CN115200475A - Rapid correction method for arm-mounted multi-vision sensor - Google Patents
Rapid correction method for arm-mounted multi-vision sensor Download PDFInfo
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- CN115200475A CN115200475A CN202210827177.3A CN202210827177A CN115200475A CN 115200475 A CN115200475 A CN 115200475A CN 202210827177 A CN202210827177 A CN 202210827177A CN 115200475 A CN115200475 A CN 115200475A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/02—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness
- G01B21/04—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness by measuring coordinates of points
- G01B21/045—Correction of measurements
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Abstract
The invention belongs to the technical field of industrial robot vision guidance and measurement in industrial fields, and particularly relates to a method for quickly correcting an arm-mounted multi-vision sensor, aiming at the problems that the prior art carries out multiple position correction, the whole process consumes more time, the requirement of quick fault recovery is difficult to meet and the like, the following scheme is proposed, and the method comprises the following steps: s1: the calibration plate is used for calibrating each vision sensor by hands and eyes, a correction program is executed, and the calibration points are photographed and identified to obtain a rotation and translation relation
The invention can quickly correct the position of the changed vision sensor by only executing the corresponding correction track once during correction, can obtain more accurate correction effect by compensating the error caused by calibration by using the calibration point, meets the requirement of correction precision, can quickly realize fault recovery,the work efficiency is improved.
Description
Technical Field
The invention belongs to the field of industrial robot vision guidance and measurement in industrial fields, and particularly relates to a method for quickly correcting an arm-mounted multi-vision sensor.
Technical Field
The vision of the industrial robot can acquire the image of the measured object through the vision sensor, and the image is calculated and analyzed through the vision processor and converted into the position and pose coordinates which can be identified by the industrial robot. For a large workpiece or part with a characteristic hole, a plurality of (usually 2-4) 2D vision sensors are carried to identify object characteristic points of the part, so that the pose of a measured object can be estimated, the calculated pose is converted into coordinate information which can be identified by the industrial robot, and then the process track points of the industrial robot are subjected to offset correction, and the accurate positioning and measurement of the process points are realized.
In the whole process of grabbing, loading or measuring, the industrial robot needs to calibrate a plurality of sensors in advance, and position relations of the sensors are unified to the same coordinate system. Meanwhile, in the whole identification working process, the relative position relation between the visual sensor and the tail end of the industrial robot is kept unchanged.
Because the industrial field environment is complicated, the vision sensor is installed on the industrial robot tongs simultaneously, when the guide industrial robot is worked, the tongs can be because of reasons such as collision, overhaul of equipments take place to remove, and then causes the relative position change of vision sensor and industrial robot terminal ring flange. Generally, a workshop production line has high production efficiency and is a production line type production mode, and each station is required to have rapid line resetting capability, otherwise, a production plan is influenced; in the traditional visual sensor calibration method, a calibration plate is used for correcting the position of the visual sensor after the position is changed again, and then the coordinate system of the visual sensor after the position is changed is transferred to the same reference coordinate system. The position correction needs to be executed for many times in the process, the time consumption of the whole process is high, the requirement for quick fault recovery is difficult to meet, and the production efficiency is influenced.
Disclosure of Invention
Aiming at the technical problem, the invention provides a quick correction method of an arm-mounted multi-vision sensor, which realizes quick correction of the multi-vision sensor by using an error compensation principle. The method does not need to use the calibration plate again for correction, and can finish the correction work of the visual sensor only by photographing the calibration point once by the changed visual sensor, thereby reducing the step sequence of the correction process, shortening the correction time, effectively improving the working efficiency and meeting the requirement of quick fault recovery; the technical scheme adopted for achieving the purpose is as follows:
a quick correction method for an arm-mounted multi-vision sensor utilizes a position compensation principle to carry out error compensation on the position of a changed vision sensor, and converts a coordinate system { CAi' } of the changed vision sensor into a coordinate system { fi } of a flange plate of an industrial robot, and comprises the following steps:
s1: and (3) calibrating the eyes of the vision sensors to obtain the rotation and translation relation between the end flange plates of the industrial robot { fi } and the coordinate system { Ci } of the vision sensor i
S2: teaching track points of a correction program of each vision sensor in advance to ensure that each vision sensor i can shoot a calibration point, wherein each teaching photographing position Pi corresponds to one vision sensor i;
s3: executing a correction program of the vision sensor, sequentially enabling the vision sensor i to photograph and identify the calibration point, and calculating to obtain a rotation and translation relation between a robot Base seat { B } and a vision sensor i coordinate system { Ci' }
S4: obtaining the rotation and translation relation between the central coordinate system { fi } of the end flange of the industrial robot and the coordinate system { Ci' } of the visual sensor i obtained by calculation by using the calibration point
S5: obtaining the relative error between the coordinate system { Ci } of the visual sensor i and the coordinate system { Ci' } of the visual sensor i, which is obtained by utilizing the calibration of the calibration plate
S6: when the position of the vision sensor i is changed, the vision sensor i photographs and identifies the calibration point, and a rotation translation matrix between a coordinate system { CAi' } of the changed vision sensor i and an end flange { fi } of the industrial robot is obtained through calculation
S7: and (4) carrying out error compensation on the changed position of the vision sensor i, and unifying the compensated coordinate system { CAi } to the end flange plate coordinate system { fi } of the industrial robot.
Preferably, the vision sensor of claim 1 is a 2D vision sensor.
Preferably, in S1, the hand-eye calibration is performed on each vision sensor to obtain a rotational-translational relationship between { fi } between end flanges of the industrial robot and a coordinate system { Ci } of the vision sensor i
The calibration plate is used for calibrating the eyes and hands of each vision sensor.
Preferably, the calibration points are fixed on the clamp table, the number of the calibration points is more than 4, the calibration points are the upper end surfaces of the cylinders, and the heights of the calibration points are not on the same horizontal plane.
Preferably, in S3, the vision sensor i sequentially photographs and recognizes the calibration point, and a rotation and translation relationship between the robot Base { B } and a coordinate system { Ci' } of the vision sensor i is obtained through calculation
The PnP algorithm is utilized to obtain the rotation and translation relation between a coordinate system { Ci' } of the vision sensor i and a Base { B } of the robot.
Preferably, in S5, a relative error between the coordinate system { Ci } of the vision sensor i obtained by calibration using the calibration plate and the obtained coordinate system { Ci' } of the vision sensor i is obtained
The coordinate system of the visual sensor i is calculated by utilizing the calibration point.
Preferably, in S6, after the position of the vision sensor i is changed, the vision sensor i photographs and identifies the calibration point, and calculates to obtain a coordinate system { CAi' } of the changed vision sensor i and the industrial machineRotational translation matrix between robot end flanges { fi }
A correction program taught in advance needs to be executed, and the calibration point is photographed and recognized after correction.
Preferably, in S7, the position of the vision sensor i after the change is error-compensated, and the compensated coordinate system { CAi } is unified to the terminal flange coordinate system { fi } of the industrial robot, so as to obtain:
preferably, the characteristic position of the calibration point is the center of the upper end face of the cylinder, so that the measurement of three-coordinate measuring equipment is facilitated, and unnecessary measuring errors are reduced; the coordinate system of the calibration point is superposed with the Base coordinate system of the industrial robot, and the three-dimensional coordinate position under the Base coordinate system { B } of the industrial robot is obtained by measuring each calibration point by using a three-coordinate articulated arm measuring instrument or other three-coordinate measuring equipment B Pi(xi，yi，zi)；
Preferably, the position and the posture of the end flange plate of the industrial robot corresponding to the photographing position Pi under the Base coordinate system of the industrial robot can be obtained through the demonstrator
The calibration point is fixed above the clamp table, so that the calibration point can be installed and measured by using the existing field equipment during the installation and debugging of the equipment in the early stage, the utilization rate of resources can be improved, the cost is reduced, the calibration plate is used for carrying out hand-eye calibration on the visual sensor to obtain more accurate relation between the visual sensor and the end flange plate of the industrial robot, and the calibration method is the most commonly used visual sensor calibration method.
The invention has the following beneficial effects: the invention utilizes the calibration plate to carry out hand-eye calibration to obtain the rotation-translation relation between the end flange plates of the industrial robot and the coordinate system (Ci) of the visual sensor i
As a reference; reuse calibrationPoint calibration is carried out to obtain the rotation translation relation between the flange plate at the tail end of the industrial robot and a coordinate system (Ci' }) of the visual sensor i
Obtaining relative error by comparing with reference
After the visual sensor is changed, the calibration point is used again for calibration, then the error compensation is carried out on the changed visual sensor, the compensated visual sensor coordinate system is further unified to the industrial robot end flange plate coordinate system, and finally unified to the workpiece coordinate system to realize the unification of the multi-visual sensor coordinate system; according to the method, the corresponding correction track is only needed to be executed once during correction, the changed visual sensor can be quickly subjected to quick position correction, errors caused by calibration of the calibration points are compensated, a more accurate correction effect can be obtained, the correction precision requirement is met, fault recovery can be quickly realized, and the working efficiency is improved.
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FIG. 1 is a diagram illustrating the calibration of a multi-vision sensor according to the present invention.
Fig. 2 is a flowchart of a method for quickly calibrating an arm-mounted multi-vision sensor according to the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments.
Referring to fig. 1-2, a method for quickly calibrating an arm-mounted multi-vision sensor, which utilizes a position compensation principle to perform error compensation on a changed vision sensor position and converts a changed vision sensor coordinate system { CAi' } into an industrial robot flange plate coordinate system { fi }, comprises the following steps:
s1: and (3) calibrating the eyes of the vision sensors to obtain the rotation and translation relation between the end flange plates of the industrial robot { fi } and the coordinate system { Ci } of the vision sensor i
S2: teaching track points of a correction program of each vision sensor in advance to ensure that each vision sensor i can shoot a calibration point, wherein each teaching photographing position Pi corresponds to one vision sensor i;
s3: executing a correction program of the vision sensor, sequentially enabling the vision sensor i to photograph and identify the calibration point, and calculating to obtain a rotation and translation relation between a robot Base seat { B } and a vision sensor i coordinate system { Ci' }
S4: obtaining the rotation and translation relation between the central coordinate system { fi } of the end flange of the industrial robot and the coordinate system { Ci' } of the visual sensor i obtained by calculation by using the calibration point
S5: obtaining the relative error between the coordinate system { Ci } of the visual sensor i and the coordinate system { Ci' } of the visual sensor i, which is obtained by utilizing the calibration of the calibration plate
S6: when the position of the vision sensor i is changed, the vision sensor i takes pictures and identifies the calibration point, and a rotation and translation matrix between a coordinate system { CAi' } of the changed vision sensor i and an end flange plate { fi } of the industrial robot is obtained through calculation
S7: and (4) carrying out error compensation on the changed position of the vision sensor i, and unifying the compensated coordinate system { CAi } to the end flange plate coordinate system { fi } of the industrial robot.
In this embodiment, the visual sensor is a 2D visual sensor.
In this embodiment, in the step S1, for each visionThe sensors are calibrated by hands and eyes to obtain the rotation and translation relation between the flange plates at the tail ends of the industrial robots { fi } and the coordinate system { Ci } of the visual sensor i
The calibration plate is used for calibrating the eyes and hands of each vision sensor.
In this embodiment, the calibration points are fixed on the fixture table, the number of the calibration points is more than 4, the calibration points are the upper end surfaces of the cylinders, and the heights of the calibration points are not on the same horizontal plane.
In this embodiment, in S3, the visual sensor i sequentially photographs and identifies the calibration point, and a rotation-translation relationship between the robot Base { B } and a coordinate system { Ci' } of the visual sensor i is obtained through calculation
The PnP algorithm is utilized to obtain the rotation and translation relation between a coordinate system { Ci' } of the vision sensor i and a Base { B } of the robot.
In this embodiment, in S5, a relative error between a coordinate system { Ci } of the visual sensor i obtained by calibration using the calibration board and the obtained coordinate system { Ci' } of the visual sensor i is obtained
Is a visual sensor i coordinate system calculated by using a calibration point.
In this embodiment, in S6, after the position of the vision sensor i is changed, the vision sensor i takes a picture of the calibration point, identifies the calibration point, and calculates to obtain a rotation and translation matrix between the coordinate system { CAi' } of the vision sensor i after the change and the end flange { fi } of the industrial robot
A correction program taught in advance needs to be executed, and the calibration point is photographed and recognized after correction.
In this embodiment, in S7, the position of the vision sensor i after the change is error-compensated, and the compensated coordinate system { CAi } is unified with the industrial robotAnd (3) obtaining the following components in a terminal flange coordinate system { fi }:
in the embodiment, the characteristic position of the calibration point is the center of the upper end face of the cylinder, so that the measurement of three-coordinate measuring equipment is facilitated, and unnecessary measuring errors are reduced; the coordinate system of the calibration point is coincided with the industrial robot Base coordinate system, and the three-dimensional coordinate position under the industrial robot Base coordinate system { B } is obtained by measuring each calibration point by using a three-coordinate articulated arm measuring instrument or other three-coordinate measuring equipment B Pi(xi，yi，zi)；
In this embodiment, the position and posture of the end flange of the industrial robot corresponding to the photographing position Pi in the Base coordinate system of the industrial robot can be obtained through the demonstrator
The calibration point is fixed above the clamp table, so that the calibration point can be installed and measured by using the existing field equipment during the installation and debugging of the equipment in the early stage, the utilization rate of resources can be improved, the cost is reduced, the calibration plate is used for carrying out hand-eye calibration on the visual sensor to obtain more accurate relation between the visual sensor and the end flange plate of the industrial robot, and the calibration method is the most commonly used visual sensor calibration method.
The foregoing descriptions of specific exemplary embodiments of the present invention are presented for purposes of illustration and description, and not of limitation, and the scope of the present application is not limited thereto, although the present application will be described in detail with reference to the foregoing examples, and those skilled in the art will understand that: any person skilled in the art can modify or easily conceive the technical solutions described in the foregoing embodiments or equivalent substitutes for some technical features within the technical scope disclosed in the present application; such modifications, changes or substitutions do not depart from the spirit and scope of the corresponding technical solutions in the embodiments of the application. Are intended to be covered by the scope of this application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (8)
1. A quick correction method for an arm-mounted multi-vision sensor utilizes a position compensation principle to carry out error compensation on the position of a changed vision sensor and converts a coordinate system { CAi' } of the changed vision sensor into a coordinate system { fi } of a flange of an industrial robot, and is characterized by comprising the following steps:
s1: and calibrating the hand and the eye of each vision sensor to obtain the rotation and translation relation between the flange plates at the tail ends of the industrial robot and the coordinate system of the vision sensor i, wherein the coordinate system is { fi }, and the coordinate system is { Ci }, of the vision sensor i
S2: teaching track points of a correction program of each vision sensor in advance to ensure that each vision sensor i can shoot a calibration point, wherein each teaching photographing position Pi corresponds to one vision sensor i;
s3: executing a correction program of the vision sensor, sequentially enabling the vision sensor i to photograph and identify the calibration points, and calculating to obtain a rotation and translation relation between a robot Base seat { B } and a vision sensor i coordinate system { Ci' }
S4: obtaining the rotation translation relation between the central coordinate system { fi } of the end flange of the industrial robot and the coordinate system { Ci' } of the visual sensor i
S5: obtaining the relative error between the coordinate system { Ci } of the visual sensor i obtained by calibration with the calibration plate and the coordinate system { Ci' } of the visual sensor i obtained by calibration with the calibration point
S6: when the position of the visual sensor i changes, the visual sensor i photographs and identifies the calibration point, and the changed rearview is calculatedRotation and translation matrix between coordinate system { CAi' } of tactile sensor i and end flange plate { fi } of industrial robot
S7: and (4) carrying out error compensation on the changed position of the vision sensor i, and unifying the compensated coordinate system { CAi } to the end flange plate coordinate system { fi } of the industrial robot.
2. The method for rapidly calibrating an arm-mounted multi-vision sensor according to claim 1, wherein the vision sensor is a 2D vision sensor.
3. The method for rapidly calibrating the multi-vision sensor carried on the arm as claimed in claim 1, wherein in the step S1, the calibration of each vision sensor is performed by hand-eye to obtain the rotational-translational relationship between the end flanges { fi } of the industrial robot and the i-coordinate system { Ci } of the vision sensor
The calibration plate is used for calibrating the eyes and hands of each vision sensor.
4. The method for rapidly calibrating the multi-vision sensor carried on the arm as claimed in claim 1, wherein the calibration points are fixed on the fixture table, the number of the calibration points is more than 4, the calibration points are cylindrical upper end surfaces, and the heights of the calibration points are not on the same horizontal plane.
5. The method according to claim 1, wherein in S3, the vision sensor i is sequentially made to photograph and recognize the calibration point, and the rotation-translation relationship between the robot Base { B } and the vision sensor i coordinate system { Ci' } is calculated
The method is characterized in that a PnP algorithm is utilized to obtain a rotation translation relation between a coordinate system { Ci' } of a vision sensor i and a Base { B } of a robot.
6. The method for fast calibration of an arm-mounted multi-vision sensor according to claim 1, wherein in S5, a relative error between an i-coordinate system { Ci } of the vision sensor obtained by calibration with the calibration plate and an i-coordinate system { Ci' } of the vision sensor obtained by calibration with the calibration plate is obtained
Is a visual sensor i coordinate system calculated by using a calibration point.
7. The method for rapidly calibrating an arm-mounted multi-vision sensor according to claim 1, wherein in S6, when the position of a vision sensor i is changed, the vision sensor i takes a picture of a calibration point, identifies the calibration point, and calculates to obtain a rotation and translation matrix between a coordinate system { CAi' } of the changed vision sensor i and a terminal flange plate { fi } of an industrial robot
A calibration program taught in advance needs to be executed, and the calibration point is photographed and recognized after calibration.
8. The method for rapidly calibrating an arm-mounted multi-vision sensor according to claim 1, wherein in S7, the position of the vision sensor i after the change is compensated for errors, and the compensated coordinate system { CAi } is unified to the end flange coordinate system { fi } of the industrial robot, so as to obtain:
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| CN202210827177.3A CN115200475B (en) | 2022-07-14 | Rapid correction method for arm-mounted multi-vision sensor |
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| CN202210827177.3A CN115200475B (en) | 2022-07-14 | Rapid correction method for arm-mounted multi-vision sensor |
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| CN117123520A (en) * | 2023-02-06 | 2023-11-28 | 荣耀终端有限公司 | Method for realizing glue wiping of target workpiece and glue wiping equipment |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117123520A (en) * | 2023-02-06 | 2023-11-28 | 荣耀终端有限公司 | Method for realizing glue wiping of target workpiece and glue wiping equipment |
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