CN117140518A - Full-automatic robot hand-eye calibration method and system - Google Patents
Full-automatic robot hand-eye calibration method and system Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/1653—Programme controls characterised by the control loop parameters identification, estimation, stiffness, accuracy, error analysis
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1661—Programme controls characterised by programming, planning systems for manipulators characterised by task planning, object-oriented languages
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1692—Calibration of manipulator
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Abstract
The application discloses a full-automatic robot hand-eye calibration method, which adopts a laser ranging sensor to transmit height information to a calibration system through a serial server; ten calibration points are randomly generated to take pictures and record calibration point data, and the robot moves according to the randomly generated calibration points. The on-site operator only needs to teach the mechanical arm to the starting point and start to automatically calibrate, so that the calibration error can be ensured to be within a certain range. The application also discloses a full-automatic robot hand-eye calibration system, which only needs to teach the mechanical arm to the starting point by an on-site operator, and the input module acquires parameters; the camera working height correction module is used for integrating multiple sensors, judging the current height through the sensors, transmitting the known height information back to the fixed acquisition point and the path planning calculation module for processing through the serial server, and automatically calibrating; and the verification calibration result module outputs a calibration result. The automatic arrangement greatly improves the efficiency of robot hand-eye calibration.
Description
Technical Field
The application belongs to the technical field of automatic robots, and relates to a full-automatic robot hand-eye calibration method and system.
Background
Automated implementations in the industry often rely on preprogrammed robotic arms to accomplish repetitive mechanical tasks. However, as the complexity of the scene increases, it is more and more difficult for the pre-programmed mechanical arm to work in a mode that covers all the scenes, and the task of completing various unstructured scenes by guiding the mechanical arm in a camera shooting and image processing mode gradually appears in industry, so as to further meet the requirement of 24-hour industrial automation. The combination of machine and robot is called the hand-eye system. Like a person's eyes and hands, the eyes can accurately move to the position of an object and grasp the object after seeing things. The image seen by the camera is a 2D screen, and the movement of the hand is in 3D space, so the function of the hand-eye system is to convert the 2D picture taken by the camera into the coordinates of the 3D space in which the hand is located. In order to establish a relation between the camera, i.e. the eye of the robot, and the robot, i.e. the hand of the robot, the robot and the camera coordinate system have to be calibrated, which calibration process is also called hand-eye calibration.
The traditional manual adjustment of the pose of the calibration plate and the mechanical arm has great uncertainty, and a large calibration error can be generated. Therefore, an automatic hand-eye calibration system is needed, and the calibration error is ensured to be within a certain range by a calibration method of a fixed procedure.
Disclosure of Invention
In order to achieve the above purpose, the present application adopts the following technical scheme:
the application provides a full-automatic robot hand-eye calibration method, which comprises the following steps:
mode selection: after the system is started, a calibration mode can be selected and divided into a Eye-In-Hand mode and an Eye-To-Hand mode;
placing a calibration plate: in Eye-In-Hand mode, the calibration plate is required to be placed In the field of view of the robot; the Eye-To-Hand mode requires mounting the calibration plate To the end of the robot arm; the method comprises the steps of ensuring that a calibration plate is in a camera view, and inputting information of the calibration plate, wherein the information of the calibration plate comprises the specification and the size of the calibration plate;
recording lower standard point data of a camera coordinate system: manually adjusting the camera to enable the calibration plate to be positioned at the center of the camera field of view, recording the current position as a calibrated starting position and recording the vertical distance between the current position and the calibration plate, namely the working distance H; transmitting the height information to a calibration system through a serial server by using a laser ranging sensor; randomly generating ten calibration points for photographing and recording calibration point data, wherein the calibration points are the terminal gesture photographing points of the mechanical arm, and the calibration point data comprise images and the pose information of the mechanical arm;
judging whether the data of the marked point is enough or not: judging whether the calibration plate in the image is complete or not;
if the image is complete, recording current calibration point data, and moving the robot to photograph and collect the image according to the random generated calibration point sequence;
if the image is incomplete, the robot does not record the current image and the pose information of the mechanical arm, and the steps are repeated to record the calibration point data until a sufficient amount of calibration point data are obtained;
calibrating: calculating external parameters of cameras and calibration plates in different images by using a Zhang Zhengyou calibration method, and obtaining a coordinate transformation matrix of converting a camera coordinate system into a robot coordinate system by means of the information of the calibration plates and the position conversion of the corner points of the calibration plates on the images in the calibration point data;
calculating position coordinates of the calibration points: under two modes of Eye-In-Hand and Eye-To-Hand, setting an initial angle To be theta, determining a value range of a parameter psi through a working distance H, and calculating the distance from a calibration plate To a camera according To a plane radius formula; calculating the position coordinates of the calibration points according to the parameter equation of the spherical surface; the robot moves according to the calculated position coordinates of the calibration points and photographs, whether the calibration plate is in the field of view or not is determined, and if the image is reserved;
and (5) finishing the calibration flow and storing the calibration point data.
Further, in the step of recording the camera coordinate system lower calibration point data, the position coordinates of the camera coordinate system lower calibration point are recorded: through the known working distance H, in a world coordinate system, a spherical surface with the radius H is made by taking the position of the calibration plate in the world coordinate system as an origin, a camera photographing point required by calibration is positioned on the spherical surface, and a parameter equation of the spherical surface is as follows: x=rsin θcos ψ, y=rsin θsin ψ, z=rcos θ, defining a case where θ and ψ vary with the change in the working distance H,
wherein: θ * And psi is equal to * Is along with the current working distance H * A variable; θ 0 Is a default angle value for the start; h 0 Is the initial height value, the value range of theta is (0, 2 pi), and the setting range of phi is any value from 15 DEG to 30 deg.
Further, in the step of recording the lower calibration point data of the camera coordinate system, the calibration points are randomly generated and the coordinate data are recorded as follows: the calibration points are randomly generated according to a gaussian distribution within a defined range of θ and ψ.
Further, in the step of recording the lower calibration point data of the camera coordinate system, the calibration points are randomly generated and the coordinate data are recorded as follows: θ takes any of 0, 2/9, 4/9, 6/9, 8/9, 10/9, 12/9, 14/9, 16/9, and 2, and ψ takes any of 15 to 30.
Further, the coordinate transformation matrix is: in Eye-In-Hand, the coordinate transformation matrix formula for converting the camera coordinate system into the robot coordinate system is:
Base T End2 × End2 T Camera2 × Camera2 T object ＝ Base T End1 × End1 T Camera1 × Camera1 T end2 ；
in Eye-To-Hand, the coordinate transformation matrix formula for converting the camera coordinate system into the robot coordinate system is:
End T Base2 × Base2 T Camera2 × Camera2 T object ＝ End T Base1 × Base1 T Camera1 × Camera1 T Object ；
wherein: base is the Base coordinates of the robot, end is the End coordinates of the robot at any position, and Camera is the coordinates of the Camera at any position.
Further, the plane radius formula is as follows:
wherein r is the distance from the calibration plate to the camera, and H is the working distance.
Further, judging whether enough calibration point data exists or not further comprises the step of enabling the calibration plate to be a checkerboard; and calculating whether the number of the checkerboard intersection points on the current photographed image is matched with the input checkerboard size by using a Zhengyou calibration method, so as to judge whether the image calibration board is complete.
Further, in the calibration process, data with errors exceeding the set range are deleted.
Further, the laser ranging sensor is fixed with the camera, and the serial server is communicated with the industrial personal computer through the Ethernet.
The application also provides a full-automatic robot hand-eye calibration system, which adopts the full-automatic robot hand-eye calibration method, comprising the following steps: the system comprises an input module, a camera working height correction module, a calibration acquisition point and path planning calculation module, a calibration module and a calibration result verification module which are connected in sequence;
an input module: acquiring information of a calibration plate, wherein the information of the calibration plate comprises the specification and the size of the calibration plate;
and a camera working height correction module: the camera acquires information in the input module;
and a fixed acquisition point and path planning calculation module: according to the current height, calculating a shooting range, and randomly generating a certain number of calibration points;
the calibration module is used for photographing a calibration point image and performing primary calibration according to the acquired image;
and (3) verifying a calibration result module: and comparing and deleting the image with larger error according to the calibrated result, and then re-carrying out calibration point acquisition of the calibration acquisition point and the path planning calculation module until the number of the calibration points is completed, storing the data of the calibration points, and ending the calibration.
Compared with the prior art, the application has the beneficial effects that:
the traditional automatic calibration program can only be used for single tool distance calibration, and the full-automatic robot hand-eye calibration method provided by the application determines shooting points required by calibration according to working distances, so that the pain points of the automatic calibration program for different working distances are solved;
the traditional method relies on manual adjustment of the positions and the postures of the calibration plate and the tail end of the mechanical arm, has great uncertainty, and can possibly generate larger calibration errors. The on-site operator only needs to teach the mechanical arm to the starting point, the hand-eye calibration program judges the current height through the laser ranging sensor, the known height information is transmitted back to the system through the serial server for processing, automatic calibration is started, and the calibration error can be ensured to be within a certain range. The efficiency of robot hand-eye calibration is greatly improved;
according to the full-automatic robot hand-eye calibration system, a field operator only needs to teach the mechanical arm to a starting point, and the input module acquires parameters; the camera working height correction module is used for integrating multiple sensors, judging the current height through the sensors, transmitting the known height information back to the fixed acquisition point and the path planning calculation module for processing through the serial server, and automatically calibrating; and the verification calibration result module outputs a calibration result. The automatic arrangement greatly improves the efficiency of robot hand-eye calibration.
Drawings
FIG. 1 is a flow chart of a method for calibrating a hand and an eye of a fully automatic robot according to the present application;
FIG. 2 is a schematic diagram of a fully automated robotic Hand-Eye calibration method of the present application In Eye-In-Hand mode;
FIG. 3 is a schematic diagram of a full-automatic robot Hand-Eye calibration method of the present application in Eye-To-Hand mode,
FIG. 4 is a schematic diagram of robot motion In Eye-In-Hand mode for a fully automated robot Hand-Eye calibration method of the present application;
FIG. 5 is a schematic diagram of robot motion in Eye-To-Hand mode for a fully automated robot Hand-Eye calibration method of the present application;
FIG. 6 is a schematic diagram of a spherical coordinate system;
fig. 7 is a schematic diagram of data transmission of a full-automatic robot hand-eye calibration method.
Detailed Description
The technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it should be understood that the described embodiments are only some embodiments of the present application, but not all embodiments, and the present application is not limited by the exemplary embodiments described herein. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
In the description of the present application, it should be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like indicate orientations or positional relationships based on the orientation or positional relationships shown in the drawings, merely to facilitate describing the present application and simplify the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present application.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present application, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.
In the embodiments of the present application, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured" and the like are to be construed broadly and include, for example, either permanently connected, removably connected, or integrally formed; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art according to the specific circumstances.
A full-automatic robot hand-eye calibration method, as shown in figure 1, comprises the following steps:
s1 mode selection: the system can select a calibration mode after starting, and is divided into a Eye-In-Hand mode and an Eye-To-Hand mode. Specifically, as shown in fig. 2-3, the camera is hung on the mechanical arm and the camera is fixed outside the mechanical arm; the camera is hung on the mechanical arm In a Eye-In-Hand mode, and the camera is fixed outside the mechanical arm In an Eye-To-Hand mode.
S2, placing a calibration plate: as shown In FIG. 2, in Eye-In-Hand mode, the calibration plate is placed In the field of view of the robot, and the vision system of the robot moves along with the end of the mechanical arm. As shown in fig. 3, in Eye-To-Hand mode, the calibration plate needs To be mounted at the end of the mechanical arm, so that the calibration plate is ensured To be in the field of view of the camera, and the vision system of the robot and the robot base are relatively fixed and cannot move in the world coordinate system.
Inputting information of the calibration plate, wherein the information of the calibration plate comprises the specification and the size of the calibration plate. And the calibration plate is used for judging whether the calibration plate in the photographed image is complete or not.
S3, recording lower standard point data of a camera coordinate system: the camera is manually adjusted to enable the calibration plate to be positioned at the center of the camera field of view, the current position is recorded as the calibrated initial position, and the vertical distance between the current position and the calibration plate, namely the working distance H, is recorded.
Specifically, as shown in fig. 4 to 6, the position coordinates of the lower calibration point of the camera coordinate system are recorded: taking the position of the calibration plate in the world coordinate system as an origin, and performing a camera photographing point on the sphere required by sphere calibration with the radius of H through a known working distance H, wherein the parameter equation of the sphere is as follows: x=rsin θcos ψ, y=rsin θsin ψ, z=rcos θ, defining a case where θ and ψ vary with the change in the working distance H,
wherein: θ * And psi is equal to * Is along with the current working distance H * A variable; θ 0 Is a default angle value for the start; h 0 Is the initial height value, the value range of theta is (0, 2 pi), and the setting range of phi is any value from 15 DEG to 30 deg. Typically, the working distance of the camera and the visual field range of the camera form an included angle below 30 degrees, and a calibration plate exceeding 30 degrees may not be completely displayed in the visual field of the camera, even outside the visual field. Below 15, the diversity of the data is limited, so that an impractical calibration accuracy is marked, for example, the error of the data display is small, and in fact, large because the data is not comprehensive.
In this embodiment, the height information is transmitted to the calibration system through the serial server using a laser-sensing distance sensor. Specifically, as shown in fig. 7, the laser ranging sensor is fixed with the camera, the serial server communicates with the industrial personal computer through the ethernet, and a process of robot calibration points is automatically generated without manual teaching.
In this embodiment, ten calibration points are randomly generated to take a picture and record calibration point data, wherein the calibration points are the pose take points of the tail end of the mechanical arm, and the calibration point data comprises images and pose information of the mechanical arm.
Specifically, the generated photographing points are in the same plane and on the same circle, so that the photographing points of the end pose of the first mechanical arm can be randomly generated into the photographing points of the end pose of the new mechanical arm on the same circle according to the equation of the circle and Gaussian distribution by taking the parameter theta as an expectation. The randomly generated calibration points may be completely random: the calibration points are randomly generated according to a gaussian distribution within a defined range of θ and ψ. It is also possible to partly randomize, θ taking any of values 0 pi, 2/9 pi, 4/9 pi, 6/9 pi, 8/9 pi, 10/9 pi, 12/9 pi, 14/9 pi, 16/9 pi and 2 pi, and ψ taking any of 15 to 30.
S4: judging whether the data of the marked point is enough or not: judging whether the calibration plate in the photographed image is complete. In this embodiment, the calibration plate is a checkerboard; and calculating whether the number of the checkerboard intersection points on the current photographed image is matched with the input checkerboard size by using a Zhengyou calibration method, so as to judge whether the image calibration board is complete.
If the image is complete, recording current calibration point data, and moving the robot to photograph and collect the image according to the random generated calibration point sequence.
If the image is incomplete, the robot does not record the current image and the pose information of the mechanical arm, and the steps are repeated to record the calibration point data until a sufficient amount of calibration point data is obtained.
S5, calibrating: and calculating external parameters of cameras and calibration plates in different images by using a Zhang Zhengyou calibration method, and obtaining a coordinate transformation matrix of converting a camera coordinate system into a robot coordinate system by means of the information of the calibration plates and the position conversion of the corner points of the calibration plates on the images in the calibration point data.
In this embodiment, in Eye-In-Hand, the coordinate transformation between the robot arm end and the camera, the coordinate transformation matrix formula for transforming the camera coordinate system into the robot coordinate system is:
Base T End2 × End2 T Camera2 × Camera2 T object ＝ Base T End1 × End1 T Camera1 × Camera1 T end2 ；
in Eye-To-Hand, coordinate conversion is performed between the robot base and the camera, and a coordinate transformation matrix formula for converting a camera coordinate system into a robot coordinate system is as follows:
End T Base2 × Base2 T Camera2 × Camera2 T object ＝ End T Base1 × Base1 T Camera1 × Camera1 T Object ；
wherein: base is the Base coordinates of the robot, end is the End coordinates of the robot at any position, and Camera is the coordinates of the Camera at any position.
Calculating position coordinates of the calibration points: under two modes of Eye-In-Hand and Eye-To-Hand, the radius of a plane circle where the attitude photographing point of the tail end of the mechanical arm is located is estimated by measuring the working height H of the site and presetting a parameter psi.
Specifically, setting an initial angle as theta, determining a value range of a parameter psi through a working distance H, and calculating a distance r from a calibration plate to a camera according to a plane radius formula; the plane radius formula is as follows:
wherein r is the distance from the calibration plate to the camera, and H is the working distance of the camera.
Calculating the position coordinates of the calibration points according to the parameter equation of the spherical surface; and the robot moves according to the calculated position coordinates of the calibration points and photographs, and whether the calibration plate is in the field of view or not is determined, if the image is reserved.
S6, deleting data with errors exceeding a set range: in the calibration process, deleting the data with errors exceeding the set range, and repeating the step S3 if the data of the calibration points do not meet ten.
And (5) finishing the calibration flow and storing the calibration point data.
The traditional automatic calibration program can only be used for single tool distance calibration, and the full-automatic robot hand-eye calibration method provided by the application determines shooting points required by calibration according to working distances, so that the pain points of the automatic calibration program for different working distances are solved.
The traditional method relies on manual adjustment of the positions and the postures of the calibration plate and the tail end of the mechanical arm, has great uncertainty, and can possibly generate larger calibration errors. The on-site operator only needs to teach the mechanical arm to the starting point, the hand-eye calibration program judges the current height through the laser ranging sensor, the known height information is transmitted back to the system through the serial server for processing, automatic calibration is started, and the calibration error can be ensured to be within a certain range. The efficiency of robot hand eye calibration is greatly improved.
The application also provides a full-automatic robot hand-eye calibration system, which adopts the full-automatic robot hand-eye calibration method, and comprises the following steps: the system comprises an input module, a camera working height correction module, a calibration acquisition point and path planning calculation module, a calibration module and a calibration result verification module which are connected in sequence.
An input module: and acquiring information of the calibration plate, wherein the information of the calibration plate comprises the specification and the size of the calibration plate.
And a camera working height correction module: the camera obtains information in the input module.
And a fixed acquisition point and path planning calculation module: according to the current height, a shooting range is calculated, and a certain number of calibration points are randomly generated.
And the calibration module is used for photographing a calibration point image and performing primary calibration according to the acquired image.
And (3) verifying a calibration result module: and comparing and deleting the image with larger error according to the calibrated result, and then re-carrying out calibration point acquisition of the calibration acquisition point and the path planning calculation module until the number of the calibration points is completed, storing the data of the calibration points, and ending the calibration.
According to the full-automatic robot hand-eye calibration system, a field operator only needs to teach the mechanical arm to a starting point, and the input module acquires parameters; the camera working height correction module is used for integrating multiple sensors, judging the current height through the sensors, transmitting the known height information back to the fixed acquisition point and the path planning calculation module for processing through the serial server, and automatically calibrating; and the verification calibration result module outputs a calibration result. The automatic arrangement greatly improves the efficiency of robot hand-eye calibration.
It is further noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises an element.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. The full-automatic robot hand-eye calibration method is characterized by comprising the following steps of:
mode selection: after the system is started, a calibration mode can be selected and divided into a Eye-In-Hand mode and an Eye-To-Hand mode;
placing a calibration plate: in Eye-In-Hand mode, the calibration plate is required to be placed In the field of view of the robot; the Eye-To-Hand mode requires mounting the calibration plate To the end of the robot arm; ensuring that the calibration plate is in the field of view of the camera; inputting information of a calibration plate, wherein the information of the calibration plate comprises the specification and the size of the calibration plate;
recording lower standard point data of a camera coordinate system: manually adjusting the camera to enable the calibration plate to be positioned at the center of the camera field of view, recording the current position as a calibrated starting position and recording the vertical distance between the current position and the calibration plate, namely the working distance H; transmitting the height information to a calibration system through a serial server by using a laser ranging sensor; randomly generating ten calibration points for photographing and recording calibration point data, wherein the calibration points are the terminal gesture photographing points of the mechanical arm, and the calibration point data comprise images and the pose information of the mechanical arm;
judging whether the data of the marked point is enough or not: judging whether the calibration plate in the image is complete or not;
if the image is complete, recording current calibration point data, and moving the robot to photograph and collect the image according to the random generated calibration point sequence;
if the image is incomplete, the robot does not record the current image and the pose information of the mechanical arm, and the steps are repeated to record the calibration point data until a sufficient amount of calibration point data are obtained;
calibrating: calculating external parameters of cameras and calibration plates in different images by using a Zhang Zhengyou calibration method, and obtaining a coordinate transformation matrix of converting a camera coordinate system into a robot coordinate system by means of the information of the calibration plates and the position conversion of the corner points of the calibration plates on the images in the calibration point data;
calculating position coordinates of the calibration points: under two modes of Eye-In-Hand and Eye-To-Hand, setting an initial angle To be theta, determining a value range of a parameter psi through a working distance H, and calculating the distance from a calibration plate To a camera according To a plane radius formula; calculating the position coordinates of the calibration points according to the parameter equation of the spherical surface; the robot moves according to the calculated position coordinates of the calibration points and photographs, whether the calibration plate is in the field of view or not is determined, and if the image is reserved;
and (5) finishing the calibration flow and storing the calibration point data.
2. The method according to claim 1, wherein in the step of recording camera coordinate system lower calibration point data, position coordinates of a camera coordinate system lower calibration point are recorded: through the known working distance H, in a world coordinate system, a spherical surface with the radius H is made by taking the position of the calibration plate in the world coordinate system as an origin, a camera photographing point required by calibration is positioned on the spherical surface, and a parameter equation of the spherical surface is as follows: x=rsin θcos ψ, y=rsin θsin ψ, z=rcos θ, defining a case where θ and ψ vary with the change in the working distance H,
wherein: θ * And psi is equal to * Is along with the current working distance H * A variable; θ 0 Is a default angle value for the start; h 0 Is the initial height value, the value range of theta is (0, 2 pi), and the setting range of phi is any value from 15 DEG to 30 deg.
3. The method according to claim 2, wherein in the step of recording the camera coordinate system lower calibration point data, the calibration points are randomly generated and the recorded coordinate data are: the calibration points are randomly generated according to a gaussian distribution within a defined range of θ and ψ.
4. The method according to claim 2, wherein in the step of recording the camera coordinate system lower calibration point data, the calibration points are randomly generated and the recorded coordinate data are: θ takes any of 0, 2/9, 4/9, 6/9, 8/9, 10/9, 12/9, 14/9, 16/9, and 2, and ψ takes any of 15 to 30.
5. The method for calibrating a hand and an eye of a fully automatic robot according to claim 2, wherein the coordinate transformation matrix is: in Eye-In-Hand, the coordinate transformation matrix formula for converting the camera coordinate system into the robot coordinate system is:
Base T End2 × End2 T Camera2 × Camera2 T object ＝ Base T End1 × End1 T Camera1 × Camera1 T end2 ；
in Eye-To-Hand, the coordinate transformation matrix formula for converting the camera coordinate system into the robot coordinate system is:
End T Base2 × Base2 T Camera2 × Camera2 T object ＝ End T Base1 × Base1 T Camera1 × Camera1 T Object ；
wherein: base is the Base coordinates of the robot, end is the End coordinates of the robot at any position, and Camera is the coordinates of the Camera at any position.
6. The fully automated robotic hand-eye calibration method of claim 2, wherein the plane radius formula is as follows:
wherein r is the distance from the calibration plate to the camera, and H is the working distance.
7. The method for calibrating a hand and eye of a fully automatic robot according to claim 1, wherein determining whether there is sufficient calibration point data further comprises the calibration plate being a checkerboard; and calculating whether the number of the checkerboard intersection points on the current photographed image is matched with the input checkerboard size by using a Zhengyou calibration method, so as to judge whether the image calibration board is complete.
8. The method for calibrating a hand and eye of a fully automatic robot according to claim 1, wherein data having an error exceeding a set range is deleted during the calibration.
9. The method for calibrating the hand and eye of the full-automatic robot according to claim 1, wherein the laser ranging sensor is fixed with the camera, and the serial port server is communicated with the industrial personal computer through an Ethernet.
10. A fully automatic robot hand-eye calibration system, characterized in that a fully automatic robot hand-eye calibration method according to any one of claims 1-9 is used, comprising: the system comprises an input module, a camera working height correction module, a calibration acquisition point and path planning calculation module, a calibration module and a calibration result verification module which are connected in sequence;
an input module: acquiring information of a calibration plate, wherein the information of the calibration plate comprises the specification and the size of the calibration plate;
and a camera working height correction module: the camera acquires information in the input module;
and a fixed acquisition point and path planning calculation module: according to the current height, calculating a shooting range, and randomly generating a certain number of calibration points;
the calibration module is used for photographing a calibration point image and performing primary calibration according to the acquired image;
and (3) verifying a calibration result module: and comparing and deleting the image with larger error according to the calibrated result, and then re-carrying out calibration point acquisition of the calibration acquisition point and the path planning calculation module until the number of the calibration points is completed, storing the data of the calibration points, and ending the calibration.
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Citations (5)
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| CN110695996A (en) * | 2019-10-14 | 2020-01-17 | 扬州大学 | Automatic hand-eye calibration method for industrial robot |
| CN111152223A (en) * | 2020-01-09 | 2020-05-15 | 埃夫特智能装备股份有限公司 | Full-automatic robot hand-eye calibration method |
| CN111515944A (en) * | 2020-03-30 | 2020-08-11 | 季华实验室 | Automatic calibration method for non-fixed path robot |
| CN114589682A (en) * | 2020-12-04 | 2022-06-07 | 长春理工大学 | Iteration method for automatic calibration of robot hand and eye |
| CN114952856A (en) * | 2022-06-16 | 2022-08-30 | 江西省智能产业技术创新研究院 | Mechanical arm hand-eye calibration method, system, computer and readable storage medium |
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Patent Citations (5)
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| CN110695996A (en) * | 2019-10-14 | 2020-01-17 | 扬州大学 | Automatic hand-eye calibration method for industrial robot |
| CN111152223A (en) * | 2020-01-09 | 2020-05-15 | 埃夫特智能装备股份有限公司 | Full-automatic robot hand-eye calibration method |
| CN111515944A (en) * | 2020-03-30 | 2020-08-11 | 季华实验室 | Automatic calibration method for non-fixed path robot |
| CN114589682A (en) * | 2020-12-04 | 2022-06-07 | 长春理工大学 | Iteration method for automatic calibration of robot hand and eye |
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