CN114897961A - Online pose calibration method and system for industrial robot carrying spherical cooperative target - Google Patents
Online pose calibration method and system for industrial robot carrying spherical cooperative target Download PDFInfo
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Abstract
A method and a system for calibrating the pose of a spherical cooperative target carried by an industrial robot on line are disclosed, wherein the calibration method comprises the steps of stably fixing the spherical cooperative target on an operation manipulator at the tail end of the industrial robot; the industrial robot keeps the coordinate of the calibration position unchanged, drives the spherical cooperative target to move to a plurality of calibration postures, and the stereo camera collects the contour point cloud of the spherical cooperative target; identifying and dividing the contour point cloud collected by the stereo camera under each calibration pose, and calculating the sphere center coordinate of the spherical cooperative target; calculating the coordinates of the sphere center of each calibration position spherical cooperative target under the industrial robot base coordinate system by combining the coordinates of the sphere center of the spherical cooperative target under the flange coordinate system and the position and orientation information of the industrial robot; and finally, calculating a pose transformation matrix of the industrial robot and the stereo camera. The method is simple to operate, efficient and high in precision, does not need to disassemble a manipulator, and can automatically realize on-line calibration or calibration of the position and posture coordinate transformation matrix of the industrial robot and the stereo camera.
Description
Technical Field
The invention belongs to the technical field of intelligent industrial robots, and particularly relates to an on-line pose calibration method and system for an industrial robot carrying a spherical cooperative target.
Background
In the field of industrial production, a stereo camera is fixedly installed, and based on stereo camera measurement data, scenes for guiding industrial robot production operation are very many. The three-dimensional camera is used for measuring and obtaining measurement data in a self coordinate system, the measurement data needs to be converted into data in an industrial robot coordinate system required by an industrial robot end manipulator or other process execution units with high precision, and before the intelligent industrial robot is used, the installation poses of the industrial robot and the three-dimensional camera need to be calibrated, and a coordinate conversion matrix is solved.
At present, most of the traditional calibration methods for coordinate transformation matrixes of 2D industrial cameras and industrial robots are adopted in the industry, namely, an operation manipulator is detached, and cooperative targets such as checkerboards and the like are installed at the tail ends of the industrial robots.
In the industry, a scheme of calibrating by adopting a three-dimensional cooperative target is also provided, the structural dimensions of the three-dimensional cooperative target and a mechanical arm flange are known in advance, and the problems that an operation mechanical arm needs to be detached, offline calibration is completed and then used exist. The calibration method has high processing requirement on the three-dimensional cooperative target, high cost and long preparation period, and has complex calibration algorithm, easy error and difficult on-line automatic algorithm in order to accurately evaluate the point cloud data quality of the three-dimensional cooperative target.
Disclosure of Invention
The invention aims to solve the problems in the prior art, and provides an on-line calibration method and system for the pose of an industrial robot carrying a spherical cooperative target, wherein the calibration process is simple, efficient and high-precision, a manipulator is not required to be detached, the calibration can be automatically realized, and the pose coordinate transformation matrix of the industrial robot and a stereo camera can be verified or calibrated on line in the operation process of an intelligent robot.
In order to achieve the purpose, the invention has the following technical scheme:
an industrial robot carries the online calibration method of the position and attitude of the spherical cooperative target, comprising:
stably fixing the spherical cooperative target on an operation manipulator at the tail end of an industrial robot;
controlling the industrial robot to keep the coordinate of the calibration position unchanged, driving the spherical cooperative target to move to a plurality of calibration postures, and acquiring the contour point cloud of the spherical cooperative target by using a stereo camera;
identifying and dividing the contour point cloud of the spherical cooperative target collected by the stereo camera under each calibration pose, and calculating the spherical center coordinate of the spherical cooperative target;
reading the pose information of the industrial robot under each calibration posture, and calculating a rotation matrix; reading the sphere center coordinates of the spherical cooperative target under each calibration pose, and calculating the coordinates of the sphere center of the spherical cooperative target under a flange coordinate system;
calculating the coordinates of the sphere center of each calibration position spherical cooperative target under the industrial robot base coordinate system by combining the coordinates of the sphere center of the spherical cooperative target under the flange coordinate system and the position and orientation information of the industrial robot;
and calculating a pose transformation matrix of the industrial robot and the stereo camera according to the coordinates of the sphere center of each calibration pose spherical cooperation target under the industrial robot base coordinate system.
Preferably, the work robot for stably fixing the spherical cooperation target at the end of the industrial robot comprises:
selecting at least one spherical cooperative target for stable fixation;
under each calibration pose, at least one spherical cooperative target is in the field of view of the stereo camera.
Preferably, the controlling the industrial robot to keep the coordinate of the calibration position unchanged and drive the spherical cooperative target to move to a plurality of calibration postures, and the acquiring of the contour point cloud of the spherical cooperative target by the stereo camera comprises: the industrial robot keeps the coordinate of the calibration position unchanged, at least three calibration postures are selected, the industrial robot drives the spherical cooperative target to move to each calibration pose, and the stereo camera acquires the local contour of the spherical cooperative target to obtain the contour point cloud.
Preferably, the identifying and segmenting the contour point cloud of the spherical cooperative target acquired by the stereo camera under each calibration pose, and the calculating the sphere center coordinates of the spherical cooperative target includes:
identifying the contour point cloud of the spherical cooperative target under each calibration pose; segmenting a contour point cloud of a spherical cooperative target from a point cloud set comprising background point cloud data and the contour point cloud of the spherical cooperative target; and fitting and calculating the sphere center coordinates Pn of the segmented contour point cloud [ xn, yn, zn,1], wherein N is 1,2, … …, and N are the number of the calibration poses.
Preferably, the reading of the pose information of the industrial robot in each calibration pose includes:
reading parameters of each calibration pose of the industrial robot;
calculating the parameters of each calibration pose of the industrial robot according to the coordinate system definition of an industrial robot manufacturer, setting a pose matrix corresponding to the pose parameters as Rrn and a translation matrix as Tr, wherein r represents the industrial robot;
reading the sphere center coordinates of the spherical cooperative target under each calibration pose, and calculating the coordinates of the sphere center of the spherical cooperative target under a flange coordinate system comprises the following steps:
calculating the coordinates [ a, b, c,1] of the sphere center in the flange coordinate system according to the sphere center coordinate Pn, wherein the calculation expression is as follows:
preferably, the calculating the coordinates of the sphere center of each spherical cooperation target with the calibrated pose in the industrial robot base coordinate system comprises:
an attitude matrix of the industrial robot is Rrn, a translation matrix is Tr, and a pose matrix is [ Rrn, Tr ]; according to the coordinates [ a, b, c,1] of the sphere center in the flange coordinate system, the coordinates Pbn of the sphere center point in the industrial robot base coordinate system are calculated according to the following formula:
Pbn＝[Rrn,Tr]*[a,b,c,1] T 。
preferably, the calculating the pose transformation matrix of the industrial robot and the stereo camera includes:
from the centre of sphere coordinate P n Forming a matrix A;
forming a matrix B by coordinates Pbn of a sphere center point under an industrial robot base coordinate system;
and calculating a pose transformation matrix [ Rrc, Trc ] of the industrial robot and the stereo camera according to the matrix A and the matrix B.
An industrial robot carries online calibration system of position and orientation of spherical cooperative target, includes:
the contour point cloud acquisition module is used for stably fixing the spherical cooperative target behind an operation manipulator at the tail end of the industrial robot, controlling the industrial robot to keep the coordinate of the calibration position unchanged, driving the spherical cooperative target to move to a plurality of calibration postures, and acquiring the contour point cloud of the spherical cooperative target by the stereo camera;
the spherical center coordinate calculation module is used for identifying and dividing the contour point cloud of the spherical cooperative target acquired by the stereo camera under each calibration pose and calculating the spherical center coordinate of the spherical cooperative target;
the pose information solving module is used for reading pose information of the industrial robot under each calibration posture and calculating a rotation matrix; reading the sphere center coordinates of the spherical cooperative target under each calibration pose, and calculating the coordinates of the sphere center of the spherical cooperative target under a flange coordinate system;
the sphere center coordinate conversion module is used for combining the coordinates of the sphere center of the spherical cooperative target under the flange coordinate system and the pose information of the industrial robot, and calculating the coordinates of the sphere center of each calibration pose spherical cooperative target under the industrial robot base coordinate system;
and the pose transformation matrix solving module is used for calculating the pose transformation matrix of the industrial robot and the stereo camera according to the coordinates of the sphere center of each calibration pose spherical cooperative target under the industrial robot base coordinate system.
Preferably, the spherical cooperative target is fixed on a working manipulator at the end of the industrial robot, the spherical cooperative target is composed of one or more spheres, the spheres are all located in the field of view of the stereo camera, and the spherical cooperative target has a local contour characteristic of a spherical surface.
Compared with the prior art, the invention has the following beneficial effects:
the spherical cooperative target is calibrated by adopting the spherical cooperative target fixed on the operation manipulator at the tail end of the industrial robot, is easy to obtain, low in cost, simple to stably place, very flexible to use and free of any requirements on absolute position and posture. The method comprises the steps that a stereo camera is supported and installed beside an industrial robot through a stereo camera installation support, a spherical cooperative target has a local contour characteristic of a spherical surface, the spherical cooperative target is placed in a field range of the stereo camera, the industrial robot keeps a calibration position coordinate unchanged, the spherical cooperative target is driven to move to a plurality of calibration postures, the stereo camera collects contour point clouds of the spherical cooperative target, a pose conversion matrix of the industrial robot and the surface stereo camera is obtained through point cloud processing and calculation, pose conversion information of the stereo camera and the industrial robot is obtained according to pose changes of the spherical cooperative target under each calibration posture of the industrial robot, and the process is simple and efficient. The method for calibrating the pose of the industrial robot carrying the spherical cooperative target on line can effectively solve the problems that the conventional calibration method needs a special calibration cooperative target with a known structural scale, can only calibrate off line, has complex operation process, long time consumption, high cost and low precision, and is difficult to verify or calibrate the poses of the industrial robot and the stereo camera on line in the operation process of the intelligent robot.
Furthermore, the method and the device divide the contour point cloud of the spherical cooperative target from the point cloud set containing the background point cloud data and the contour point cloud of the spherical cooperative target, have the remarkable advantages of high reliability and high precision, can adapt to the problem of inconsistent image acquisition quality caused by ambient light change, and have higher calibration precision while realizing online automatic calibration.
Drawings
FIG. 1 is a schematic view of an assembly structure of an industrial robot pose online calibration device carrying a spherical cooperative target according to the present invention;
FIG. 2 is a flow chart of an on-line pose calibration method for an industrial robot carrying a spherical cooperative target according to the present invention;
in the figure: 1. an industrial robot; 2. a stereo camera; 3. a spherical cooperative target; 4. a stereo camera mounting bracket; 5. an operation manipulator.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
Referring to fig. 1, the implementation of the on-line pose calibration method for an industrial robot carrying a spherical cooperative target of the invention is based on an industrial robot pose on-line calibration device carrying a spherical cooperative target, the device structure comprises a spherical cooperative target 3 fixed on an operation manipulator 5 at the end of an industrial robot 1, a stereo camera 2 is supported and installed beside the industrial robot 1 through a stereo camera installation support 4, and the stereo camera 2 and the stereo camera installation support 4 are designed according to production operation. The spherical cooperative target 3 has the characteristic of a local contour of a spherical surface, the industrial robot 1 keeps the coordinate of the calibration position unchanged to drive the spherical cooperative target 3 to move to a plurality of calibration postures, the stereo camera 2 collects the image of the spherical cooperative target 3, and the pose conversion information of the stereo camera 2 and the industrial robot 1 is obtained according to the pose change of the spherical cooperative target 3 under each calibration posture of the industrial robot 1. In the present embodiment, the spherical cooperative targets 3 may be composed of one or more spheres, each of which is within the field of view of the stereo camera. Further, if the spherical cooperative target 3 is composed of a plurality of spheres, the plurality of spheres are discrete spheres. The spherical cooperative target 3 is made of a table tennis ball which is easy to obtain and extremely low in cost. The spherical cooperative target 3 is fixed on the operation manipulator 5 by gluing according to the field range of the stereo camera 2, and has no requirement on absolute position and posture.
Referring to fig. 2, the method for calibrating the pose of the industrial robot carrying the spherical cooperative target on line in the embodiment of the invention comprises the following steps:
The spherical cooperative target 3 is stably fixed, and the method comprises the following steps:
1a) selecting at least one spherical cooperative target 3 to be stably fixed;
1b) at each calibration pose, at least one spherical cooperative target 3 is in the field of view of the stereo camera.
And 2, controlling the industrial robot 1 to keep the coordinate of the calibration position unchanged and move to a plurality of calibration postures, and collecting point cloud containing the spherical cooperative target 3 by the stereo camera 2.
The industrial robot 1 moves to a plurality of calibration postures, and comprises the following steps:
2a) the coordinate of the calibration position of the industrial robot 1 is unchanged;
2b) selecting at least three calibration postures;
2c) the industrial robot 1 drives the spherical cooperative target 3 to move to each calibration pose, and the stereo camera 2 can acquire the local contour of the spherical cooperative target 3.
And 3, carrying out contour point cloud identification and segmentation on the point clouds collected at the calibration poses and on the spherical cooperative target 3, and calculating the spherical center coordinates of the spherical cooperative target 3.
The point cloud processing of each calibration pose acquisition comprises the following steps:
3a) identifying the contour point cloud of the spherical cooperative target 3 under each calibration pose;
3b) segmenting the contour point cloud of the high-quality spherical cooperative target 3 from a point cloud set containing background point cloud data and the contour point cloud of the spherical cooperative target 3;
3c) fitting and calculating the spherical center coordinate P of the segmented contour point cloud n ＝[x n ,y n ,z n ,1]N is 1,2, … …, and N is the number of calibration poses.
The method for reading the pose information of the industrial robot 1 under each calibration pose comprises the following steps:
4a) and reading parameters of each calibration pose of the industrial robot 1.
4b) The parameters of each calibration pose of the industrial robot 1 are calculated according to the coordinate system definition of the industrial robot manufacturer. Here, the pose matrix corresponding to the pose parameters is set to Rrn, and the translation matrix is set to Tr, where r represents an industrial robot.
And 5, calculating the coordinates of each calibration position sphere center in the industrial robot base coordinate system by combining the coordinates of the sphere center in the flange coordinate system and the position and posture information of the industrial robot 1.
The method for calculating the coordinates of the sphere center of each calibration pose in the industrial robot base coordinate system comprises the following steps:
5a) the attitude matrix of the industrial robot 1 is Rrn, the translation matrix is Tr, and the pose matrix is [ Rrn, Tr ];
5b) the sphere center coordinate is [ a, b, c,1], and then the coordinate Pbn of the sphere center point in the industrial robot base coordinate system is calculated by the following formula:
Pbn＝[Rrn,Tr]*[a,b,c,1] T ；
and 6, calculating a pose transformation matrix of the industrial robot and the stereo camera.
The method for calculating the pose transformation matrix of the industrial robot 1 and the stereo camera 2 comprises the following steps:
6a) sphere center coordinate P n Forming a matrix A;
6b) coordinates Pbn of the sphere center point under the industrial robot base coordinate system form a matrix B;
6c) and calculating a pose transformation matrix [ Rrc, Trc ] of the industrial robot 1 and the stereo camera 2 according to the matrix A and the matrix B.
The application of the invention is further illustrated by the following specific example.
As shown in fig. 1, a table tennis ball which is easy to obtain and has extremely low cost is selected as a spherical cooperative target 3, and the table tennis ball is flexibly and flexibly adhered to an operation manipulator 5 of an industrial robot 1 by using glue according to the field range of a stereo camera 2;
the industrial robot 1 is a 6-axis industrial robot of an AUBO brand, and the stereo camera 2 is a Zivid brand.
And controlling the industrial robot 1 to move, wherein the table tennis ball is in the field of view of the stereo camera.
And issuing a calibration instruction, and driving the spherical cooperative target 3 to move 11 calibration poses by the industrial robot 1.
Pose parameters are shown in table 1:
table 1 industrial robot pose parameters
The results of the center of sphere calculation are shown in table 2:
TABLE 2 center of sphere coordinates
| Pose numbering | X | Y | Z |
| P1 | 49.9093 | 36.6479 | 920.512 |
| P2 | 64.0469 | 62.6967 | 909.467 |
| P3 | 81.0038 | 85.0552 | 923.0029 |
| P4 | 139.8044 | 106.7536 | 919.0145 |
| P5 | 74.8415 | 80.1265 | 940.0174 |
| P6 | 78.2642 | 79.934 | 956.5918 |
| P7 | 101.3577 | 83.558 | 982.9337 |
| P8 | 45.481 | 7.4996 | 923.2002 |
| P9 | 54.2592 | -24.7679 | 911.3011 |
| P10 | 68.3087 | 72.235 | 918.7815 |
| P11 | 109.479 | 81.7052 | 875.2049 |
Calculating to obtain a coordinate Pbn of the sphere center point under an industrial robot base coordinate system as [32.7476448148631,51.0156007178992,76.3862275573781 ];
using Rrc ═ B × A -1 And Trc ═ Rrc Tr n1n2 -Tc n1n2 ]*[Rc n1n2 -I] -1 Calculating to obtain pose transformation information [ Rrc, Trc ] of the industrial robot 1 and the stereo camera 2]Comprises the following steps:
another embodiment of the present invention further provides an on-line pose calibration system for an industrial robot carrying a spherical cooperative target, including:
the contour point cloud acquisition module is used for stably fixing the spherical cooperative target 3 behind an operating manipulator 5 at the tail end of the industrial robot 1, controlling the industrial robot 1 to keep the coordinate of the calibration position unchanged, driving the spherical cooperative target 3 to move to a plurality of calibration postures, and acquiring the contour point cloud of the spherical cooperative target 3 by the stereo camera 2;
the spherical center coordinate calculation module is used for identifying and dividing the contour point cloud of the spherical cooperative target 3 acquired by the stereo camera 2 under each calibration pose and calculating the spherical center coordinate of the spherical cooperative target 3;
the pose information solving module is used for reading the pose information of the industrial robot 1 under each calibration posture and calculating a rotation matrix; reading the coordinates of the sphere center of the spherical cooperative target 3 under each calibration pose, and calculating the coordinates of the sphere center of the spherical cooperative target 3 under a flange coordinate system;
the sphere center coordinate conversion module is used for combining the coordinates of the sphere center of the spherical cooperative target 3 in the flange coordinate system and the pose information of the industrial robot 1 and calculating the coordinates of the sphere center of each calibration pose spherical cooperative target 3 in the industrial robot base coordinate system;
and the pose transformation matrix solving module is used for calculating the pose transformation matrix of the industrial robot 1 and the stereo camera 2 according to the coordinates of the sphere center of each calibration pose spherical cooperative target 3 in the industrial robot base coordinate system.
It should be noted that, for the information interaction between the modules, the execution process, and other contents, the specific functions and the technical effects brought by the method embodiment are based on the same concept, and specific reference may be made to the method embodiment section, which is not described herein again.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of the functional units and modules is illustrated, and in practical applications, the above-mentioned function distribution may be performed by different functional units and modules according to needs, that is, the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-mentioned functions. Each functional unit and module in the embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units are integrated in one unit, and the integrated unit may be implemented in a form of hardware, or in a form of software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working processes of the units and modules in the system may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, all or part of the processes in the methods of the embodiments described above can be implemented by a computer program, which can be stored in a computer-readable storage medium and can implement the steps of the embodiments of the methods described above when the computer program is executed by a processor. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer readable medium may include at least: any entity or device capable of carrying computer program code to a photographing apparatus/terminal apparatus, a recording medium, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), an electrical carrier signal, a telecommunications signal, and a software distribution medium. Such as a usb-disk, a removable hard disk, a magnetic or optical disk, etc.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present application and are intended to be included within the scope of the present application.
Claims (9)
1. An industrial robot carries the online calibration method of the position and attitude of the spherical cooperative target, characterized by comprising:
stably fixing the spherical cooperative target (3) on an operation manipulator (5) at the tail end of the industrial robot (1);
controlling the industrial robot (1) to keep the coordinate of the calibration position unchanged, driving the spherical cooperative target (3) to move to a plurality of calibration postures, and collecting the contour point cloud of the spherical cooperative target (3) by the stereo camera (2);
identifying and segmenting the contour point cloud of the spherical cooperative target (3) acquired by the stereo camera (2) under each calibration pose, and calculating the spherical center coordinate of the spherical cooperative target (3);
reading the pose information of the industrial robot (1) under each calibration posture, and calculating a rotation matrix; reading the coordinates of the sphere center of the spherical cooperative target (3) under each calibration pose, and calculating the coordinates of the sphere center of the spherical cooperative target (3) under a flange coordinate system;
calculating the coordinates of the sphere center of each calibration position spherical cooperative target (3) in the industrial robot base coordinate system by combining the coordinates of the sphere center of the spherical cooperative target (3) in the flange coordinate system and the position and orientation information of the industrial robot (1);
and calculating a pose transformation matrix of the industrial robot (1) and the stereo camera (2) according to the coordinates of the sphere center of each calibration pose spherical cooperation target (3) in the industrial robot base coordinate system.
2. The on-line calibration method for the pose of an industrial robot carrying a spherical cooperative target according to claim 1, wherein the smoothly fixing the spherical cooperative target (3) on the working manipulator (5) at the end of the industrial robot (1) comprises:
selecting at least one spherical cooperative target (3) for stable fixation;
under each calibration pose, at least one spherical cooperative target (3) is in the field of view of the stereo camera.
3. The method for calibrating the pose of an industrial robot carrying a spherical cooperative target on line according to claim 1, wherein the controlling the industrial robot (1) to keep the coordinate of the calibration position unchanged and drive the spherical cooperative target (3) to move to a plurality of calibration poses, and the acquiring the contour point cloud of the spherical cooperative target (3) by the stereo camera (2) comprises: the industrial robot (1) keeps the coordinate of the calibration position unchanged, at least three calibration postures are selected, the industrial robot (1) drives the spherical cooperative target (3) to move to each calibration posture, and the stereo camera (2) collects the local contour of the spherical cooperative target (3) to obtain contour point cloud.
4. The industrial robot carrying spherical cooperative target pose online calibration method according to claim 1, wherein the identifying and segmenting the contour point cloud of the spherical cooperative target (3) collected by the stereo camera (2) at each calibration pose, and the calculating of the spherical center coordinates of the spherical cooperative target (3) comprises:
identifying the contour point cloud of the spherical cooperative target (3) under each calibration pose; segmenting the contour point cloud of the spherical cooperative target (3) from a point cloud set comprising background point cloud data and the contour point cloud of the spherical cooperative target (3); and fitting and calculating the sphere center coordinates Pn of the segmented contour point cloud [ xn, yn, zn,1], wherein N is 1,2, … …, and N are the number of the calibration poses.
5. The on-line calibration method for the pose of an industrial robot carrying a spherical cooperative target according to claim 4, characterized in that the reading of the pose information of the industrial robot (1) in each calibration pose comprises:
reading parameters of each calibration pose of the industrial robot (1);
calculating each calibration pose parameter of the industrial robot (1) according to the coordinate system definition of an industrial robot manufacturer, setting a pose matrix corresponding to the pose parameter as Rrn and a translation matrix as Tr, wherein r represents the industrial robot;
reading the coordinates of the sphere center of the spherical cooperative target (3) under each calibration pose, and calculating the coordinates of the sphere center of the spherical cooperative target (3) under a flange coordinate system comprises the following steps:
calculating the coordinates [ a, b, c,1] of the sphere center in the flange coordinate system according to the sphere center coordinate Pn, wherein the calculation expression is as follows:
6. the on-line calibration method for the pose of the industrial robot carrying the spherical cooperative targets according to claim 5, wherein the calculating the coordinates of the sphere center of each calibrated pose spherical cooperative target (3) in the industrial robot base coordinate system comprises:
the attitude matrix of the industrial robot is Rrn, the translation matrix is Tr, and the pose matrix is [ Rrn, Tr ]; according to the coordinates [ a, b, c,1] of the sphere center in the flange coordinate system, the coordinates Pbn of the sphere center point in the industrial robot base coordinate system are calculated according to the following formula:
Pbn＝[Rrn,Tr]*[a,b,c,1] T 。
7. the on-line calibration method for the pose of an industrial robot carrying a spherical cooperative target according to claim 6, wherein the calculating the pose transformation matrix of the industrial robot (1) and the stereo camera (2) comprises:
from the centre of sphere coordinate P n Forming a matrix A;
forming a matrix B by coordinates Pbn of a sphere center point under an industrial robot base coordinate system;
and calculating a pose transformation matrix [ Rrc, Trc ] of the industrial robot and the stereo camera according to the matrix A and the matrix B.
8. An industrial robot carries online calibration system of position appearance of spherical cooperative target which characterized in that includes:
the contour point cloud acquisition module is used for stably fixing the spherical cooperation target (3) behind an operation manipulator (5) at the tail end of the industrial robot (1), controlling the industrial robot (1) to keep a calibration position coordinate unchanged, driving the spherical cooperation target (3) to move to a plurality of calibration postures, and acquiring the contour point cloud of the spherical cooperation target (3) by the stereo camera (2);
the spherical center coordinate calculation module is used for identifying and segmenting the contour point cloud of the spherical cooperative target (3) acquired by the stereo camera (2) under each calibration pose and calculating the spherical center coordinate of the spherical cooperative target (3);
the pose information solving module is used for reading pose information of the industrial robot (1) under each calibration posture and calculating a rotation matrix; reading the coordinates of the sphere center of the spherical cooperative target (3) under each calibration pose, and calculating the coordinates of the sphere center of the spherical cooperative target (3) under a flange coordinate system;
the sphere center coordinate conversion module is used for combining the coordinates of the sphere center of the spherical cooperative target (3) under the flange coordinate system and the pose information of the industrial robot (1) and calculating the coordinates of the sphere center of each calibrated pose spherical cooperative target (3) under the industrial robot base coordinate system;
and the pose transformation matrix solving module is used for calculating the pose transformation matrix of the industrial robot (1) and the stereo camera (2) according to the coordinates of the sphere center of each calibration pose spherical cooperative target (3) under the industrial robot base coordinate system.
9. The on-line pose calibration system for the industrial robot carrying the spherical cooperative target according to claim 8 is characterized in that the spherical cooperative target (3) is fixed on a working manipulator (5) at the end of the industrial robot (1), the spherical cooperative target (3) is composed of one or more spheres, the spheres are all located in the field of view of the stereo camera, and the spherical cooperative target (3) has the local contour characteristic of a sphere.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111127568A (en) * | 2019-12-31 | 2020-05-08 | 南京埃克里得视觉技术有限公司 | Camera pose calibration method based on space point location information |
| CN112356073A (en) * | 2020-11-18 | 2021-02-12 | 西安中科光电精密工程有限公司 | Online calibration device and method for three-dimensional camera pose of industrial robot |
| CN217932763U (en) * | 2022-05-18 | 2022-11-29 | 西安中科光电精密工程有限公司 | Industrial robot pose online calibration device carrying spherical cooperative target |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111127568A (en) * | 2019-12-31 | 2020-05-08 | 南京埃克里得视觉技术有限公司 | Camera pose calibration method based on space point location information |
| CN112356073A (en) * | 2020-11-18 | 2021-02-12 | 西安中科光电精密工程有限公司 | Online calibration device and method for three-dimensional camera pose of industrial robot |
| CN217932763U (en) * | 2022-05-18 | 2022-11-29 | 西安中科光电精密工程有限公司 | Industrial robot pose online calibration device carrying spherical cooperative target |
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