CN212146434U - Simple and convenient robot hand-eye calibration system - Google Patents
Simple and convenient robot hand-eye calibration system Download PDFInfo
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- CN212146434U CN212146434U CN202020620931.2U CN202020620931U CN212146434U CN 212146434 U CN212146434 U CN 212146434U CN 202020620931 U CN202020620931 U CN 202020620931U CN 212146434 U CN212146434 U CN 212146434U
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Abstract
The utility model provides a simple and convenient robot eyes calbiration system is applicable to industrial robot, include: the device comprises three-dimensional scanning equipment, a standard part, a probe, a robot demonstrator and a measurement processor; the robot demonstrator is used for controlling the industrial robot; one end of the probe is connected to the tail end of a mechanical arm of the industrial robot, and the needle point of the other end of the probe is a free end; the three-dimensional scanning equipment is connected with the measurement processor and used for scanning the standard part to obtain corresponding three-dimensional point cloud data; the measurement processor is communicable with the robot demonstrator; the standard part is arranged at a position which can be reached by the probe and can be scanned by the three-dimensional scanning equipment; the standard has at least one vertex and two perpendicular edges extending from the vertex for establishing a workpiece coordinate system of the standard under the robot base system. The utility model also provides a simple and convenient robot eyes calibration method. The utility model is simple in operation, the precision is higher.
Description
Technical Field
The utility model belongs to industrial robot calibration field, concretely relates to simple and convenient robot hand eye calibration system and calibration method.
Background
Industrial robots have been increasingly used in various industries as an artificial replacement for smart devices, and in order to make robots play a greater role in production, it has become necessary to equip the robots with "double eyes" on the way of intellectualization. The robot does not 'recognize' the existence of the two 'eyes', so that manual intervention is needed to 'bridge the wire pulling' of the two 'eyes', but at present, many hand-eye calibration technologies have the problems of complex calculation principle, complex operation process and overhigh time cost.
Disclosure of Invention
The utility model aims to overcome the defects in the prior art and provide a simple and convenient robot hand-eye calibration system and a corresponding calibration method; the method is simple to operate and high in precision, and solves the problems of complex calculation principle, complex operation process and high time cost in the prior art. The utility model adopts the technical proposal that:
the embodiment of the utility model provides a simple and convenient robot eye calibration system, is applicable to industrial robot, industrial robot includes robot base and the arm of installing on robot base; the method comprises the following steps: the device comprises three-dimensional scanning equipment, a standard part, a probe, a robot demonstrator and a measurement processor;
the robot demonstrator is used for controlling the industrial robot;
one end of the probe is connected to the tail end of a mechanical arm of the industrial robot, and the needle point of the other end of the probe is a free end; the three-dimensional scanning equipment is connected with the measurement processor and used for scanning the standard part to obtain corresponding three-dimensional point cloud data; the measurement processor is communicable with the robot demonstrator;
the standard part is arranged at a position which can be reached by the probe and can be scanned by the three-dimensional scanning equipment;
the standard has at least one vertex and two perpendicular edges extending from the vertex for establishing a workpiece coordinate system of the standard under the robot base system.
Further, the standard component adopts a cube or a cuboid.
Furthermore, the three-dimensional scanning device is a surface structure light scanner, or a line structure light scanner and a matched servo driving module.
Still further, the surface texture optical scanner includes a monocular surface texture optical scanner, a binocular surface texture optical scanner or a multi-ocular surface texture optical scanner.
Still further, the line structured light scanner includes a single line structured light scanner, a multi line structured light scanner, a single line structured light scanner, a double line structured light scanner or a multi line structured light scanner.
Further, the mechanical arm of the industrial robot has multiple degrees of freedom of up, down, left, right, front and back.
The embodiment of the utility model provides a still provide a simple and convenient robot hand eye calibration method, be applicable to foretell robot hand eye calibration system, include:
step S10, setting a digital model and a digital model coordinate system of the standard piece in the measuring processor, wherein the digital model of the standard piece at least has a vertex and two vertical edges extending from the vertex; the digital model coordinate system takes a vertex on the standard component as an origin, takes two vertical edges extending from the vertex as X, Y axes, and takes a straight line passing through the origin and being perpendicular to a plane constructed by the X axis and the Y axis as a Z axis;
step S20, a robot base mark system is arranged on the robot demonstrator; establishing a tool coordinate system corresponding to the tail end of the mechanical arm on the robot demonstrator; then controlling the mechanical arm to drive the probe to move, enabling the probe tip of the probe to be in contact with the vertex serving as the origin of the digital model coordinate system on the standard part, and establishing a workpiece coordinate system with the probe tip as the origin on the robot demonstrator, wherein the workpiece coordinate system is consistent with the digital model coordinate system of the standard part;
step S30, carrying out rough matching, scanning three-dimensional point cloud data of a plurality of characteristic points on a standard component by a three-dimensional scanning device, and matching the obtained three-dimensional point cloud data of the plurality of characteristic points with position data of relevant points in a digital model of the standard component by a measurement processor to obtain a matching matrix;
and step S40, performing fine matching, scanning the standard component by the three-dimensional scanning equipment, matching the three-dimensional point cloud data of the other scanned characteristic points with the position data of the relevant points in the digital model of the standard component by the measurement processor, and taking the matching matrix after the fine matching optimization as a hand-eye matrix.
Further, the measurement processor also carries out a verification process, and in the three-dimensional point cloud data obtained by scanning the standard part by the three-dimensional scanning equipment, the coordinate p1 of the vertex contacted with the needle point is taken and is multiplied by the hand-eye matrix on the right side to obtain a coordinate p 2; acquiring the coordinate p3 of the probe tip in a workpiece coordinate system when the probe tip contacts the vertex through a robot demonstrator, and calculating the absolute deviation delta of p2 and p 3; if delta is smaller than the set error value, the calibration is finished; otherwise, repeating the steps of the calibration method and adjusting the parameters of the three-dimensional scanning device
Further, the plurality of feature points are four vertices of eight vertices on the cube.
The utility model has the advantages that:
1) the utility model provides a robot hand eye calibration system and calibration method, operating procedure is brief briefly, and operation process is simple, and is not high to workman skill quality requirement, can satisfy the requirement of adversary's eye calibration precision well not very harsh, the needs of the very fast occasion of production beat.
2) The utility model provides a robot hand eye calibration system and calibration method, coordinate system conversion size chain is short briefly, reduces the error source, can improve hand eye calibration accuracy.
3) The utility model provides a robot hand eye calibration system and calibration method adopts the three-dimensional point cloud matching to handle, and the principle is simple to the computational accuracy is higher, can improve the hand eye and mark the precision.
Drawings
Fig. 1 is a schematic diagram of the calibration system of the present invention.
Detailed Description
The invention is further described with reference to the following specific drawings and examples.
The embodiment of the utility model provides an at first provide a simple and convenient robot eye calibration system, be applicable to industrial robot 1, as shown in figure 1, include: the three-dimensional scanning device comprises a three-dimensional scanning device 2, a standard part 3, a probe 4, a robot demonstrator 5 and a measurement processor 6;
the industrial robot 1 includes a robot base 101 and a robot arm 102 mounted on the robot base 101; the robot demonstrator 5 is used for controlling the industrial robot 1;
one end of the probe 4 is connected to the tail end of a mechanical arm 102 of the industrial robot 1, and the needle point of the other end is a free end; the three-dimensional scanning device 2 is connected with the measurement processor 6, and the three-dimensional scanning device 2 is used for scanning the standard component 3 to obtain corresponding three-dimensional point cloud data; the measurement processor 6 is communicable with the robot teach pendant 5;
the standard 3 is arranged at a position which can be reached by the probe 4 and scanned by the three-dimensional scanning device 2; for example, the standard 3 is disposed between the probe 4 and the three-dimensional scanning apparatus 2, and below the probe 4 and the three-dimensional scanning apparatus 2;
the standard component 3 at least has a vertex and two vertical edges extending from the vertex, and is used for establishing a workpiece coordinate system of the standard component 3 under a robot base system; in the present embodiment, the standard 3 is a cube; a cuboid can also be adopted;
in some embodiments, the three-dimensional scanning device 2 may be a surface structured light scanner, or a line structured light scanner and a matched servo driving module;
the surface structured light scanner comprises a monocular surface structured light scanner, a binocular surface structured light scanner or a multi-ocular surface structured light scanner;
the line structure optical scanner comprises a single line structure optical scanner, a multi-line structure optical scanner, a monocular line structure optical scanner, a binocular line structure optical scanner or a multi-line structure optical scanner;
the mechanical arm 102 of the industrial robot 1 has multiple degrees of freedom of up, down, left, right, front and back;
the embodiment of the utility model provides a still provide a simple and convenient robot eye calibration method, including following step:
step S10, setting a digital model and a digital model coordinate system of the standard component 3 in the measuring processor 6, wherein the digital model of the standard component 3 at least has a vertex and two vertical edges extending from the vertex; the digital model coordinate system takes a vertex on the standard component as an origin, takes two vertical edges extending from the vertex as X, Y axes, and takes a straight line passing through the origin and being perpendicular to a plane constructed by the X axis and the Y axis as a Z axis;
in some embodiments, the digital model of the standard 3 may be built in the measurement processor 6, or imported into the measurement processor 6 after being built on another computing device; after the digital model of the standard part 3 is established, the standard part 3 can be obtained by adopting finish machining equipment; then the standard 3 is arranged at a position which can be reached by the probe 4 and scanned by the three-dimensional scanning device 2;
step S20, a robot base mark system is arranged on the robot demonstrator 5; establishing a tool coordinate system corresponding to the tail end of the mechanical arm on the robot demonstrator 5; then controlling the mechanical arm to drive the probe 4 to move, enabling the needle point of the probe 4 to be in contact with the vertex serving as the origin of the digital model coordinate system on the standard part 3, and establishing a workpiece coordinate system with the probe needle point serving as the origin on the robot demonstrator 5, wherein the workpiece coordinate system is consistent with the digital model coordinate system of the standard part;
because the size of the robot mechanical arm is known, the conversion relation between the robot base coordinate system and the tool coordinate system can be determined; since the dimensions of the probe are known, the coordinate transformation matrix between the tool coordinate system on the robot teach pendant 5 and the established object coordinate system can be determined;
step S30, carrying out rough matching, scanning three-dimensional point cloud data of a plurality of characteristic points on the standard component 3 by the three-dimensional scanning equipment 2, and matching the obtained three-dimensional point cloud data of the plurality of characteristic points with position data of relevant points in a digital model of the standard component by the measurement processor 6 to obtain a matching matrix; the plurality of feature points may be four vertices of eight vertices on a cube;
step S40, then carrying out fine matching, scanning the standard component 3 by the three-dimensional scanning equipment 2, matching the three-dimensional point cloud data of the other scanned characteristic points with the position data of the relevant points in the digital model of the standard component by the measurement processor 6, and taking the matching matrix after the fine matching optimization as a hand-eye matrix; during fine matching optimization, the upper limit of iteration times can be increased and the convergence value can be reduced to further improve the result precision;
after the hand-eye matrix is obtained, the coordinate transformation relation between the mechanical arm and the eye of the industrial robot can be determined;
finally, the measurement processor 6 may also perform a verification process, and obtain a coordinate p2 by taking a coordinate p1 of a vertex in contact with the needle tip and taking a right hand-eye matrix from the three-dimensional point cloud data obtained by scanning the standard component 3 by the three-dimensional scanning device 2; acquiring a coordinate p3 of the probe tip (or a vertex in contact with the probe tip) in a workpiece coordinate system when the probe tip contacts the vertex through the robot demonstrator 5, and calculating an absolute deviation delta of p2 and p3 by the measurement processor 6; if delta is smaller than the set error value, the calibration is finished; if delta is larger than the set error value, the requirement cannot be met, the steps can be repeated, the parameters of the three-dimensional scanning equipment are adjusted to improve the scanning quality, and the error of each detail in the process of establishing the tool coordinate system and the workpiece coordinate system can be controlled to improve the final calibration precision.
Finally, it should be noted that the above embodiments are only used for illustrating the technical solutions of the present invention and not for limiting, and although the present invention has been described in detail with reference to the examples, those skilled in the art should understand that the technical solutions of the present invention can be modified or replaced by equivalents without departing from the spirit and scope of the technical solutions of the present invention, which should be covered by the scope of the claims of the present invention.
Claims (6)
1. A simple and convenient robot eye calibration system is suitable for an industrial robot (1), wherein the industrial robot (1) comprises a robot base (101) and a mechanical arm (102) arranged on the robot base (101); it is characterized by comprising: the device comprises three-dimensional scanning equipment (2), a standard part (3), a probe (4), a robot demonstrator (5) and a measurement processor (6);
the robot demonstrator (5) is used for controlling the industrial robot (1);
one end of the probe (4) is connected to the tail end of a mechanical arm (102) of the industrial robot (1), and the needle point of the other end is a free end; the three-dimensional scanning equipment (2) is connected with the measurement processor (6), and the three-dimensional scanning equipment (2) is used for scanning the standard component (3) to obtain corresponding three-dimensional point cloud data; the measurement processor (6) is communicable with the robot demonstrator (5);
the standard part (3) is arranged at a position which can be reached by the probe (4) and can be scanned by the three-dimensional scanning device (2);
the standard part (3) at least has one vertex and two vertical edges extending from the vertex, and is used for establishing a workpiece coordinate system of the standard part (3) under a robot base system.
2. A simple and convenient robotic eye calibration system as claimed in claim 1,
the standard component (3) adopts a cube or a cuboid.
3. A simple and convenient robotic eye calibration system as claimed in claim 1,
the three-dimensional scanning equipment (2) is a surface structure optical scanner or a line structure optical scanner and a matched servo drive module.
4. A simple and convenient robotic eye calibration system as claimed in claim 3 wherein,
the surface structured light scanner comprises a monocular surface structured light scanner, a binocular surface structured light scanner or a multi-ocular surface structured light scanner.
5. A simple and convenient robotic eye calibration system as claimed in claim 3 wherein,
the line structure optical scanner comprises a single line structure optical scanner, a multi-line structure optical scanner, a single line structure optical scanner, a double-eye line structure optical scanner or a multi-eye line structure optical scanner.
6. A simple and convenient robotic eye calibration system as claimed in claim 3 wherein,
the mechanical arm (102) of the industrial robot (1) has multiple degrees of freedom of up, down, left, right, front and back.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202020620931.2U CN212146434U (en) | 2020-04-22 | 2020-04-22 | Simple and convenient robot hand-eye calibration system |
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| CN202020620931.2U CN212146434U (en) | 2020-04-22 | 2020-04-22 | Simple and convenient robot hand-eye calibration system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111409075A (en) * | 2020-04-22 | 2020-07-14 | 无锡中车时代智能装备有限公司 | Simple and convenient robot hand-eye calibration system and calibration method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111409075A (en) * | 2020-04-22 | 2020-07-14 | 无锡中车时代智能装备有限公司 | Simple and convenient robot hand-eye calibration system and calibration method |
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Address after: 2 Qingyan Road, Huishan Economic Development Zone, Wuxi City, Jiangsu Province Patentee after: Wuxi CRRC times Intelligent Equipment Research Institute Co.,Ltd. Address before: 2 Qingyan Road, Huishan Economic Development Zone, Wuxi City, Jiangsu Province Patentee before: WUXI CRRC TIMES INTELLIGENT EQUIPMENT CO.,LTD. |