WO2020133878A1 - 一种精确标定机器人末端与视觉系统的方法 - Google Patents
一种精确标定机器人末端与视觉系统的方法 Download PDFInfo
- Publication number
- WO2020133878A1 WO2020133878A1 PCT/CN2019/086705 CN2019086705W WO2020133878A1 WO 2020133878 A1 WO2020133878 A1 WO 2020133878A1 CN 2019086705 W CN2019086705 W CN 2019086705W WO 2020133878 A1 WO2020133878 A1 WO 2020133878A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- laser
- reference point
- coordinate system
- coordinates
- robot
- Prior art date
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
-
- 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
Definitions
- the invention relates to a method for accurately calibrating the end of a robot and a vision system.
- Laser sensor is a sensor that uses laser technology for measurement. As a new type of measuring instrument, it can achieve contactless long-distance measurement. It has the advantages of fast speed, high accuracy, large range, and strong anti-interference ability.
- Laser sensors are divided into spot lasers and line lasers. Due to their measuring principle, spot lasers can only obtain the distance information of the measured location. One-dimensional information is difficult to deal with complex calculations and has great limitations.
- the calibration method under the spot laser can not realize the conversion of three-dimensional coordinates, and can not achieve accurate calibration. Therefore, finding a calibration method that can obtain the positional relationship between the laser vision and the robot is a technical problem that needs to be solved.
- the technical problem solved by this patent is that the point laser can only obtain the distance information of the measured place due to its measurement principle.
- One-dimensional information is difficult to deal with complex calculations, which is very limited.
- the calibration method under the point laser cannot achieve three-dimensional coordinates. Conversion, technical problems that can not achieve accurate calibration.
- This patent proposes a calibration method that can obtain the positional relationship between the laser vision and the robot.
- a method for accurately calibrating the robot end and the vision system includes the following steps:
- step b Select two reference points at the welds of the two metal plates in step a, defined as A1 and A2 respectively;
- step c Adjust the posture of the industrial robot in step a so that the end of the robot is perpendicular to the surface of the metal plate;
- step d Adjust the position of the industrial robot in step d, so that the laser of the laser is irradiated on the reference point A1 and the reference point A2 respectively, and record the coordinates of the reference point A1 and the reference point A2 under the laser coordinate system in the laser, which is recorded as with
- step e Transform the posture of the industrial robot in step e, so that the laser of the laser is irradiated on the reference point A1 and the reference point A2 respectively, and record the coordinates of the reference point A1 and the reference point A2 under the laser coordinate system in the laser, which is recorded as with
- step f Transform the posture of the industrial robot in step f so that the laser light of the laser is sequentially irradiated on the reference point A1 and the reference point A2, and the coordinates of the reference point A1 and the reference point A2 under the laser coordinate system in the laser are recorded as with
- step e According to the calibration process of step e, step f and step j:
- B1 Denoted as B1
- B2 Recorded as B3, (9)(10)(11) can be organized as follows:
- the laser in the laser is a line laser.
- line laser it has more measurement information, can obtain the three-dimensional coordinate information of the measured place, and can be used for the calculation of coordinate conversion.
- the calibration method in the present invention calculates the relative relationship between the laser vision coordinate system and the robot coordinate system by acquiring the position information of the laser vision coordinate system and the robot coordinate system, so as to realize the measurement object in the laser vision
- the conversion of coordinates to robot coordinates improves the overall operating efficiency of the system and has a good application effect.
- the calibration method in the present invention does not have high requirements on the calibration board and is easy to implement.
- the use of 2 sets of calibration points can ensure the calibration accuracy.
- the calculation method is simple and easy to implement.
- FIG. 1 is a schematic diagram of the end of an industrial robot touching a reference point to obtain the coordinates of the reference point in a base coordinate system.
- FIG. 2 is a schematic diagram of laser irradiating a reference point to obtain the coordinates of the reference point in the laser coordinate system.
- a method for accurately calibrating the robot end and the vision system includes the following steps:
- step b Select two reference points at the welds of the two metal plates in step a, defined as A1 and A2; as shown in Figure 1.
- step c Adjust the posture of the industrial robot in step a so that the end of the robot is perpendicular to the surface of the metal plate.
- step d Adjust the position of the industrial robot in step d, so that the laser of the laser is irradiated on the reference point A1 and the reference point A2 respectively, and record the coordinates of the reference point A1 and the reference point A2 under the laser coordinate system in the laser, which is recorded as with
- step e Transform the posture of the industrial robot in step e, so that the laser of the laser is irradiated on the reference point A1 and the reference point A2 respectively, and record the coordinates of the reference point A1 and the reference point A2 under the laser coordinate system in the laser, which is recorded as with
- step f Transform the posture of the industrial robot in step f so that the laser of the laser is irradiated on the reference point A1 and the reference point A2 respectively, and record the coordinates of the reference point A1 and the reference point A2 under the laser coordinate system in the laser, which is recorded as with
- step e According to the calibration process of step e, step f and step j:
- B1 Denoted as B1
- B2 Recorded as B3, (9)(10)(11) can be organized as follows:
- the reference point 1 is tested, and the following data can be obtained:
- the formula (1) (2) (3) can be obtained by formula (4) (5) (6), as follows:
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
一种精确标定机器人末端与视觉系统的方法;a、选取两个参考点,b、获取两个参考点在基坐标系下的坐标;c、调整步骤d中工业机器人的位置,记录两个参考点在激光器内的激光坐标系下的坐标;记录两个参考点在基坐标系下的坐标;e、变换工业机器人姿态,记录两个参考点在激光器内的激光坐标系下的坐标;记录两个参考点在基坐标系下的坐标;f、变换工业机器人姿态,记录两个参考点在激光器内的激光坐标系下的坐标;记录两个参考点在基坐标系下的坐标。本方法得出激光视觉坐标系和机器人坐标系的相对关系,实现被测量物体在激光视觉的坐标到机器人的坐标的转换,提高系统的整体作业效率
Description
本发明涉及一种精确标定机器人末端与视觉系统的方法。
激光传感器是一种利用激光技术进行测量的传感器,作为一种新型的测量仪器,它能实现无接触远距离测量,具有速度快、精度高、量程大、抗干扰能力强的优点。
激光传感器又分为点激光和线激光,而点激光因其测量原理只能获取被测量处的距离信息,一维信息难以应对复杂的计算,局限性很大。在点激光下的标定方法不能实现三维坐标的转换,不能实现精确的标定。因此,找到一种能获取激光视觉和机器人之间的位置关系的标定方法是需要解决的技术问题。
发明内容
本专利解决的技术问题是,点激光因其测量原理只能获取被测量处的距离信息,一维信息难以应对复杂的计算,局限性很大,在点激光下的标定方法不能实现三维坐标的转换,不能实现精确的标定的技术问题。
本专利提出一种能获取激光视觉和机器人之间的位置关系的标定方法。
为解决上述技术问题,本发明采用的技术方案是:
一种精确标定机器人末端与视觉系统的方法,包括如下步骤:
a、准备工作,在工业机器人安装焊枪和激光器;准备两块金属板,将两块金属板上下叠放设置,并采用焊枪焊接;
b、在步骤a中的两块金属板的焊缝处选取两个参考点,分别定义为A1和A2;
c、将步骤a中的工业机器人调整姿态,使机器人末端垂直于金属板表面向下;
其中,
和
为参考点A1和参考点A2在基坐标系下的坐标,
和
为机器人末端在基坐标系下进行欧拉变换所得到的矩阵,
为机器人末端与激光器内激光坐标系之间的变换矩阵即需要求解的对象,
和
为参考点A1和参考点A2在激光器内激光坐标系下的坐标;
h、根据步骤e、步骤f和步骤j的标定过程可得到:
由于参考点A1和A2的运算方法一致,这里只列出参考点A1的运算方法,将式(3)(5)(7)整理如下:
对本发明技术方案的优选,激光器中的激光为线激光。采用线激光,其测量信息比较多,能获取被测量处的三维坐标信息,能够用于坐标转换的计算。
本发明的有益效果是:
1、本发明中的标定方法通过获取被测量处在激光视觉坐标系和机器人坐标系下的位置信息,计算得出激光视觉坐标系和机器人坐标系的相对关系,实现被测量物体在激光视觉的坐标到机器人的坐标的转换,提高系统的整体作业效率,具有良好的应用效果。
2、本发明中的标定方法对标定板要求不高,容易实现,采用2组标定点更能保证标定精度。在计算激光视觉坐标系和机器人坐标系的相对关系的转换矩阵中,计算方法简单,易于实现。
图1是工业机器人的机器人末端触碰参考点以获取参考点在基坐标系下的坐标的示意图。
图2是激光照射参考点以获取参考点在激光坐标系下的坐标的示意图。
下面对本发明技术方案进行详细说明,但是本发明的保护范围不局限于所述实施例。
为使本发明的内容更加明显易懂,以下结合附图1-2和具体实施方式做进一步的描述。
为了使本发明的目的、技术方案及优点更加清楚明白,以下结合附图及实施例,对本发明进行进一步详细说明。应当理解,此处所描述的具体实施例仅用以解释本发明,并不用于限定本发明。
一种精确标定机器人末端与视觉系统的方法,包括如下步骤:
a、准备工作,在工业机器人安装焊枪和激光器;准备两块金属板,将两块金属板上下叠放设置,并采用焊枪焊接。如图1所示。
b、在步骤a中的两块金属板的焊缝处选取两个参考点,分别定义为A1和A2;如图1所示。
c、将步骤a中的工业机器人调整姿态,使机器人末端垂直于金属板表面向下。
其中,
和
为参考点A1和参考点A2在基坐标系下的坐标,
和
为机器人末端在基坐标系下进行欧拉变换所得到的矩阵,
为机器人末端与激光器内激光坐标系之间的变换矩阵即需要求解的对象,
和
为参考点A1和参 考点A2在激光器内激光坐标系下的坐标;如图2所示。
h、根据步骤e、步骤f和步骤j的标定过程可得到:
由于参考点A1和A2的运算方法一致,这里只列出参考点A1的运算方法,将式(3)(5)(7)整理如下:
实施例:
根据精确标定机器人末端与视觉系统的方法对参考点1做实验,可得以下数据:
对式(1)(2)(3)式整理可得式(4)(5)(6),如下所示:
对(4)(5)(6)式进行整理可得式(7)(8)(9):
将式(7)(8)(9)联立可得:
根据变换矩阵的特性,将式(10)的其余位补上,得到4*4矩阵:
根据变换矩阵正交的特性,并将其单位化,可得:
如上所述,尽管参照特定的优选实施例已经表示和表述了本发明,但其不得解释为对本发明自身的限制。在不脱离所附权利要求定义的本发明的精神和范围前提下,可对其在形式上和细节上作出各种变化。
Claims (2)
- 一种精确标定机器人末端与视觉系统的方法,其特征在于,包括如下步骤:a、准备工作,在工业机器人安装焊枪和激光器;准备两块金属板,将两块金属板上下叠放设置,并采用焊枪焊接;b、在步骤a中的两块金属板的焊缝处选取两个参考点,分别定义为A1和A2;c、将步骤a中的工业机器人调整姿态,使机器人末端垂直于金属板表面向下;其中, 和 为参考点A1和参考点A2在基坐标系下的坐标, 和 为机器人末端在基坐标系下进行欧拉变换所得到的矩阵, 为机器人末端与激光器内激光坐标系之间的变换矩阵即需要求解的对象, 和 为参考点A1和参考点A2在激光器内激光坐标系下的坐标;h、根据步骤e、步骤f和步骤j的标定过程可得到:由于参考点A1和A2的运算方法一致,这里只列出参考点A1的运算方法,将式(3)(5)(7)整理如下:
- 根据权利要求1所述的精确标定机器人末端与视觉系统的方法,其特征在于,激光器中的激光为线激光。
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201811601806.0 | 2018-12-26 | ||
CN201811601806.0A CN109719722B (zh) | 2018-12-26 | 2018-12-26 | 一种精确标定机器人末端与视觉系统的方法 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2020133878A1 true WO2020133878A1 (zh) | 2020-07-02 |
Family
ID=66297180
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/CN2019/086705 WO2020133878A1 (zh) | 2018-12-26 | 2019-05-13 | 一种精确标定机器人末端与视觉系统的方法 |
Country Status (2)
Country | Link |
---|---|
CN (1) | CN109719722B (zh) |
WO (1) | WO2020133878A1 (zh) |
Families Citing this family (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN109719722B (zh) * | 2018-12-26 | 2021-07-23 | 南京埃斯顿机器人工程有限公司 | 一种精确标定机器人末端与视觉系统的方法 |
CN110500999A (zh) * | 2019-08-09 | 2019-11-26 | 唐山英莱科技有限公司 | 一种基于视觉装置的相对位置测量方法 |
CN110666798B (zh) * | 2019-10-11 | 2021-03-02 | 华中科技大学 | 一种基于透视变换模型的机器人视觉标定方法 |
CN111590588A (zh) * | 2020-06-03 | 2020-08-28 | 南京埃斯顿机器人工程有限公司 | 一种焊接机器人的非接触式工具坐标系标定方法 |
CN113334383B (zh) * | 2021-06-22 | 2022-05-31 | 华中科技大学 | 一种基于线激光测量仪的机器人末端工具偏置标定方法 |
CN117781869A (zh) * | 2023-12-25 | 2024-03-29 | 智云流形科技(江阴)有限公司 | 标定方法、装置、设备 |
Citations (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US6509576B2 (en) * | 2000-09-29 | 2003-01-21 | Hyundai Motor Company | Method for compensating position of robot using laser measuring instrument |
EP1274546B1 (en) * | 2000-04-10 | 2007-06-20 | Abb Ab | Pathcorrection for an industrial robot |
WO2016122416A1 (en) * | 2015-01-30 | 2016-08-04 | Agency for Science,Technology and Research | Mobile manipulator and method of controlling the mobile manipulator for tracking a surface |
US20160361818A1 (en) * | 2015-06-11 | 2016-12-15 | Janome Sewing Machine Co., Ltd. | Robot |
CN106238969A (zh) * | 2016-02-23 | 2016-12-21 | 南京中建化工设备制造有限公司 | 基于结构光视觉的非标件自动化焊接加工系统 |
KR20170133039A (ko) * | 2016-05-25 | 2017-12-05 | 대우조선해양 주식회사 | 다관절 용접로봇의 자동 마스터링장치 및 그 방법 |
CN108527360A (zh) * | 2018-02-07 | 2018-09-14 | 唐山英莱科技有限公司 | 一种位置标定系统及方法 |
CN108717715A (zh) * | 2018-06-11 | 2018-10-30 | 华南理工大学 | 一种用于弧焊机器人的线结构光视觉系统自动标定方法 |
CN109719722A (zh) * | 2018-12-26 | 2019-05-07 | 南京埃斯顿机器人工程有限公司 | 一种精确标定机器人末端与视觉系统的方法 |
Family Cites Families (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP3549228B2 (ja) * | 1993-05-14 | 2004-08-04 | 株式会社神戸製鋼所 | 高配向性ダイヤモンド放熱基板 |
JP2002042130A (ja) * | 2000-07-21 | 2002-02-08 | Mitsui Chemicals Inc | 三次元オブジェクトの解析方法及びシステム |
CN105014679A (zh) * | 2015-08-03 | 2015-11-04 | 华中科技大学无锡研究院 | 一种基于扫描仪的机器人手眼标定方法 |
CN105241478B (zh) * | 2015-10-13 | 2018-02-16 | 中国船舶重工集团公司第七一七研究所 | 一种单轴调制激光陀螺惯性导航系统多坐标系标定方法 |
CN106113035B (zh) * | 2016-06-16 | 2018-04-24 | 华中科技大学 | 一种六自由度工业机器人末端工具坐标系标定装置及方法 |
CN108731591B (zh) * | 2018-04-24 | 2020-04-21 | 佛山智能装备技术研究院 | 一种基于平面约束的机器人工具坐标系标定方法 |
CN108994827A (zh) * | 2018-05-04 | 2018-12-14 | 武汉理工大学 | 一种机器人测量-加工系统扫描仪坐标系自动标定方法 |
-
2018
- 2018-12-26 CN CN201811601806.0A patent/CN109719722B/zh active Active
-
2019
- 2019-05-13 WO PCT/CN2019/086705 patent/WO2020133878A1/zh active Application Filing
Patent Citations (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP1274546B1 (en) * | 2000-04-10 | 2007-06-20 | Abb Ab | Pathcorrection for an industrial robot |
US6509576B2 (en) * | 2000-09-29 | 2003-01-21 | Hyundai Motor Company | Method for compensating position of robot using laser measuring instrument |
WO2016122416A1 (en) * | 2015-01-30 | 2016-08-04 | Agency for Science,Technology and Research | Mobile manipulator and method of controlling the mobile manipulator for tracking a surface |
US20160361818A1 (en) * | 2015-06-11 | 2016-12-15 | Janome Sewing Machine Co., Ltd. | Robot |
CN106238969A (zh) * | 2016-02-23 | 2016-12-21 | 南京中建化工设备制造有限公司 | 基于结构光视觉的非标件自动化焊接加工系统 |
KR20170133039A (ko) * | 2016-05-25 | 2017-12-05 | 대우조선해양 주식회사 | 다관절 용접로봇의 자동 마스터링장치 및 그 방법 |
CN108527360A (zh) * | 2018-02-07 | 2018-09-14 | 唐山英莱科技有限公司 | 一种位置标定系统及方法 |
CN108717715A (zh) * | 2018-06-11 | 2018-10-30 | 华南理工大学 | 一种用于弧焊机器人的线结构光视觉系统自动标定方法 |
CN109719722A (zh) * | 2018-12-26 | 2019-05-07 | 南京埃斯顿机器人工程有限公司 | 一种精确标定机器人末端与视觉系统的方法 |
Also Published As
Publication number | Publication date |
---|---|
CN109719722B (zh) | 2021-07-23 |
CN109719722A (zh) | 2019-05-07 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
WO2020133878A1 (zh) | 一种精确标定机器人末端与视觉系统的方法 | |
CN102825602B (zh) | 一种基于psd的工业机器人自标定方法及装置 | |
CN107042528B (zh) | 一种工业机器人的运动学标定系统及方法 | |
CN110666798B (zh) | 一种基于透视变换模型的机器人视觉标定方法 | |
WO2020238346A1 (zh) | 一种用于机器人钻孔中优化钻头位姿的方法 | |
CN106624262A (zh) | 一种智能焊接圆管相贯线的方法及设备 | |
CN105157725A (zh) | 一种二维激光视觉传感器和机器人的手眼标定方法 | |
CN104384765A (zh) | 基于三维模型与机器视觉的自动焊接方法及焊接装置 | |
CN108972543B (zh) | 自动高精度非接触式机器人tcp标定方法 | |
CN105303560A (zh) | 机器人激光扫描式焊缝跟踪系统标定方法 | |
CN106875439B (zh) | 基于三维点云模型的单晶硅棒外形尺寸测量方法 | |
CN111421226B (zh) | 一种基于激光切管设备的管材识别方法及装置 | |
CN105364349A (zh) | 一种焊接机器人焊缝轨迹检测的方法 | |
CN112958960B (zh) | 一种基于光学靶标的机器人手眼标定装置 | |
CN110076495A (zh) | 一种使用激光传感器的机器人寻位的方法 | |
CN112629499A (zh) | 基于线扫描仪的手眼标定重复定位精度测量方法及装置 | |
CN110428471B (zh) | 一种针对光学自由曲面子孔径偏折测量的精确自定位方法 | |
CN110260817A (zh) | 基于虚拟标志点的复杂曲面偏折测量自定位方法 | |
CN110405731A (zh) | 一种快速双机械臂基坐标系标定方法 | |
KR101622659B1 (ko) | 로봇과 레이저 비전 시스템 간의 캘리브레이션 방법 | |
CN114049324B (zh) | 超视场尺度下的关联基准远心测量快速标定方法 | |
CN108592838A (zh) | 工具坐标系的标定方法、装置以及计算机存储介质 | |
JP3641818B2 (ja) | トータルステーションによる測定方法 | |
CN110706292B (zh) | 一种基于机器视觉的二维工作台误差自标定方法 | |
JP2002310641A (ja) | 三次元形状計測機の座標系のキャリブレーション方法 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
121 | Ep: the epo has been informed by wipo that ep was designated in this application |
Ref document number: 19903704 Country of ref document: EP Kind code of ref document: A1 |
|
NENP | Non-entry into the national phase |
Ref country code: DE |
|
122 | Ep: pct application non-entry in european phase |
Ref document number: 19903704 Country of ref document: EP Kind code of ref document: A1 |