CN117464686A - 3D vision high-precision positioning and guiding method - Google Patents
3D vision high-precision positioning and guiding method Download PDFInfo
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- CN117464686A CN117464686A CN202311633829.0A CN202311633829A CN117464686A CN 117464686 A CN117464686 A CN 117464686A CN 202311633829 A CN202311633829 A CN 202311633829A CN 117464686 A CN117464686 A CN 117464686A
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- 238000000034 method Methods 0.000 title claims abstract description 20
- 230000009466 transformation Effects 0.000 claims abstract description 18
- 238000006243 chemical reaction Methods 0.000 claims abstract description 7
- 230000009897 systematic effect Effects 0.000 claims description 3
- 230000000007 visual effect Effects 0.000 abstract description 4
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
Classifications
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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
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
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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
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
Abstract
The invention discloses a 3D vision high-precision positioning and guiding method, which relates to the technical field of vision positioning, and the device discloses the following steps: step one: tool coordinates tool are made near the grabbing position of the clamping jaw, and conversion from a camera coordinate system to the tool coordinates tool is obtained through hand-eye calibration and is recorded asStep two: placing an object to be grasped and placed at a fixed position, and photographing the object by aiming at the object by a mobile robot to obtain the coordinates of the object to the cameraSimultaneously acquiring pose transformation from a current robot tool coordinate tool to a robot base coordinate from a demonstratorThe invention adopts 3D visual positioning to realize high-precision guidance of the grabbing and placing process of the robot,part of system errors can be eliminated, and positioning and guiding precision can be improved.
Description
Technical Field
The invention relates to the technical field of visual positioning, in particular to a 3D visual high-precision positioning guiding method.
Background
In the process of grasping and releasing the 3D vision guided robot, the traditional method has systematic errors such as hand-eye calibration errors, workpiece grasping and releasing position setting errors, robot tool coordinate errors and the like, so that high-precision grasping and releasing below millimeter is difficult to achieve in the grasping process, and the application scene of the 3D vision and the robot is limited.
Disclosure of Invention
Aiming at the defects existing in the prior art, the invention aims to provide a 3D vision high-precision positioning and guiding method.
In order to achieve the above purpose, the present invention provides the following technical solutions:
A3D vision high-precision positioning and guiding method comprises the following steps:
step one: tool coordinates tool are made near the grabbing position of the clamping jaw, and conversion from a camera coordinate system to the tool coordinates tool is obtained through hand-eye calibration and is recorded as
Step two: placing an object to be grasped and placed at a fixed position, and photographing the object by aiming at the object by a mobile robot to obtain the coordinates of the object to the cameraSimultaneously acquiring pose conversion from a current robot tool coordinate tool to a robot base coordinate from a demonstrator +.>The transformation from the object to the robot base coordinate is obtained through pose transformation:
step three: moving a robot clamping jaw to a position to be grasped and put, and acquiring a current robot tool coordinate tool from a demonstrator to the robotTransformation of base coordinatesCalculating to obtain the position of the object to the coordinate of the tool, namely the position of the grabbing point:
step four: in the 3D vision guiding grabbing and placing process, the transformation from an object to a robot base coordinate is obtained according to the flow of a formula (1)It is +.>Performing operation to obtain the actual grabbing position of the robot:
step five: tool coordinate tool for robot to walkThe pose can reach the grabbing and placing position.
Further, in the 3D recognition guiding grabbing and placing process, when the object and the camera are relatively alignedWhen the angle deviation is larger, the systematic error is amplified, and the relative pose of the object and the camera is corrected to be equal to +.>Similarly, the following is concrete: robot is +.>Position photographing, and obtaining pose transformation from a current fixed object to a tool coordinate tool:when correcting the photographing position, obtaining the transformation of the object to the robot base coordinates according to the flow of the formula (1)>And (3) calculating the corrected photographing position with the formula (4):robot walks using tool coordinates tool>And (3) obtaining corrected shooting positions, correcting, then performing shooting, grabbing and placing, correcting the shooting positions with deviation, and correcting according to a formula (5) again.
Compared with the prior art, the invention has the following beneficial effects:
according to the invention, the 3D visual positioning is adopted to realize high-precision guiding of the grabbing and placing process of the robot, so that a part of system errors can be eliminated, and the positioning and guiding precision is improved.
Drawings
FIG. 1 is a flow chart of the present invention.
Detailed Description
Example 1
Referring to FIG. 1
The invention adopts 3D vision positioning to realize high-precision guidance of the grabbing and placing process of the robot. Firstly, a 3D camera is arranged at the tail end of a robot flange, a clamping jaw is also arranged at the tail end of the flange, a tool coordinate tool is prepared near the grabbing position of the clamping jaw, and the conversion from a camera coordinate system to the tool coordinate tool is obtained through hand-eye calibration and is recorded as
Pick-and-place point optimization algorithm
Placing an object to be grasped and placed at a fixed position, and photographing the object by aiming at the object by a mobile robot to obtain the coordinates of the object to the cameraSimultaneously acquiring pose conversion from a current robot tool coordinate tool to a robot base coordinate from a demonstrator +.>The transformation from the object to the robot base coordinate is obtained through pose transformation:
moving a robot clamping jaw to a position to be grasped and placed, and acquiring transformation from a demonstrator from a current robot tool coordinate tool to a robot base coordinateCalculating to obtain the position of the object to the coordinate of the tool, namely the position of the grabbing point:
the grabbing point eliminates errors in setting the coordinates of the robot tool and the grabbing and placing positions of the workpiece manually.
In the 3D vision guiding grabbing and placing process, the transformation from an object to a robot base coordinate is obtained according to the flow of a formula (1)It is +.>Performing operation to obtain the actual grabbing position of the robot:
tool coordinate tool for robot to walkThe pose can reach the grabbing and placing position.
Correction algorithm for photographing point
Further, during the 3D recognition guiding grabbing and placing process, when the object is in relative pose with the camera, the camera is in relative pose with the cameraWhen the angle deviation is larger, the system error is amplified. Thus correcting the relative pose of the object and the camera to be the same as the relative pose before the object is put in the positionSimilarly, the following is concrete:
robot is atPosition photographing, and obtaining pose transformation from a current fixed object to a tool coordinate tool:
when correcting the photographing position, obtaining the transformation from the object to the robot base coordinate according to the flow of the formula (1)And (3) calculating the corrected photographing position with the formula (4):
tool coordinate tool for robot to walkAnd obtaining the corrected photographing position of the pose. And (5) shooting, grabbing and placing after correction.
If the correction of the photographing position is still deviated, the correction can be performed again according to the formula (5).
The above description is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above examples, and all technical solutions belonging to the concept of the present invention belong to the protection scope of the present invention. It should be noted that modifications and adaptations to those skilled in the art without departing from the principles of the present invention are intended to be considered as protecting the scope of the present template.
The foregoing describes one embodiment of the present invention in detail, but the description is only a preferred embodiment of the present invention and should not be construed as limiting the scope of the invention. All equivalent changes and modifications within the scope of the present invention are intended to be covered by the present invention.
Claims (2)
1. The 3D vision high-precision positioning and guiding method is characterized by comprising the following steps of:
step one: tool coordinates tool are made near the grabbing position of the clamping jaw, and conversion from a camera coordinate system to the tool coordinates tool is obtained through hand-eye calibration and is recorded as
Step two: placing an object to be grasped and placed at a fixed position, and photographing the object by aiming at the object by a mobile robot to obtain the coordinates of the object to the cameraSimultaneously acquiring pose conversion from a current robot tool coordinate tool to a robot base coordinate from a demonstrator +.>The transformation from the object to the robot base coordinate is obtained through pose transformation:
step three: moving the robot jaw toObtaining the transformation from the current robot tool coordinate tool to the robot base coordinate from the demonstrator at the position to be grasped and placedCalculating to obtain the position of the object to the coordinate of the tool, namely the position of the grabbing point:
step four: in the 3D vision guiding grabbing and placing process, the transformation from an object to a robot base coordinate is obtained according to the flow of a formula (1)It is +.>Performing operation to obtain the actual grabbing position of the robot:
step five: tool coordinate tool for robot to walkThe pose can reach the grabbing and placing position.
2. The 3D vision high precision positioning and guiding method according to claim 1, wherein in the 3D recognition guiding process, when the object and the camera are relatively alignedWhen the angle deviation is larger, the systematic error is amplified, and the relative pose of the object and the camera is corrected to be equal to +.>Similarly, the following is concrete: machine for processing a sheet of materialPeople are in->Position photographing, and obtaining pose transformation from a current fixed object to a tool coordinate tool: />When correcting the photographing position, obtaining the transformation of the object to the robot base coordinates according to the flow of the formula (1)>And (3) calculating the corrected photographing position with the formula (4): />Robot walks using tool coordinates tool>And (3) obtaining corrected shooting positions, correcting, then performing shooting, grabbing and placing, correcting the shooting positions with deviation, and correcting according to a formula (5) again.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311633829.0A CN117464686A (en) | 2023-11-30 | 2023-11-30 | 3D vision high-precision positioning and guiding method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311633829.0A CN117464686A (en) | 2023-11-30 | 2023-11-30 | 3D vision high-precision positioning and guiding method |
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| CN117464686A true CN117464686A (en) | 2024-01-30 |
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| CN202311633829.0A Pending CN117464686A (en) | 2023-11-30 | 2023-11-30 | 3D vision high-precision positioning and guiding method |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106182004A (en) * | 2016-08-01 | 2016-12-07 | 上海交通大学 | The method of the industrial robot automatic pin hole assembling that view-based access control model guides |
| CN107300100A (en) * | 2017-05-22 | 2017-10-27 | 浙江大学 | A kind of tandem type mechanical arm vision guide approach method of Online CA D model-drivens |
| CN107756398A (en) * | 2017-09-30 | 2018-03-06 | 深圳市功夫机器人有限公司 | Robot vision bootstrap technique, device and equipment |
| CN108177143A (en) * | 2017-12-05 | 2018-06-19 | 上海工程技术大学 | A kind of robot localization grasping means and system based on laser vision guiding |
| CN109848994A (en) * | 2019-02-22 | 2019-06-07 | 浙江启成智能科技有限公司 | A kind of robot vision guidance location algorithm |
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2023
- 2023-11-30 CN CN202311633829.0A patent/CN117464686A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106182004A (en) * | 2016-08-01 | 2016-12-07 | 上海交通大学 | The method of the industrial robot automatic pin hole assembling that view-based access control model guides |
| CN107300100A (en) * | 2017-05-22 | 2017-10-27 | 浙江大学 | A kind of tandem type mechanical arm vision guide approach method of Online CA D model-drivens |
| CN107756398A (en) * | 2017-09-30 | 2018-03-06 | 深圳市功夫机器人有限公司 | Robot vision bootstrap technique, device and equipment |
| CN108177143A (en) * | 2017-12-05 | 2018-06-19 | 上海工程技术大学 | A kind of robot localization grasping means and system based on laser vision guiding |
| CN109848994A (en) * | 2019-02-22 | 2019-06-07 | 浙江启成智能科技有限公司 | A kind of robot vision guidance location algorithm |
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