Calibration method and device for robot hole forming platform vision measurement system

Abstract

The invention discloses a calibration device for a robot hole forming platform vision measurement system, and further discloses a calibration method based on the calibration device. The method comprises the steps of building a calibration plate coordinate system and a tool coordinate system according to a calibration plate, building a two-dimensional transformation relation of the calibration plate coordinate system and the tool coordinate system on a calibration plate locking face according to the geometric positional relation of a middle hole and a spindle hole of a none-hole array, building a camera coordinate system on a calibration plate shooting face, conducting calibration on camera intrinsic parameters and calculation on camera external parameters according to a nine-hole array image shot by a camera, building a two-dimensional transformation relation of the camera coordinate system and the calibration plate coordinate system on the calibration plate locking face, thereby obtaining a two-dimensional hand-eye relation of the camera coordinate system and the tool coordinate system on the calibration plate locking face, and then obtaining a three-dimensional hand-eye relation between the camera coordinate system and the tool coordinate system by combining distance information, obtained through measurement of a camera coordinate system original point in the hole forming depth direction with distance information, obtained through measurement, of a tool coordinate system original point.

Description

technical field [0001] The invention belongs to the field of manufacturing automation, and in particular relates to a calibration method and device for a robot hole-making platform vision measurement system. Background technique [0002] With the continuous improvement of the positional accuracy of industrial robot technology, the robot hole making system has become the best choice for flexible automation hole making in the aviation industry relying on its low investment and high flexibility. In the process of robot hole making, the error of the robot itself, the manufacturing and positioning errors of the workpiece, lead to the position error of the processed assembly hole. In order to make the position coordinates of the processed assembly holes adapt to the on-site assembly state of the workpiece, a series of reference holes are processed on the workpiece in advance, and then the vision system is used to locate the reference holes, and the deviation between the actual pos...

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Problems solved by technology

Literature (Zhu Zhenyou, Xu Aijie, Lin Tao, etc. "hand-eye" relationship fast calibration algorithm for robot vision [J]. Optical Technology, 2004, 30 (2): 150-152.) Obtaining signs through robot-defined multi-position touch The coordinates of the point in the robot coordinate system are used to obtain the hand-eye relationship, but this method relies on the subjectivity of the human being, and often has large errors

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