Robot hand-eye calibration method based on laser range finding

Abstract

The invention discloses a robot hand-eye calibration method based on laser range finding. According to the method, by calculating the coordinates of laser spots under a laser range finder coordinate system, the coordinates of the laser spots under a robot coordinate system are calculated by means of the mapping relation between the laser range finder coordinate system and the robot coordinate system; by capturing pictures of the laser spots on a calibration board through a camera, the coordinates of the laser spots under a pixel coordinate system are calculated, and therefore the mapping relation between the pixel coordinate system and the robot coordinate system is calculated; the mapping relation between a camera coordinate system and the pixel coordinate system is obtained by means of parameters of the camera; and then the mapping relation between the camera coordinate system and the robot coordinate system is calculated according to the spatial switching relation. The method is carried out by emitting the laser spots to the surface of an object through a laser range finder, coordinate information of measurement points is obtained without the need of making contact with the object, in this way, operating errors are reduced, operation is easier, precision is high, manual participation is not needed in a calibration process, and automation and intellectualization are achieved.

Description

【Technical field】 [0001] The invention relates to a robot hand-eye calibration method based on laser ranging. 【Background technique】 [0002] Robot technology is widely used in the industrial field, such as automatic assembly, automatic grasping, etc., and the accuracy of robot hand-eye calibration is getting higher and higher. In the traditional robot hand-eye calibration system, the robot hand-eye calibration uses probes and objects. The force information of the surface contact point obtains the coordinates of the point on the object in the tool coordinate system, and then obtains the coordinates of the point in the robot base coordinate system through robot kinematics through coordinate transformation, and then controls the end of the robot through the sensor information. Movement, so that the probe is in good contact with the measured surface and moves, and the position coordinate information of a series of points on the object surface is measured, and a camera captures ...

AI Technical Summary

Problems solved by technology

[0003] However, due to the elastic deformation of the end of the probe when in contact with the surface to be measured, the force on the surface of the object is often uneven, resulting in errors in the force information of the contact point, and the end of the probe is prone to breakage due to excessive elastic deformation. The measured surface touches and moves the measured coordinate information of a series of points, and the cumulative error has a great influence

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