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Hand-eye calibration method of robot linear structured light vision measurement system

A technology of visual measurement and robot line, which is applied to measurement devices, instruments, and optical devices, etc., can solve the problems that the movement accuracy of the end effector cannot reach pure translation movement, and the calibration is inaccurate.

Inactive Publication Date: 2015-11-04
BEIJING INSTITUTE OF TECHNOLOGYGY
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Problems solved by technology

However, for most rotary joint robots, the movement accuracy of the end effector cannot reach pure translational motion, which eventually leads to inaccurate calibration

Method used

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  • Hand-eye calibration method of robot linear structured light vision measurement system
  • Hand-eye calibration method of robot linear structured light vision measurement system
  • Hand-eye calibration method of robot linear structured light vision measurement system

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Embodiment Construction

[0040] The present invention will be described in detail below with reference to the accompanying drawings and examples.

[0041] The invention provides a hand-eye calibration method for a robot line structured light vision measurement system; figure 1 As shown, the present invention takes a circle with a group of orthogonal diameters as the target, and sets a line-structured light projector at the collinear position of the cameras, so that the line-structured light rays are projected to the center of the circle, according to the distance between the camera coordinate system and the target coordinate system Finally, the first rotation matrix is ​​obtained; after that, the end of the robot moves for the first time, so that the robot end coordinate system and the camera coordinate system change, while the target coordinate system and the robot base coordinate system remain unchanged. By analyzing the camera coordinate system again system and the target coordinate system, obtain ...

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Abstract

The invention discloses a hand-eye calibration method of a robot linear structured light vision measurement system. According to the method of the invention, the movement relationships of a robot are demonstrated through establishing a coordinate system according to the movement features of the robot; the movement of the tail end of the robot is controlled, and homogeneous transfer matrix principles are used in combination, and the movement quantity of a camera before and after the movement of the robot is obtained, and then, a final hand-eye relation matrix can be obtained according to a hand-eye relation model. According to the hand-eye calibration method of the invention, a round replacement standard ball in the prior art is adopted as a target, and therefore, only the linear features of structural light are needed to be extracted, and thus, calculation amount can be reduced.

Description

technical field [0001] The invention belongs to the technical field of robot hand-eye calibration, and in particular relates to a hand-eye calibration method for a robot linear structured light vision measurement system. Background technique [0002] Line structured light vision measurement technology is widely used in 3D reconstruction, industrial vision inspection and other fields because of its advantages of high precision and fast measurement speed. In the field of industrial inspection, the line structured light sensor is usually installed on the end effector of the robot to detect the quality of the product. [0003] The line structured light vision sensor and the robot together form a robot line structured light vision measurement system. When using this system for measurement, the pose relationship between the line structured light vision sensor and the robot end effector must be determined first. The process of determining this relationship is called For hand-eye c...

Claims

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Application Information

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IPC IPC(8): G01B11/25
Inventor 王庆林李原刘艳
Owner BEIJING INSTITUTE OF TECHNOLOGYGY
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