point of the tool, the method comprises the following steps,
controlling a camera to acquire image data of the identification features, and acquiring first position information of the feature points in a camera coordinate system based on the image data;
acquiring second position information of the tail end of the driving mechanism under a base coordinate system of the driving mechanism, and acquiring a conversion relation between the camera coordinate system and the base coordinate system;
and determining third position information of the tool in a terminal coordinate system of the driving mechanism according to the first position information, the second position information and the conversion relation so as to finish tool calibration.
2. The tool calibration method according to claim 1, wherein the controlling the camera to acquire the image data of the identification feature and acquire the first position information of the feature point in the camera coordinate system based on the image data comprises:
controlling the tail end of the driving mechanism to move to a preset area, and triggering the camera to shoot and acquire three-dimensional image data of the identification features;
and processing the three-dimensional image data, acquiring a 3D coordinate of the feature point in the camera coordinate system, acquiring a posture matrix of the identification feature, and further acquiring first position information of the feature point in the camera coordinate system.
3. The tool calibration method according to claim 2, wherein the gesture matrix of the identification feature is a preset third-order identity matrix.
4. The tool calibration method as claimed in claim 2, wherein the gesture matrix of the identified features is obtained based on the three-dimensional image data, comprising:
processing the three-dimensional image data, and fitting an identification plane where the identification features are located;
acquiring the unit normal vector of the identification plane as a Z-axis unit vector n z And arbitrarily taking a unit vector in the identification plane as an X-axis unit vector n x ；
Obtaining a Y-axis unit vector n according to space vector orthogonal calculation y ＝ z ×n x ；
Obtaining a posture matrix (n) of the feature points of the identification features in the camera coordinate system based on the X-axis unit vector, the Y-axis unit vector and the Z-axis unit vector x ,n y ,n z )。
5. The method for calibrating a tool according to claim 1, wherein the calibration piece comprises a fixing mechanism and an identification mechanism, the fixing mechanism is detachably connected with the tail end of the tool, one end of the identification mechanism is provided with the identification feature, the other end of the identification mechanism is movably connected with the fixing mechanism, so that when the central point of the tool changes along the central axis of the tool, the characteristic point on the calibration piece changes along with the change of the central point of the tool and keeps coincident with the central point of the tool, the method comprises,
acquiring the actual position of the center point of the tool on the central axis of the tool;
adjusting the position of the identification mechanism such that the feature point on the index remains coincident with the center point of the tool.
6. A tool calibration system, wherein the tool is connected to the end of a driving mechanism, the end of the tool is detachably connected with a calibration piece, the calibration piece is provided with an identification feature, the feature point of the identification feature is positioned on the central axis of the tool and is coincided with the central point of the tool, the system comprises,
the first acquisition module is used for controlling a camera to acquire image data of the identification features and acquiring first position information of the feature points in a camera coordinate system based on the image data;
the second acquisition module is used for acquiring second position information of the tail end of the driving mechanism under a base coordinate system of the driving mechanism and acquiring a conversion relation between the camera coordinate system and the base coordinate system;
and the calibration module is used for determining third position information of the tool in a terminal coordinate system of the driving mechanism according to the first position information, the second position information and the conversion relation so as to finish tool calibration.
7. The tool calibration system of claim 6, wherein the calibration member comprises a fixing mechanism and an identification mechanism, the fixing mechanism is detachably connected with the tail end of the tool, one end of the identification mechanism is provided with an identification feature, the other end of the identification mechanism is movably connected with the fixing mechanism, so that when the central point of the tool changes along the central axis of the tool, the characteristic point on the calibration member changes along with the change of the central point of the tool and keeps coincident with the central point of the tool, and the system comprises,
and the calibration piece adjusting module is used for acquiring the actual position of the central point of the tool on the central axis of the tool, and adjusting the position of the identification mechanism to ensure that the characteristic point on the calibration piece is kept coincident with the central point of the tool.
8. A tool calibration device is characterized by comprising,
calibration piece for performing a tool calibration method according to any of claims 1-5.
9. An electronic device, comprising a processor and a memory connected to the processor, wherein the memory stores program data, and the processor retrieves the program data stored in the memory to execute the tool calibration method according to any one of claims 1-5.
10. A computer readable storage medium having stored therein program instructions, the program instructions being executable to implement a method as claimed in any one of claims 1 to 5.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210346029.XA CN114794667B (en) | 2022-03-31 | 2022-03-31 | Tool calibration method, system, device, electronic equipment and readable storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210346029.XA CN114794667B (en) | 2022-03-31 | 2022-03-31 | Tool calibration method, system, device, electronic equipment and readable storage medium |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114794667A true CN114794667A (en) | 2022-07-29 |
| CN114794667B CN114794667B (en) | 2023-04-14 |
Family
ID=82533070
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210346029.XA Active CN114794667B (en) | 2022-03-31 | 2022-03-31 | Tool calibration method, system, device, electronic equipment and readable storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114794667B (en) |
Citations (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102305608A (en) * | 2011-05-13 | 2012-01-04 | 哈尔滨工业大学 | Error measurement and compensation method for multi-target two-dimensional cross motion simulation system |
| CN105588525A (en) * | 2014-11-14 | 2016-05-18 | 北京配天技术有限公司 | Method and apparatus for calibrating tool on robot flange coordinate system |
| CN108582076A (en) * | 2018-05-10 | 2018-09-28 | 武汉库柏特科技有限公司 | A kind of Robotic Hand-Eye Calibration method and device based on standard ball |
| CN108748159A (en) * | 2018-06-20 | 2018-11-06 | 无锡信捷电气股份有限公司 | A kind of mechanical arm tool coordinates system self-calibrating method |
| CN109129445A (en) * | 2018-09-29 | 2019-01-04 | 先临三维科技股份有限公司 | Hand and eye calibrating method, scaling board, device, equipment and the storage medium of mechanical arm |
| CN109304713A (en) * | 2018-11-19 | 2019-02-05 | 珠海格力电器股份有限公司 | Scaling method, device and the computer readable storage medium of tool coordinates system |
| CN110193849A (en) * | 2018-02-27 | 2019-09-03 | 北京猎户星空科技有限公司 | A kind of method and device of Robotic Hand-Eye Calibration |
| CN110238849A (en) * | 2019-06-13 | 2019-09-17 | 深圳市汇川技术股份有限公司 | Robotic Hand-Eye Calibration method and device |
| CN110340881A (en) * | 2018-04-03 | 2019-10-18 | 泰科电子(上海)有限公司 | The scaling method and calibration system of robot tool |
| CN110450163A (en) * | 2019-08-20 | 2019-11-15 | 上海中车瑞伯德智能系统股份有限公司 | The general hand and eye calibrating method based on 3D vision without scaling board |
| CN110682289A (en) * | 2019-10-08 | 2020-01-14 | 华中科技大学 | Automatic calibration method for curved surface workpiece coordinate system based on industrial robot |
| CN110834333A (en) * | 2019-11-14 | 2020-02-25 | 中科新松有限公司 | Robot hand-eye calibration method and storage medium |
| JP2020078859A (en) * | 2018-11-14 | 2020-05-28 | ファナック株式会社 | Robot device |
| CN111445521A (en) * | 2020-02-24 | 2020-07-24 | 季华实验室 | Target workpiece position determining method, device, terminal and readable storage medium |
| CN112091971A (en) * | 2020-08-21 | 2020-12-18 | 季华实验室 | Robot eye calibration method and device, electronic equipment and system |
| CN112530024A (en) * | 2018-10-15 | 2021-03-19 | 华为技术有限公司 | Data processing method and equipment for virtual scene |
| CN114012731A (en) * | 2021-11-23 | 2022-02-08 | 深圳市如本科技有限公司 | Hand-eye calibration method and device, computer equipment and storage medium |
-
2022
- 2022-03-31 CN CN202210346029.XA patent/CN114794667B/en active Active
Patent Citations (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102305608A (en) * | 2011-05-13 | 2012-01-04 | 哈尔滨工业大学 | Error measurement and compensation method for multi-target two-dimensional cross motion simulation system |
| CN105588525A (en) * | 2014-11-14 | 2016-05-18 | 北京配天技术有限公司 | Method and apparatus for calibrating tool on robot flange coordinate system |
| CN110193849A (en) * | 2018-02-27 | 2019-09-03 | 北京猎户星空科技有限公司 | A kind of method and device of Robotic Hand-Eye Calibration |
| CN110340881A (en) * | 2018-04-03 | 2019-10-18 | 泰科电子(上海)有限公司 | The scaling method and calibration system of robot tool |
| CN108582076A (en) * | 2018-05-10 | 2018-09-28 | 武汉库柏特科技有限公司 | A kind of Robotic Hand-Eye Calibration method and device based on standard ball |
| CN108748159A (en) * | 2018-06-20 | 2018-11-06 | 无锡信捷电气股份有限公司 | A kind of mechanical arm tool coordinates system self-calibrating method |
| CN109129445A (en) * | 2018-09-29 | 2019-01-04 | 先临三维科技股份有限公司 | Hand and eye calibrating method, scaling board, device, equipment and the storage medium of mechanical arm |
| CN112530024A (en) * | 2018-10-15 | 2021-03-19 | 华为技术有限公司 | Data processing method and equipment for virtual scene |
| JP2020078859A (en) * | 2018-11-14 | 2020-05-28 | ファナック株式会社 | Robot device |
| CN109304713A (en) * | 2018-11-19 | 2019-02-05 | 珠海格力电器股份有限公司 | Scaling method, device and the computer readable storage medium of tool coordinates system |
| CN110238849A (en) * | 2019-06-13 | 2019-09-17 | 深圳市汇川技术股份有限公司 | Robotic Hand-Eye Calibration method and device |
| CN110450163A (en) * | 2019-08-20 | 2019-11-15 | 上海中车瑞伯德智能系统股份有限公司 | The general hand and eye calibrating method based on 3D vision without scaling board |
| CN110682289A (en) * | 2019-10-08 | 2020-01-14 | 华中科技大学 | Automatic calibration method for curved surface workpiece coordinate system based on industrial robot |
| CN110834333A (en) * | 2019-11-14 | 2020-02-25 | 中科新松有限公司 | Robot hand-eye calibration method and storage medium |
| CN111445521A (en) * | 2020-02-24 | 2020-07-24 | 季华实验室 | Target workpiece position determining method, device, terminal and readable storage medium |
| CN112091971A (en) * | 2020-08-21 | 2020-12-18 | 季华实验室 | Robot eye calibration method and device, electronic equipment and system |
| CN114012731A (en) * | 2021-11-23 | 2022-02-08 | 深圳市如本科技有限公司 | Hand-eye calibration method and device, computer equipment and storage medium |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114794667B (en) | 2023-04-14 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| KR102532072B1 (en) | System and method for automatic hand-eye calibration of vision system for robot motion | |
| US9519736B2 (en) | Data generation device for vision sensor and detection simulation system | |
| US11565427B2 (en) | Robot system | |
| CN107883929B (en) | Monocular vision positioning device and method based on multi-joint mechanical arm | |
| JP4267005B2 (en) | Measuring apparatus and calibration method | |
| JP5850962B2 (en) | Robot system using visual feedback | |
| CN108994876B (en) | Teaching position correction device and teaching position correction method | |
| KR101636605B1 (en) | System and method for calibration of machine vision cameras along at least three discrete planes | |
| Zhan et al. | Hand–eye calibration and positioning for a robot drilling system | |
| JP6812095B2 (en) | Control methods, programs, recording media, robotic devices, and manufacturing methods for articles | |
| JP6324025B2 (en) | Information processing apparatus and information processing method | |
| JP6235664B2 (en) | Measuring device used to calibrate mechanism parameters of robot | |
| KR20140008262A (en) | Robot system, robot, robot control device, robot control method, and robot control program | |
| WO2015132981A1 (en) | Position measurement device and position measurement method | |
| JP6885856B2 (en) | Robot system and calibration method | |
| JP3644991B2 (en) | Coordinate system coupling method in robot-sensor system | |
| CN110465946B (en) | Method for calibrating relation between pixel coordinate and robot coordinate | |
| CN114714356A (en) | Method for accurately detecting calibration error of hand eye of industrial robot based on binocular vision | |
| CN106996769B (en) | Active pose rapid relocation method without camera calibration | |
| KR20130075712A (en) | A laser-vision sensor and calibration method thereof | |
| CN114794667B (en) | Tool calibration method, system, device, electronic equipment and readable storage medium | |
| WO2023053395A1 (en) | Position and posture measurement system | |
| WO2022075159A1 (en) | Tool deformation amount calculation device for robot, tool deformation amount calculation system for robot, and tool deformation amount calculation method for robot | |
| WO2022249410A1 (en) | Imaging device for calculating three-dimensional position on the basis of image captured by visual sensor |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |