CN115371564A - Method and system for calibrating relative pose of linear laser sensor and robot flange plate - Google Patents

Method and system for calibrating relative pose of linear laser sensor and robot flange plate Download PDF

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Publication number
CN115371564A
CN115371564A CN202211307719.0A CN202211307719A CN115371564A CN 115371564 A CN115371564 A CN 115371564A CN 202211307719 A CN202211307719 A CN 202211307719A CN 115371564 A CN115371564 A CN 115371564A
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coordinate system
laser sensor
robot
axis
dynamic tracking
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CN115371564B (en
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李鹏程
张奇
王忠康
田威
王品章
孔玲怡
叶昶君
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Nanjing University of Aeronautics and Astronautics
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Nanjing University of Aeronautics and Astronautics
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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
    • 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
    • G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates

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  • Length Measuring Devices By Optical Means (AREA)

Abstract

The invention discloses a method and a system for calibrating the relative pose of a linear laser sensor and a robot flange plate, and relates to a technology for calibrating the relative pose of the linear laser sensor and the robot flange plate. The calibration block disclosed by the invention realizes the measurement of the pose of the calibration block through the line laser sensor, and simultaneously utilizes the optical dynamic tracking system and the matched light pen to finish the measurement of the pose of the calibration block, so as to solve and obtain the calibration of the relative pose of the line laser sensor and the robot flange plate. According to the invention, an industrial robot does not need to be moved, the line laser sensor only needs to measure the calibration block once, the calibration can be completed, the calibration solving process is matrix equation operation, the calculation process of the optimal solution does not exist, the calibration is simple, and the result accuracy is high.

Description

Method and system for calibrating relative pose of linear laser sensor and robot flange plate
Technical Field
The invention belongs to the optical detection technology, and particularly relates to a method and a system for calibrating the relative pose of a linear laser sensor and a robot flange plate.
Background
Along with the development of optical detection technique and industrial robot technique, adopt industrial robot to carry optical detection equipment and can realize automatic monitoring for industrial robot has certain perception ability. The line laser sensor can realize the measurement of two-dimensional space, combines the motion of industrial robot, can realize the collection and the measurement of three-dimensional space object point cloud, has non-contact, high accuracy, efficient advantage. The point cloud data collected by the line laser sensor is based on the coordinate system of the point cloud data, and in order to realize the combination of the industrial robot and the line laser sensor, the calibration of the relative pose of the line laser sensor and the industrial robot flange plate needs to be completed, so that the conversion of the point cloud data to be measured from the coordinate system of the line laser sensor to the base coordinate system of the industrial robot is realized. The calibration precision of the relative pose of the linear laser sensor and the industrial robot flange directly influences the detection accuracy.
The traditional method for calibrating the relative pose of the linear laser sensor and the industrial robot flange plate is mainly a standard sphere method, and the method cannot obtain the pose relation of a calibration object relative to the linear laser sensor through one-time measurement of the linear laser sensor, so that the pose of the industrial robot needs to be adjusted for many times, the linear laser sensor measures standard spheres with different poses, the kinematic error of the industrial robot is introduced in the calibration process, and meanwhile, the optimal solution calculation needs to be carried out in the calibration process, so that the operation is complex, and the calibration precision is low.
Disclosure of Invention
The invention provides a method and a system for calibrating the relative pose of a linear laser sensor and a robot flange plate, which aim to solve the technical problems in the background technology. The problems that the relative pose calibration process of the linear laser sensor and the industrial robot flange plate is complex and the calibration precision is poor are solved, the calibration flow is simplified, and the calibration accuracy is improved.
The invention adopts the following technical scheme: a method for calibrating the relative pose of a line laser sensor and a robot flange plate comprises the following steps:
step one, arranging a robot, a flange plate, a calibration block, a line laser sensor, an optical dynamic tracking system and an optical pen matched with the optical dynamic tracking system according to preset positions;
step two, a calibration test platform is formed by a calibration block, an optical dynamic tracking system and a light pen, the robot is restored to an initial state, and a robot coordinate system, a flange plate coordinate system, a line laser sensor coordinate system, a calibration block coordinate system and an optical dynamic tracking system coordinate system are respectively set as { BF }, { FF }, { LF }, { DF }, and { CF };
step three, respectively solving the matrix transformation relations of { BF } and { FF }, { LF } and { DF }, { DF } and { CF }, { CF } and { BF }, and obtaining the matrix transformation relations of { BF } and { FF }, LF } and { CF }
Figure 787802DEST_PATH_IMAGE002
、
Figure 417367DEST_PATH_IMAGE004
、
Figure 246782DEST_PATH_IMAGE006
、
Figure 696218DEST_PATH_IMAGE008
；
Fourthly, based on the matrix transformation relation, calculating by adopting the following formula to obtain the relative pose in the linear laser sensor coordinate system and the flange plate coordinate system
Figure 393916DEST_PATH_IMAGE010
：
Figure 18932DEST_PATH_IMAGE012
。
In a further embodiment, the calibration block comprises:
a body;
at least four groups of semi-cylinders are arranged on the upper surface of the body in a radioactive manner; the included angles between the adjacent semi-cylinders are equal.
In a further embodiment, the predetermined positions are as follows:
the robot and the optical dynamic tracking system are arranged oppositely, and an operation table is arranged in the middle; the flange plate is arranged at the tail end of the robot, and the line laser sensor is arranged on the flange plate;
the calibration block is fixed on the operating table and is positioned in the measuring range of the line laser sensor, so that the line laser sensor can measure any two adjacent semi-cylinders and the upper surface of the body between the two adjacent semi-cylinders simultaneously;
the optical dynamic tracking system simultaneously measures the corresponding positions of the robot and the calibration block.
In a further embodiment, in step three
Figure 146813DEST_PATH_IMAGE014
The relative pose of the flange coordinate system and the robot coordinate system is calculated as follows:
reading the current flange coordinate system relative to the robot base coordinate systemX、Y、ZCorresponding rotation parameters on three axes
Figure 83545DEST_PATH_IMAGE015
Corresponding translation parameter
Figure 319354DEST_PATH_IMAGE016
Solving the matrix transformation relation of { FF } relative to { BF } through the following formula:
Figure 533298DEST_PATH_IMAGE018
。
in a further embodiment of the method of the invention,
Figure 829150DEST_PATH_IMAGE020
for calibrating the relative position and attitude of the coordinate system of the block and the coordinate system of the line laser sensor, the acquisition process comprises the following steps:
obtaining a calibration block measuring point under a line laser sensor coordinate system to obtain first point cloud data, defining two adjacent semi-cylinders measured by the line laser sensor to be a first semi-cylinder and a second semi-cylinder respectively, fitting the cylinders by adopting a least square method, and obtaining data about the first semi-cylinder respectivelyFirst axis of cylinder and second semi-cylinderL 1 And a second axisL 2 The parameter equation is as follows:
first axisL 1 ：
Figure 253178DEST_PATH_IMAGE021
；
Second axisL 2 ：
Figure 292678DEST_PATH_IMAGE022
；
Wherein, the first and the second end of the pipe are connected with each other,
Figure 626707DEST_PATH_IMAGE024
for any point coordinate on the first half cylinder measured by the line laser sensor,
Figure 93461DEST_PATH_IMAGE026
is a first axisL 1 A set of direction numbers of;
Figure 739206DEST_PATH_IMAGE028
for the coordinates of any point on the second semi-cylinder measured by the line laser sensor,
Figure 579467DEST_PATH_IMAGE030
is a second axisL 2 A set of direction numbers of; t is a parameter of a parameter equation;
obtaining a straight line based on the first point cloud data and least square fittingL 0 ：
Straight lineL 0 ：
Figure 768003DEST_PATH_IMAGE032
；
Wherein the content of the first and second substances,
Figure 405658DEST_PATH_IMAGE034
for any point coordinate within the first point cloud data,
Figure 7541DEST_PATH_IMAGE036
is a straight lineL 0 A set of direction numbers of; t is a parameter of a parameter equation;
using a first axisL 1 A second axisL 2 And a straight lineL 0 Constraint conditions on the same plane are solved to obtain a planeP 1 ：
Figure 982319DEST_PATH_IMAGE037
(ii) a Wherein the content of the first and second substances,
Figure 618836DEST_PATH_IMAGE039
is a planeP 1 The coefficients of the general equation;
will be the first axisL 1 And a second axisL 2 Projected onto a planeP 1 To obtain a first projection line
Figure 427392DEST_PATH_IMAGE041
And a second projection line
Figure 188675DEST_PATH_IMAGE043
：
The first projection line
Figure 842510DEST_PATH_IMAGE041
：
Figure 133202DEST_PATH_IMAGE045
；
The second projection line
Figure 378238DEST_PATH_IMAGE043
：
Figure 361238DEST_PATH_IMAGE047
；
Wherein the content of the first and second substances,
Figure 84343DEST_PATH_IMAGE049
is a point
Figure 226612DEST_PATH_IMAGE051
In a planeP 1 The projected coordinates of the optical system are calculated,
Figure 376970DEST_PATH_IMAGE053
is a first projection line
Figure 847266DEST_PATH_IMAGE041
A set of direction numbers of;
Figure 374062DEST_PATH_IMAGE055
is a point
Figure 370837DEST_PATH_IMAGE057
In a planeP 1 The projected coordinates of the optical system are calculated,
Figure 833042DEST_PATH_IMAGE059
is the second projection line
Figure 915268DEST_PATH_IMAGE043
A set of direction numbers of;
obtaining a first projection line
Figure 242825DEST_PATH_IMAGE041
And a second projection line
Figure 235052DEST_PATH_IMAGE043
Is marked as a pointD 1 (ii) a Setting pointD 1 For calibrating the origin O of the block coordinate system DF Passing through the origin O DF Along the first projection line
Figure 992792DEST_PATH_IMAGE041
Setting X in the coordinate system of the calibration block in the direction DF Axis, passing through origin O DF Along a planeP 1 Setting Y in the coordinate system of the calibration block in the normal direction of DF Axis, Y of calibration block coordinate system obtained according to right hand rule DF Axis, calculating to obtain matrix transformation relation of { DF } relative to { LF }
Figure 562314DEST_PATH_IMAGE060
。
In a further embodiment of the method of the invention,
Figure 571858DEST_PATH_IMAGE062
the relative pose of the coordinate system of the calibration block and the coordinate system of the optical dynamic tracking system is calculated by the following steps:
measuring the upper surface of the calibration block by using an optical dynamic tracking system and a light pen to obtain a plurality of groups of upper surface measurement points of the calibration block under a coordinate system of the optical dynamic tracking system to obtain second point cloud data, and fitting by adopting a least square method principle to obtain a planeP 2 ：
Figure 402280DEST_PATH_IMAGE063
Wherein
Figure 862080DEST_PATH_IMAGE064
Is a plane
Figure 718565DEST_PATH_IMAGE066
The coefficients of the general equation;
measuring any two adjacent groups of semi-cylinders of the calibration block by using an optical dynamic tracking system and an optical pen to obtain a plurality of groups of point coordinate data of the two adjacent groups of semi-cylinders under a coordinate system of the optical dynamic tracking system; respectively calculating to obtain a first cylinder Q based on a least square method 1 And a second cylinder Q 2 And solving for the first cylinder Q 1 A second cylinder Q 2 Third axis of (2)L 3 And a fourth axisL 4 ：
Third axisL 3 ：
Figure 390855DEST_PATH_IMAGE068
；
A fourth axisL 4 ：
Figure 810204DEST_PATH_IMAGE070
；
Wherein the content of the first and second substances,
Figure 113009DEST_PATH_IMAGE072
for the first cylinder Q in the coordinate system of the optical dynamic tracking system 1 The coordinates of any point on the surface of the object,
Figure 125965DEST_PATH_IMAGE074
is a third axisL 3 A set of direction numbers of (a); t is a parameter of a parameter equation;
Figure 91295DEST_PATH_IMAGE076
for the second cylinder Q in the coordinate system of the optical dynamic tracking system 2 The coordinates of any point on the surface of the object,
Figure 302833DEST_PATH_IMAGE078
is a fourth axisL 4 A set of direction numbers of;tis a parameter of a parameter equation;
will the third axisL 3 And a fourth axisL 4 Projected onto a planeP 2 Get the third projection line
Figure 88124DEST_PATH_IMAGE080
And a fourth projection line
Figure 653622DEST_PATH_IMAGE082
：
The third projection line
Figure 730032DEST_PATH_IMAGE083
：
Figure 140284DEST_PATH_IMAGE084
；
The fourth projection line
Figure 909526DEST_PATH_IMAGE085
：
Figure DEST_PATH_IMAGE086
；
Wherein the content of the first and second substances,
Figure DEST_PATH_IMAGE088
is a point
Figure DEST_PATH_IMAGE090
In a planeP 2 The projected coordinates of the optical system are calculated,
Figure DEST_PATH_IMAGE092
is the third projection line
Figure 658258DEST_PATH_IMAGE080
A set of direction numbers of (a);
Figure DEST_PATH_IMAGE094
is a point
Figure DEST_PATH_IMAGE096
In a planeP 2 The projected coordinates of the optical system are calculated,
Figure DEST_PATH_IMAGE098
is a fourth projection line
Figure 338026DEST_PATH_IMAGE082
A set of direction numbers of;
note the third projection line
Figure 258578DEST_PATH_IMAGE080
And a fourth projection line
Figure 605245DEST_PATH_IMAGE082
At a point of intersection of
Figure 142406DEST_PATH_IMAGE100
(ii) a Point recording
Figure 232722DEST_PATH_IMAGE100
For calibrating the origin of the coordinate system of the block under the coordinate system of the optical dynamic tracking system
Figure 617567DEST_PATH_IMAGE102
Passing through the origin
Figure 397785DEST_PATH_IMAGE102
Along the third projection line
Figure 94346DEST_PATH_IMAGE083
The direction is set in the coordinate system of the calibration block
Figure DEST_PATH_IMAGE103
Axis, passing through origin
Figure 316248DEST_PATH_IMAGE102
Along a planeP 2 Is arranged in the coordinate system of the calibration block in the normal direction
Figure DEST_PATH_IMAGE105
Axis, namely, a calibration block coordinate system is established under an optical dynamic tracking system coordinate system, and the matrix transformation relation of { DF } relative to { CF } is obtained by solving
Figure DEST_PATH_IMAGE107
。
In a further embodiment of the method of the invention,
Figure DEST_PATH_IMAGE109
the relative pose of the robot coordinate system and the optical dynamic tracking system coordinate system is obtained in the following mode:
pasting a target point for detection of the optical dynamic tracking system at the tail end of the robot, respectively rotating a first mechanical arm shaft and a second mechanical arm shaft of the robot, recording coordinate values of the target point under a coordinate system of the optical dynamic tracking system for multiple times, establishing a base coordinate system of the robot under the coordinate system of the optical dynamic tracking system, and solving to obtain a matrix transformation relation of { BF } relative to { CF }, wherein
Figure DEST_PATH_IMAGE111
。
The utility model provides a line laser sensor and relative position appearance calibration system of robot ring flange, includes:
the tail end of the robot is provided with a flange plate;
the line laser sensor is arranged on the flange plate;
the optical dynamic tracking system is arranged on the opposite surface of the robot; an operation table is arranged between the robot and the optical dynamic tracking system;
the calibration block is fixed on the operating platform; the calibration block includes: a body;
at least four groups of semi-cylinders are arranged on the upper surface of the body in a radioactive manner; the included angles between the adjacent semi-cylinders are equal.
In a further embodiment, the body is provided with at least five groups of threaded holes.
The invention designs the calibration block for calibrating the line laser sensor, and realizes that the relative position and pose relationship between the calibration block and the line laser sensor can be calculated by one-time measurement of the line laser sensor.
The invention has the beneficial effects that: in the process of calibrating the relative pose of the linear laser sensor and the industrial robot flange plate, the industrial robot does not need to be moved, so that the introduction of kinematic errors of the industrial robot is avoided, and the calibration precision is improved; the problems of complex solving process and poor calibration precision of the traditional calibration method are solved.
In the process of calibrating the relative pose of the linear laser sensor and the industrial robot flange, the matrix equation is adopted for solving, optimal solution calculation is not needed, the calibration flow is simplified, and the calibration efficiency of the relative pose of the linear laser sensor and the industrial robot flange is improved.
Drawings
FIG. 1 is a flow chart of the present invention.
Fig. 2 is a schematic diagram of the principle of the method for calibrating the relative pose of the linear laser sensor and the robot flange plate.
FIG. 3 is a diagram of a calibration block according to the present invention.
FIG. 4 is a schematic diagram of the principle of the method for calibrating the relative pose between the coordinate system of the calibration block and the coordinate system of the line laser sensor according to the present invention.
FIG. 5 is a schematic diagram of the principle of the method for calibrating the relative pose between the coordinate system of the calibration block and the coordinate system of the optical dynamic tracking system according to the present invention.
Each of fig. 2 to 5 is labeled as: the robot comprises a robot 1, a flange plate 2, a calibration block 3, a line laser sensor 4, an optical dynamic tracking system 5, an optical pen 6, a body 201, a semi-cylinder 202 and a threaded hole 203.
Detailed Description
For better clarity of the description of the objects, technical solutions and advantages of the present invention, the technical solutions of the present invention will be further described in detail with reference to the accompanying drawings and specific embodiments.
Example 1
As shown in fig. 1 and fig. 2, the embodiment discloses a method for calibrating a relative pose between a line laser sensor and a robot flange, which includes the following steps:
step one, setting a robot, a flange plate, a calibration block, a line laser sensor, an optical dynamic tracking system and an optical pen matched with the optical dynamic tracking system according to preset positions; in the present embodiment, an industrial robot, i.e., a six-degree-of-freedom robot, is employed. The optical dynamic tracking system is a C-Track optical dynamic tracking system.
In order to be able to carry out a measurement of the line laser sensor, the present exemplary embodiment therefore relates to a calibration block adapted thereto, as shown in fig. 3. Wherein, the calibration block includes: the body is provided with at least four groups of semi-cylinders which are arranged in a radioactive manner on the upper surface, and the included angles between the adjacent semi-cylinders are equal. In this embodiment, the base of the calibration block is a rectangular structure, and the upper surface of the base is composed of four semicylinders; the four semi-cylinders are distributed along the center of the upper surface of the base at equal angles, and the included angle of the axes of any two adjacent semi-cylinders is 90 degrees; the calibration block base is provided with five threaded holes for mounting and fixing the calibration block; the calibration block is subjected to finish machining, so that the accuracy of the included angle of the axes of the adjacent semicylinders, the cylindricity of the semicylinders and the flatness of the upper surface of the base is ensured; the calibration block can meet the condition that the linear laser sensor can simultaneously measure any two adjacent semi-cylinders and the upper surface of the base between the adjacent semi-cylinders.
In a further embodiment, the predetermined positions are as follows: the robot and the optical dynamic tracking system are arranged oppositely, and an operation table is arranged in the middle; the flange plate is arranged at the tail end of the robot, and the line laser sensor is arranged on the flange plate; the calibration block is fixed on the operating table and is positioned in the measuring range of the line laser sensor, so that the line laser sensor can measure any two adjacent semi-cylinders and the upper surface of the body between the adjacent semi-cylinders simultaneously; and the optical dynamic tracking system simultaneously measures the corresponding positions of the robot and the calibration block.
Step two, a calibration test platform is formed by a calibration block, an optical dynamic tracking system and a light pen, the robot is restored to an initial state, and a robot coordinate system, a flange plate coordinate system, a line laser sensor coordinate system, a calibration block coordinate system and an optical dynamic tracking system coordinate system are respectively set as { BF }, { FF }, { LF }, { DF }, and { CF };
step three, respectively solving matrix transformation relations of { BF } and { FF }, { LF } and { DF }, { DF } and { CF }, { CF } and { BF } to obtain the relative poses of the flange coordinate system and the robot coordinate system
Figure DEST_PATH_IMAGE113
Relative position and posture of calibration block coordinate system and linear laser sensor coordinate system
Figure DEST_PATH_IMAGE115
Relative position and pose in coordinate system of calibration block and optical dynamic tracking system
Figure DEST_PATH_IMAGE117
Relative position and posture of robot coordinate system and optical dynamic tracking system coordinate system
Figure DEST_PATH_IMAGE119
；
Based on the matrix transformation relation, calculating by adopting the following formula to obtain the coordinate system of the linear laser sensor and the coordinate system of the flange plateRelative position and attitude of
Figure DEST_PATH_IMAGE121
：
Figure DEST_PATH_IMAGE123
。
In a further embodiment, the relative pose of the flange coordinate system and the robot coordinate system
Figure DEST_PATH_IMAGE125
The calculation flow of (2) is as follows: reading the current flange coordinate system relative to the robot base coordinate systemX、Y、ZCorresponding rotation parameters on three axes
Figure 650540DEST_PATH_IMAGE126
Corresponding translation parameter
Figure DEST_PATH_IMAGE127
Solving the matrix transformation relation of { FF } relative to { BF } through the following formula:
Figure 932486DEST_PATH_IMAGE128
。
as shown in FIG. 4, the relative pose of the coordinate system of the calibration block and the coordinate system of the line laser sensor
Figure DEST_PATH_IMAGE129
The acquisition process is as follows: obtaining a calibration block measuring point under a line laser sensor coordinate system to obtain first point cloud data, defining two adjacent semi-cylinders measured by the line laser sensor as a first semi-cylinder and a second semi-cylinder respectively, fitting the cylinders by adopting a least square method, and obtaining first axes about the first semi-cylinder and the second semi-cylinder respectivelyL 1 And a second axisL 2 The parameter equation is as follows:
first axis lineL 1 ：
Figure 585184DEST_PATH_IMAGE131
；
Second axisL 2 ：
Figure 14373DEST_PATH_IMAGE133
；
Wherein the content of the first and second substances,
Figure DEST_PATH_IMAGE135
for any point coordinate on the first half cylinder measured by the line laser sensor,
Figure 295181DEST_PATH_IMAGE137
is a first axisL 1 A set of direction numbers of;
Figure DEST_PATH_IMAGE139
for the coordinates of any point on the second semi-cylinder measured by the line laser sensor,
Figure DEST_PATH_IMAGE141
is a second axisL 2 A set of direction numbers of (a); t is a parameter of a parameter equation;
obtaining a straight line based on the first point cloud data and least square fittingL 0 ：
Straight lineL 0 ：
Figure DEST_PATH_IMAGE143
；
Wherein the content of the first and second substances,
Figure DEST_PATH_IMAGE145
for arbitrary point coordinates within the first point cloud data,
Figure DEST_PATH_IMAGE147
is a straight lineL 0 A set of direction numbers of; t is a parameter of a parameter equation;
using a first axisL 1 A second axisL 2 And a straight lineL 0 Constraint conditions on the same plane are solved to obtain a planeP 1 ：
Figure DEST_PATH_IMAGE148
(ii) a Wherein the content of the first and second substances,
Figure DEST_PATH_IMAGE149
is a planeP 1 The coefficients of the general equation;
will be the first axisL 1 And a second axisL 2 Projected onto a planeP 1 Get the first projection line
Figure DEST_PATH_IMAGE151
And a second projection line
Figure DEST_PATH_IMAGE153
：
The first projection line
Figure 859280DEST_PATH_IMAGE151
：
Figure DEST_PATH_IMAGE155
；
The second projection line
Figure 999274DEST_PATH_IMAGE153
：
Figure DEST_PATH_IMAGE157
；
Wherein the content of the first and second substances,
Figure DEST_PATH_IMAGE159
is a point
Figure DEST_PATH_IMAGE161
In a planeP 1 The projected coordinates of the optical system are calculated,
Figure DEST_PATH_IMAGE163
is a first projection line
Figure DEST_PATH_IMAGE164
A set of direction numbers of (a);
Figure DEST_PATH_IMAGE166
is a point
Figure DEST_PATH_IMAGE168
In a planeP 1 The projected coordinates of the optical system are calculated,
Figure DEST_PATH_IMAGE170
is the second projection line
Figure 567176DEST_PATH_IMAGE153
A set of direction numbers of;
obtaining a first projection line
Figure 905753DEST_PATH_IMAGE151
And a second projection line
Figure 201605DEST_PATH_IMAGE153
Is marked as a pointD 1 (ii) a Setting pointD 1 For calibrating the origin O of the block coordinate system DF Passing through the origin O DF Along the first projection line
Figure 766579DEST_PATH_IMAGE151
Setting X in the coordinate system of the calibration block in the direction DF Axis, passing through origin O DF Along a planeP 1 Setting Y in the coordinate system of the calibration block in the normal direction DF Axis, obtaining Y of the coordinate system of the calibration block according to the right hand rule DF Axis, calculating to obtain matrix transformation relation of { DF } relative to { LF }
Figure DEST_PATH_IMAGE171
。
As shown in FIG. 5, the relative pose in the coordinate system of the calibration block and the coordinate system of the optical dynamic tracking system
Figure DEST_PATH_IMAGE173
The calculation flow of (2) is as follows: measuring the upper surface of the calibration block by using an optical dynamic tracking system and an optical pen to obtain a plurality of groups of upper surface measuring points of the calibration block under a coordinate system of the optical dynamic tracking system to obtain second point cloud data, and fitting by adopting a least square method principle to obtain a planeP 2 ：
Figure DEST_PATH_IMAGE174
Wherein
Figure DEST_PATH_IMAGE176
Is a planeP 2 The coefficients of the general equation;
measuring any two adjacent groups of semi-cylinders of the calibration block by using an optical dynamic tracking system and an optical pen to obtain a plurality of groups of point coordinate data of the two adjacent groups of semi-cylinders under a coordinate system of the optical dynamic tracking system; based on the least square method, respectively calculating to obtain a first cylinder Q 1 And a second cylinder Q 2 And solving for the first cylinder Q 1 A second cylinder Q 2 Third axis of (2)L 3 And a fourth axisL 4 ：
Third axisL 3 ：
Figure DEST_PATH_IMAGE178
；
A fourth axisL 4 ：
Figure DEST_PATH_IMAGE180
；
Wherein, the first and the second end of the pipe are connected with each other,
Figure DEST_PATH_IMAGE182
for the first cylinder Q in the coordinate system of the optical dynamic tracking system 1 The coordinates of any point on the surface of the object,
Figure DEST_PATH_IMAGE184
is a third axisL 3 A set of directionsCounting; t is a parameter of a parameter equation;
Figure DEST_PATH_IMAGE186
for the second cylinder Q in the coordinate system of the optical dynamic tracking system 2 The coordinates of any point on the surface of the object,
Figure DEST_PATH_IMAGE188
is a fourth axisL 4 A set of direction numbers of;tis a parameter of a parameter equation;
will be the third axisL 3 And a fourth axisL 4 Projected to a planeP 2 Get the third projection line
Figure DEST_PATH_IMAGE190
And a fourth projection line
Figure DEST_PATH_IMAGE192
：
The third projection line
Figure 776386DEST_PATH_IMAGE190
：
Figure DEST_PATH_IMAGE194
；
The fourth projection line
Figure 562945DEST_PATH_IMAGE192
：
Figure DEST_PATH_IMAGE196
；
Wherein the content of the first and second substances,
Figure DEST_PATH_IMAGE198
is a point
Figure DEST_PATH_IMAGE200
In a planeP 2 The projected coordinates of the optical system are calculated,
Figure DEST_PATH_IMAGE202
is the third projection line
Figure 620244DEST_PATH_IMAGE190
A set of direction numbers of (a);
Figure DEST_PATH_IMAGE204
is a point
Figure DEST_PATH_IMAGE206
In a planeP 2 The projected coordinates of (a) to (b),
Figure DEST_PATH_IMAGE208
is a fourth projection line
Figure 797147DEST_PATH_IMAGE192
A set of direction numbers of;
note the third projection line
Figure 827289DEST_PATH_IMAGE190
And a fourth projection line
Figure 877809DEST_PATH_IMAGE192
At a point of intersection of
Figure DEST_PATH_IMAGE210
(ii) a Point recording
Figure 984306DEST_PATH_IMAGE210
For calibrating the origin of the coordinate system of the block under the coordinate system of the optical dynamic tracking system
Figure DEST_PATH_IMAGE212
Passing through the origin
Figure 851767DEST_PATH_IMAGE212
Along the third projection line
Figure 498649DEST_PATH_IMAGE190
The direction is set in the coordinate system of the calibration block
Figure DEST_PATH_IMAGE214
Axis, passing through origin
Figure 135167DEST_PATH_IMAGE212
Along a planeP 2 Is arranged in the coordinate system of the calibration block in the normal direction
Figure DEST_PATH_IMAGE216
Axis, i.e. establishing a coordinate system of a calibration block under the coordinate system of the optical dynamic tracking system, and solving to obtain a matrix transformation relation of { DF } relative to { CF }
Figure DEST_PATH_IMAGE218
。
Relative pose of robot coordinate system and optical dynamic tracking system coordinate system
Figure DEST_PATH_IMAGE220
The acquisition mode is as follows: pasting a target point for detection of the optical dynamic tracking system at the tail end of the robot, respectively rotating a first mechanical arm shaft and a second mechanical arm shaft of the robot, recording coordinate values of the target point under a coordinate system of the optical dynamic tracking system for multiple times, establishing a base coordinate system of the robot under the coordinate system of the optical dynamic tracking system, and solving to obtain a matrix transformation relation of { BF } relative to { CF }, wherein
Figure 68357DEST_PATH_IMAGE220
。
The embodiment provides a method for calibrating the relative pose of a linear laser sensor and a robot flange plate, solves the problems of complex calibration process and poor calibration precision of the relative pose of the linear laser sensor and the industrial robot flange plate, simplifies the calibration process and improves the calibration accuracy.
Based on the method of the embodiment, the relative pose of the linear laser sensor and the robot flange plate is calibrated, and the obtained experimental data are as follows:
Figure DEST_PATH_IMAGE221
example 2
In this embodiment, in order to implement the method described in embodiment 1, a system for calibrating a relative pose between a line laser sensor and a robot flange is disclosed, which includes: an industrial robot 1 has at least two robot arms. A flange 2 is installed at the tail end of the industrial robot 1, and a wired laser sensor 4 is arranged on the flange 2. The system further comprises an optical dynamic tracking system 5 arranged on the opposite surface of the industrial robot 1 and an optical pen 6 matched with the optical dynamic tracking system 5, and an operation table is arranged between the robot 1 and the optical dynamic tracking system 5. The console is then used to fix the calibration block 3. In a further embodiment, the calibration block 3 comprises: a body 201;
at least four groups of semi-cylinders 202 arranged on the upper surface of the body 201 in a radioactive manner; the included angles between adjacent half cylinders 202 are equal. In this embodiment, the base of the calibration block 3 is a rectangular structure, and the upper surface of the base is composed of four semicylinders; the four semi-cylinders are distributed along the center of the upper surface of the base at equal angles, and the included angle of the axes of any two adjacent semi-cylinders is 90 degrees; the base of the calibration block 3 is provided with five threaded holes 203 for mounting and fixing the calibration block 3.

Claims (9)

1. The method for calibrating the relative pose of the linear laser sensor and the robot flange plate is characterized by comprising the following steps of:
step one, setting a robot, a flange plate, a calibration block, a line laser sensor, an optical dynamic tracking system and an optical pen matched with the optical dynamic tracking system according to preset positions;
step two, a calibration test platform is formed by a calibration block, an optical dynamic tracking system and a light pen, the robot is restored to an initial state, and a robot coordinate system, a flange plate coordinate system, a line laser sensor coordinate system, a calibration block coordinate system and an optical dynamic tracking system coordinate system are respectively set as { BF }, { FF }, { LF }, { DF }, and { CF };
step three, respectively solving the matrix transformation relations of { BF } and { FF }, { LF } and { DF }, { DF } and { CF }, { CF } and { BF } to obtain
Figure 138990DEST_PATH_IMAGE001
、
Figure 99993DEST_PATH_IMAGE002
、
Figure 138356DEST_PATH_IMAGE003
、
Figure 6955DEST_PATH_IMAGE004
；
Based on the matrix transformation relation, calculating by adopting the following formula to obtain the relative pose in the linear laser sensor coordinate system and the flange plate coordinate system
Figure 709813DEST_PATH_IMAGE005
：
Figure 372876DEST_PATH_IMAGE006
。
2. The method for calibrating the relative pose of the line laser sensor and the robot flange plate according to claim 1, wherein the calibration block comprises:
a body;
at least four groups of semi-cylinders are arranged on the upper surface of the body in a radioactive manner; the included angles between the adjacent semi-cylinders are equal.
3. The method for calibrating the relative pose of the line laser sensor and the robot flange plate according to claim 1, wherein the positional relationship of the predetermined positions is as follows:
the robot and the optical dynamic tracking system are arranged oppositely, and an operation table is arranged in the middle; the flange plate is arranged at the tail end of the robot, and the line laser sensor is arranged on the flange plate;
the calibration block is fixed on the operating table and is positioned in the measuring range of the line laser sensor, so that the line laser sensor can measure any two adjacent semi-cylinders and the upper surface of the body between the two adjacent semi-cylinders simultaneously;
the optical dynamic tracking system simultaneously measures the corresponding positions of the robot and the calibration block.
4. The method for calibrating the relative pose between the line laser sensor and the robot flange plate according to claim 1, wherein the method comprises the third step
Figure 305060DEST_PATH_IMAGE007
The relative pose of the flange coordinate system and the robot coordinate system is calculated as follows:
reading the current flange coordinate system relative to the robot base coordinate systemX、Y、ZCorresponding rotation parameters on three axes
Figure 711770DEST_PATH_IMAGE008
Corresponding translation parameter
Figure 272065DEST_PATH_IMAGE009
Solving the matrix transformation relation of { FF } relative to { BF } through the following formula:
Figure 106028DEST_PATH_IMAGE010
。
5. the method for calibrating the relative pose between the line laser sensor and the robot flange plate according to claim 1,
Figure 650142DEST_PATH_IMAGE011
for calibrating the relative position and attitude of the coordinate system of the block and the coordinate system of the line laser sensor, the acquisition process comprises the following steps:
obtaining a calibration block measuring point under a line laser sensor coordinate system to obtain first point cloud data, and defining two adjacent semi-cylinders measured by the line laser sensor to be first semi-cylinders respectivelyA cylinder and a second semi-cylinder, fitting the cylinder by least square method to obtain the first axis of the first semi-cylinder and the second semi-cylinder respectively
Figure 594965DEST_PATH_IMAGE012
And a second axis
Figure 150711DEST_PATH_IMAGE013
The parameter equation is as follows:
first axis
Figure 421155DEST_PATH_IMAGE012
：
Figure 924336DEST_PATH_IMAGE014
；
Second axis
Figure 672849DEST_PATH_IMAGE013
：
Figure 473315DEST_PATH_IMAGE015
；
Wherein the content of the first and second substances,
Figure 524448DEST_PATH_IMAGE016
for any point coordinate on the first half cylinder measured by the line laser sensor,
Figure 777575DEST_PATH_IMAGE017
is a first axisL 1 A set of direction numbers of (a);
Figure 595358DEST_PATH_IMAGE018
for any point coordinate on the second semi-cylinder measured by the line laser sensor,
Figure 125696DEST_PATH_IMAGE019
is a secondAxial line
Figure 737943DEST_PATH_IMAGE020
A set of direction numbers of;
Figure 743945DEST_PATH_IMAGE021
is a parameter of a parameter equation;
obtaining a straight line based on the first point cloud data and least square fitting
Figure 709627DEST_PATH_IMAGE022
：
Straight lineL 0 ：
Figure 219106DEST_PATH_IMAGE023
；
Wherein the content of the first and second substances,
Figure 999325DEST_PATH_IMAGE024
for arbitrary point coordinates within the first point cloud data,
Figure 961464DEST_PATH_IMAGE025
is a straight line
Figure 855471DEST_PATH_IMAGE022
A set of direction numbers of; t is a parameter of a parametric equation;
using a first axis
Figure 94823DEST_PATH_IMAGE026
A second axis
Figure 48872DEST_PATH_IMAGE027
And a straight line
Figure 763887DEST_PATH_IMAGE022
Constraint conditions on the same plane are solved to obtain a plane
Figure 196006DEST_PATH_IMAGE028
：
Figure 555443DEST_PATH_IMAGE029
(ii) a Wherein the content of the first and second substances,
Figure 680394DEST_PATH_IMAGE030
coefficients of a general equation of a plane;
will be the first axis
Figure 617126DEST_PATH_IMAGE031
And a second axis
Figure 121444DEST_PATH_IMAGE032
Projected onto a planeP 1 Get the first projection line
Figure 194442DEST_PATH_IMAGE033
And a second projection line
Figure 365660DEST_PATH_IMAGE034
：
The first projection line
Figure 383164DEST_PATH_IMAGE033
：
Figure 891505DEST_PATH_IMAGE035
；
The second projection line
Figure 84589DEST_PATH_IMAGE034
：
Figure 426709DEST_PATH_IMAGE036
；
Wherein the content of the first and second substances,
Figure 72454DEST_PATH_IMAGE037
is a point
Figure 384487DEST_PATH_IMAGE038
In a planeP 1 The projected coordinates of the optical system are calculated,
Figure 288202DEST_PATH_IMAGE039
is the first projection line
Figure 394698DEST_PATH_IMAGE033
A set of direction numbers of;
Figure 527739DEST_PATH_IMAGE040
is a point
Figure 971359DEST_PATH_IMAGE041
In a planeP 1 The projected coordinates of the optical system are calculated,
Figure 873456DEST_PATH_IMAGE042
is the second projection line
Figure 416433DEST_PATH_IMAGE034
A set of direction numbers of (a);
obtaining a first projection line
Figure 242962DEST_PATH_IMAGE043
And the intersection of the second projection line
Figure 427956DEST_PATH_IMAGE044
Is marked as a pointD 1 (ii) a Setting pointD 1 For calibrating the origin O of the block coordinate system DF Passing through the origin O DF Along the first projection line
Figure 184559DEST_PATH_IMAGE043
Setting X in the coordinate system of the calibration block in the direction DF Axis, passing through originO DF Along a planeP 1 Setting Y in the coordinate system of the calibration block in the normal direction DF Axis, Y of calibration block coordinate system obtained according to right hand rule DF Axis, calculating to obtain matrix transformation relation of { DF } relative to { LF }
Figure 164016DEST_PATH_IMAGE045
。
6. The method for calibrating the relative pose between the line laser sensor and the robot flange plate according to claim 1,
Figure 271650DEST_PATH_IMAGE046
the relative pose of the coordinate system of the calibration block and the coordinate system of the optical dynamic tracking system is calculated by the following steps:
measuring the upper surface of the calibration block by using an optical dynamic tracking system and an optical pen to obtain a plurality of groups of upper surface measuring points of the calibration block under a coordinate system of the optical dynamic tracking system to obtain second point cloud data, and fitting by adopting a least square method principle to obtain a planeP 2 ：
Figure 729176DEST_PATH_IMAGE047
In which
Figure 340286DEST_PATH_IMAGE048
Coefficients of a general equation of a plane;
measuring any two adjacent groups of semi-cylinders of the calibration block by using an optical dynamic tracking system and an optical pen to obtain a plurality of groups of point coordinate data of the two adjacent groups of semi-cylinders under a coordinate system of the optical dynamic tracking system; respectively calculating to obtain a first cylinder Q based on a least square method 1 And a second cylinder Q 2 And solving for the first cylinder Q 1 A second cylinder Q 2 Third axis of (2)
Figure 631590DEST_PATH_IMAGE049
And a fourth axis
Figure 840502DEST_PATH_IMAGE050
：
Third axis
Figure 836140DEST_PATH_IMAGE049
：
Figure 708281DEST_PATH_IMAGE051
；
A fourth axis
Figure 29541DEST_PATH_IMAGE050
：
Figure 580608DEST_PATH_IMAGE052
；
Wherein the content of the first and second substances,
Figure 504571DEST_PATH_IMAGE053
for the first cylinder Q in the coordinate system of the optical dynamic tracking system 1 The coordinates of any point on the surface of the object,
Figure 90273DEST_PATH_IMAGE054
is a third axisL 3 A set of direction numbers of; t is a parameter of a parameter equation;
Figure 316855DEST_PATH_IMAGE055
for the second cylinder Q in the coordinate system of the optical dynamic tracking system 2 The coordinates of any point on the surface of the object,
Figure 623727DEST_PATH_IMAGE056
is a fourth axisL 4 A set of direction numbers of (a);tis a parameter of a parameter equation;
will be the third axisL 3 And a fourth axisL 4 Projected onto a planeP 2 Get the third projection line
Figure 961167DEST_PATH_IMAGE057
And a fourth projection line
Figure 666955DEST_PATH_IMAGE058
：
The third projection line
Figure 330018DEST_PATH_IMAGE057
：
Figure 590098DEST_PATH_IMAGE059
；
The fourth projection line
Figure 262388DEST_PATH_IMAGE058
：
Figure 822682DEST_PATH_IMAGE060
；
Wherein, the first and the second end of the pipe are connected with each other,
Figure 391066DEST_PATH_IMAGE061
is a point
Figure 401092DEST_PATH_IMAGE062
In a planeP 2 The projected coordinates of the optical system are calculated,
Figure 345914DEST_PATH_IMAGE063
is the third projection line
Figure 823032DEST_PATH_IMAGE057
A set of direction numbers of;
Figure 562318DEST_PATH_IMAGE064
is a point
Figure 531411DEST_PATH_IMAGE065
In a planeP 2 The projected coordinates of the optical system are calculated,
Figure 138979DEST_PATH_IMAGE066
is a fourth projection line
Figure 549231DEST_PATH_IMAGE058
A set of direction numbers of;
note the third projection line
Figure 727928DEST_PATH_IMAGE057
And a fourth projection line
Figure 981054DEST_PATH_IMAGE058
At a point of intersection of
Figure 267679DEST_PATH_IMAGE067
(ii) a Point recording
Figure 657072DEST_PATH_IMAGE067
For calibrating the origin of the coordinate system of the block under the coordinate system of the optical dynamic tracking system
Figure DEST_PATH_IMAGE068
Passing through the origin
Figure 331636DEST_PATH_IMAGE068
Along the third projection line
Figure 540901DEST_PATH_IMAGE057
The direction is set in the coordinate system of the calibration block
Figure 896796DEST_PATH_IMAGE069
Axis, passing through origin
Figure 281640DEST_PATH_IMAGE068
Along a planeP 2 Normal direction of (a) in the coordinate system of the calibration blockIs provided with
Figure DEST_PATH_IMAGE070
Axis, i.e. establishing a coordinate system of a calibration block under the coordinate system of the optical dynamic tracking system, and solving to obtain a matrix transformation relation of { DF } relative to { CF }
Figure 858597DEST_PATH_IMAGE071
。
7. The method for calibrating the relative pose between the line laser sensor and the robot flange plate according to claim 1,
Figure DEST_PATH_IMAGE072
the relative pose of the robot coordinate system and the optical dynamic tracking system coordinate system is obtained in the following mode:
pasting a target point for detecting the optical dynamic tracking system at the tail end of the robot, respectively rotating a mechanical arm shaft I and a mechanical arm shaft II of the robot, recording coordinate values of the target point under the coordinate system of the optical dynamic tracking system for multiple times, establishing a robot base coordinate system under the coordinate system of the optical dynamic tracking system, and solving to obtain a matrix transformation relation of { BF } relative to { CF }, wherein
Figure 148633DEST_PATH_IMAGE073
。
8. Line laser sensor and relative position appearance calibration system of robot ring flange, its characterized in that includes:
the tail end of the robot is provided with a flange plate;
the line laser sensor is arranged on the flange plate;
the optical dynamic tracking system is arranged on the opposite surface of the robot; an operation table is arranged between the robot and the optical dynamic tracking system;
the calibration block is fixed on the operating table; the calibration block includes: a body;
at least four groups of semi-cylinders are arranged on the upper surface of the body in a radioactive manner; the included angles between the adjacent semi-cylinders are equal.
9. The system for calibrating the relative pose of the line laser sensor and the robot flange plate according to claim 8, wherein at least five groups of threaded holes are formed in the body.
CN202211307719.0A 2022-10-24 2022-10-24 Method and system for calibrating relative pose of linear laser sensor and robot flange plate Active CN115371564B (en)

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CN113681559A (en) * 2021-08-24 2021-11-23 宁波光雷睿融智能系统有限公司 Line laser scanning robot hand-eye calibration method based on standard cylinder
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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20030057365A1 (en) * 2001-09-24 2003-03-27 Bennett Ralph W. Folded reflecting path optical spot scanning system
CN109724531A (en) * 2018-10-18 2019-05-07 苏州光图智能科技有限公司 360 ° of contour measuring methods
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