CN217932763U - Industrial robot pose online calibration device carrying spherical cooperative target - Google Patents
Industrial robot pose online calibration device carrying spherical cooperative target Download PDFInfo
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- CN217932763U CN217932763U CN202221197628.1U CN202221197628U CN217932763U CN 217932763 U CN217932763 U CN 217932763U CN 202221197628 U CN202221197628 U CN 202221197628U CN 217932763 U CN217932763 U CN 217932763U
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Abstract
The utility model discloses a carry spherical cooperative target's industrial robot position appearance online calibration device, including fixing the spherical cooperative target on the terminal operation manipulator of industrial robot, industrial robot's side passes through the stereo camera installing support and supports the installation stereo camera, and spherical cooperative target has the local profile characteristic of sphere, and industrial robot keeps marking the invariable sphere of position coordinate and drives spherical cooperative target motion to a plurality of postures of maring, and the image of spherical cooperative target is gathered to the stereo camera, and according to industrial robot the position appearance change of spherical cooperative target under each posture of maring, obtain stereo camera and industrial robot's position appearance transform information. Use the utility model discloses a calibration process is simple, high-efficient, high accuracy, need not to dismantle the manipulator, can automize and realize, at intelligent robot operation in-process, also can check-up on line or mark industrial robot and three-dimensional camera position appearance coordinate transformation matrix.
Description
Technical Field
The utility model belongs to the technical field of intelligent industrial robot, concretely relates to industrial robot position appearance online calibration device who carries spherical cooperation target.
Background
In the field of industrial production, a stereo camera is fixedly installed, and based on stereo camera measurement data, scenes for guiding industrial robot production operation are very many. The three-dimensional camera obtains measurement data under a self coordinate system through measurement, the measurement data needs to be converted into data under an industrial robot coordinate system required by an end manipulator of the industrial robot or other process execution units with high precision, and before the intelligent industrial robot is used, the installation poses of the industrial robot and the three-dimensional camera need to be calibrated, and a coordinate conversion matrix needs to be solved.
At present, most of the traditional calibration methods for coordinate transformation matrixes of 2D industrial cameras and industrial robots are adopted in the industry, namely, an operation manipulator is detached, and cooperative targets such as checkerboards and the like are installed at the tail ends of the industrial robots.
In the industry, a scheme of calibrating by adopting a three-dimensional cooperative target is also provided, the structural dimensions of the three-dimensional cooperative target and a mechanical arm flange are known in advance, and the problems that an operation mechanical arm needs to be detached, offline calibration is completed and then used exist. The calibration method has high processing requirement on the three-dimensional cooperative target, high cost and long preparation period, and has complex calibration algorithm, easy error and difficult on-line automatic algorithm in order to accurately evaluate the point cloud data quality of the three-dimensional cooperative target.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to the problem among the above-mentioned prior art, provide a carry spherical cooperative target's industrial robot position appearance online calibration device, the calibration process is simple, high-efficient, high accuracy, need not to dismantle the manipulator, can realize by automation, at intelligent robot operation in-process, also can check-up on line or mark industrial robot and stereo camera position appearance coordinate transformation matrix.
In order to achieve the above object, the present invention provides the following technical solutions:
the device comprises a spherical cooperative target fixed on an operation manipulator at the tail end of the industrial robot, a stereo camera is supported and installed at the side of the industrial robot through a stereo camera installation support, the spherical cooperative target has a spherical local contour characteristic, the industrial robot keeps a calibration position coordinate unchanged to drive the spherical cooperative target to move to a plurality of calibration postures, the stereo camera acquires an image of the spherical cooperative target, and posture conversion information of the stereo camera and the industrial robot is obtained according to the posture change of the spherical cooperative target under each calibration posture of the industrial robot.
As an optimized scheme of the calibration device of the present invention, the spherical cooperative target is composed of one or more spheres, and the spheres are all located within the field of view of the stereo camera.
As a preferable aspect of the calibration device of the present invention, the plurality of spheres of the spherical cooperative target are discrete spheres.
As a preferable scheme of the calibration device of the present invention, the spherical cooperative target is made of a table tennis ball.
As the utility model discloses calibration arrangement's an preferred scheme, spherical cooperation target adopts sticky the fixing on the operation manipulator according to stereo camera's field of view scope.
As an optimized scheme of the calibration device, the industrial robot and the stereo camera mounting bracket are fixed on the same horizontal table-board.
As the utility model discloses calibration device's an preferred scheme, industrial robot adopts the six industrial robot of AUBO.
As the utility model discloses calibration device's an preferred scheme, the stereo camera adopts ZIVID stereo camera.
Compared with the prior art, the utility model discloses following technical scheme:
the spherical cooperative target is calibrated by adopting the spherical cooperative target fixed on the operation manipulator at the tail end of the industrial robot, and the spherical cooperative target is easy to obtain, low in cost, simple to stably place and very flexible to use. The method comprises the steps that a stereo camera is supported and installed on the side of an industrial robot through a stereo camera installation support, a spherical cooperative target has the characteristic of the local outline of a spherical surface, the spherical cooperative target is placed in the field of view range of the stereo camera, the industrial robot keeps the coordinate of a calibration position unchanged, the stereo camera collects the image of the spherical cooperative target by driving the spherical cooperative target to move to a plurality of calibration postures, and the posture conversion information of the stereo camera and the industrial robot is obtained according to the posture change of the spherical cooperative target under each calibration posture of the industrial robot. The utility model discloses a spherical cooperation target is markd, and the local profile characteristic of spherical cooperation target sphere is gathered to the stereo camera, can adapt to the inconsistent problem of image acquisition quality that the ambient light change arouses, when realizing that line automation is markd, has higher demarcation precision.
Drawings
FIG. 1 is a schematic structural view of an industrial robot pose online calibration device carrying a spherical cooperative target according to the present invention;
in the figure: 1. an industrial robot; 2. a stereo camera; 3. a spherical cooperative target; 4. a stereo camera mounting bracket; 5. an operation manipulator.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
Referring to fig. 1, the utility model discloses carry spherical cooperation target's online calibration device of industrial robot position appearance, the structure is including fixing spherical cooperation target 3 on 1 terminal operation manipulator 5 of industrial robot, and industrial robot 1's side passes through stereo camera installing support 4 and supports installation stereo camera 2, and stereo camera 2 and stereo camera installing support 4 carry out layout design according to the production operation. The spherical cooperative target 3 has the local contour characteristics of a spherical surface, the industrial robot 1 keeps the coordinate of the calibration position unchanged, the spherical cooperative target 3 is driven to move to a plurality of calibration postures, the stereo camera 2 acquires the image of the spherical cooperative target 3, and the posture conversion information of the stereo camera 2 and the industrial robot 1 is obtained according to the posture change of the spherical cooperative target 3 under each calibration posture of the industrial robot 1. In the present embodiment, the spherical cooperative targets 3 are composed of one or more spheres each within the range of the field of view of the stereo camera. Further, if the spherical cooperative target 3 is composed of a plurality of spheres, the plurality of spheres are discrete spheres. The spherical cooperative target 3 is made of a table tennis ball which is easy to obtain and extremely low in cost. The spherical cooperative target 3 is fixed on the operation manipulator 5 by gluing according to the field range of the stereo camera 2, and has no requirement on absolute position and posture.
Based on the utility model discloses an industrial robot position appearance online calibration method, the step is as follows:
The spherical cooperative target 3 is stably fixed, and the method comprises the following steps:
1a) Selecting at least one spherical cooperative target 3 to be stably fixed;
1b) At each calibration pose, at least one spherical cooperative target 3 is in the field of view of the stereo camera.
And 2, controlling the industrial robot 1 to keep the coordinate of the calibration position unchanged and move to a plurality of calibration postures, and collecting point cloud containing the spherical cooperative target 3 by the stereo camera 2.
The industrial robot 1 moves to a plurality of calibration postures, and comprises the following steps:
2a) The coordinate of the calibration position of the industrial robot 1 is unchanged;
2b) Selecting at least three calibration postures;
2c) The industrial robot 1 drives the spherical cooperative target 3 to move to each calibration pose, and the stereo camera 2 can acquire the local contour of the spherical cooperative target 3.
And 3, carrying out contour point cloud identification and segmentation on the point clouds collected at the calibration poses and on the spherical cooperative target 3, and calculating the spherical center coordinates of the spherical cooperative target 3.
The point cloud processing of each calibration pose acquisition comprises the following steps:
3a) Identifying the contour point cloud of the spherical cooperative target 3 under each calibration pose;
3b) Segmenting the contour point cloud of the high-quality spherical cooperative target 3 from a point cloud set containing background point cloud data and the contour point cloud of the spherical cooperative target 3;
3c) Fitting and calculating the spherical center coordinate P of the segmented contour point cloud n ＝[x n ,y n ,z n ,1]N =1,2, … …, N is the number of calibration poses.
The method for reading the pose information of the industrial robot 1 under each calibration pose comprises the following steps:
4a) And reading parameters of each calibration pose of the industrial robot 1.
4b) The parameters of each calibration pose of the industrial robot 1 are calculated according to the coordinate system definition of the industrial robot manufacturer. Here, the pose matrix corresponding to the pose parameters is set to Rrn, and the translation matrix is set to Tr, where r represents an industrial robot.
And 5, calculating the coordinates of each calibration position sphere center in the industrial robot base coordinate system by combining the coordinates of the sphere center in the flange coordinate system and the position and posture information of the industrial robot 1.
The method for calculating the coordinates of the sphere center of each calibration pose in the industrial robot base coordinate system comprises the following steps:
5a) An attitude matrix of the industrial robot 1 is Rrn, a translation matrix is Tr, and a pose matrix is [ Rrn, tr ];
5b) The sphere center coordinate is [ a, b, c,1], and then the coordinate Pbn of the sphere center point in the industrial robot base coordinate system is calculated by the following formula:
Pbn＝[Rrn,Tr]*[a,b,c,1] T ；
and 6, calculating a pose transformation matrix of the industrial robot and the stereo camera.
The method for calculating the position and orientation transformation matrix of the industrial robot 1 and the stereo camera 2 comprises the following steps:
6a) Sphere center coordinate P n Forming a matrix A;
6b) Coordinates Pbn of the sphere center point under the industrial robot base coordinate system form a matrix B;
6c) And calculating a pose transformation matrix [ Rrc, trc ] of the industrial robot 1 and the stereo camera 2 according to the matrix A and the matrix B.
The application of the invention is further illustrated by means of a specific example.
As shown in fig. 1, a table tennis ball which is easy to obtain and has extremely low cost is selected as a spherical cooperative target 3, and the table tennis ball is flexibly and flexibly adhered to an operation manipulator 5 of an industrial robot 1 by using glue according to the field range of a stereo camera 2;
the industrial robot 1 is a 6-axis industrial robot of an AUBO brand, and the stereo camera 2 is a Zivid brand.
And controlling the industrial robot 1 to move, wherein the table tennis ball is in the field of view of the stereo camera.
And issuing a calibration instruction, and driving the spherical cooperative target 3 to move 11 calibration poses by the industrial robot 1.
Pose parameters are shown in table 1:
table 1 industrial robot pose parameters
The results of the center of sphere calculation are shown in table 2:
TABLE 2 center of sphere coordinates
| Pose numbering | X | Y | Z |
| P1 | 49.9093 | 36.6479 | 920.512 |
| P2 | 64.0469 | 62.6967 | 909.467 |
| P3 | 81.0038 | 85.0552 | 923.0029 |
| P4 | 139.8044 | 106.7536 | 919.0145 |
| P5 | 74.8415 | 80.1265 | 940.0174 |
| P6 | 78.2642 | 79.934 | 956.5918 |
| P7 | 101.3577 | 83.558 | 982.9337 |
| P8 | 45.481 | 7.4996 | 923.2002 |
| P9 | 54.2592 | -24.7679 | 911.3011 |
| P10 | 68.3087 | 72.235 | 918.7815 |
| P11 | 109.479 | 81.7052 | 875.2049 |
Calculating to obtain a coordinate Pbn of the sphere center point under the industrial robot base coordinate system as [32.7476448148631,51.0156007178992,76.3862275573781];
using Rrc = B × A -1 And Trc = [ Rrc ] Tr n1n2 -Tc n1n2 ]*[Rc n1n2 -I] -1 Calculating to obtain pose transformation information [ Rrc, trc ] of the industrial robot 1 and the stereo camera 2]Comprises the following steps:
to sum up, the utility model discloses carry spherical cooperative target's online calibration device of industrial robot position appearance can solve and need among the prior art that the structure yardstick is known, dedicated standardization cooperative target to and can only off-line demarcation, operation process is complicated, consuming time long, with high costs, the precision is low, be difficult to the problem of online check-up or calibration industrial robot and stereo camera position appearance in the use.
The present invention is not limited to the above embodiments, and based on the technical solutions disclosed in the present invention, those skilled in the art can make some replacements and transformations for some technical features without creative labor according to the disclosed technical contents, and these replacements and transformations are all within the protection scope of the present invention.
Claims (8)
1. The utility model provides a carry spherical cooperative target's online calibration device of industrial robot position appearance which characterized in that: the spherical cooperative target system comprises a spherical cooperative target (3) fixed on an operation manipulator (5) at the tail end of an industrial robot (1), a stereo camera (2) is supported and installed at the side of the industrial robot (1) through a stereo camera installing support (4), the spherical cooperative target (3) has a spherical local contour characteristic, the industrial robot (1) keeps a calibration position coordinate unchanged to drive the spherical cooperative target (3) to move to a plurality of calibration postures, and the stereo camera (2) collects images of the spherical cooperative target (3).
2. The on-line calibration device for the pose of the industrial robot carrying the spherical cooperative target according to claim 1, is characterized in that: the spherical cooperative targets (3) are composed of one or more spheres, and the spheres are all positioned in the field of view of the stereo camera.
3. The on-line calibration device for the pose of the industrial robot carrying the spherical cooperative target according to claim 2, is characterized in that: the spheres of the spherical cooperative target (3) are discrete spheres.
4. The on-line calibration device for the pose of the industrial robot carrying the spherical cooperative target according to claim 2, is characterized in that: the spherical cooperative target (3) is made of a soldier's table tennis.
5. The on-line calibration device for the pose of the industrial robot carrying the spherical cooperative target according to claim 4, is characterized in that: the spherical cooperative target (3) is fixed on the operation manipulator (5) by gluing according to the field range of the stereo camera (2).
6. The on-line calibration device for the pose of the industrial robot carrying the spherical cooperative target according to claim 1, is characterized in that: the industrial robot (1) and the stereo camera mounting bracket (4) are fixed on the same horizontal table surface.
7. The on-line calibration device for the pose of the industrial robot carrying the spherical cooperative target according to claim 1, is characterized in that: the industrial robot (1) adopts an AUBO six-axis industrial robot.
8. The on-line calibration device for the pose of the industrial robot carrying the spherical cooperative target according to claim 1, is characterized in that: the stereo camera (2) adopts a ZIVID stereo camera.
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| CN114897961A (en) * | 2022-05-18 | 2022-08-12 | 西安中科光电精密工程有限公司 | Online pose calibration method and system for industrial robot carrying spherical cooperative target |
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| CN114897961A (en) * | 2022-05-18 | 2022-08-12 | 西安中科光电精密工程有限公司 | Online pose calibration method and system for industrial robot carrying spherical cooperative target |
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