Hand-eye system self-calibration method based on active visual sense

Abstract

The invention relates to a hand-eye system self-calibration method based on active visual sense, and belongs to the robot calibration technical field; the realization steps comprise the following steps: 1, building a coordinate transition relation between all reference coordinate systems in a camera imaging system; 2, building a coordinate transition relation between all reference coordinate systems in a hand-eye system; 3, building a coordinate transition relation between a CCD imaging plane and a world coordinate system in the hand-eye system; 4, controlling a camera in the hand-eye system to make the first translational motion; 5, controlling the camera in the hand-eye system to continuously make the second non-linear translational motion; 6, linear-solving a hand-eye relation rotate matrix in the hand-eye system; 7, controlling the camera to make the first non-linear translational motion; 8, linear-solving a camera inner reference matrix in the hand-eye system; 9, linear-solving a characteristic points object depth; 10, controlling the camera in the hand-eye system to make the first real rotary movement; 11, controlling the camera to make the first virtual rotation; 12, calibrating a hand-eye relation translation vector.

Description

technical field [0001] The invention relates to an active vision-based hand-eye system self-calibration method, which belongs to the technical field of robot calibration, and relates to an active vision-based hand-eye system self-calibration method. Background technique [0002] As one of the most important ways to realize robot intelligence, visual measurement and control can greatly improve the efficiency and accuracy of robot operations. It is currently widely used in industrial production, especially in the fields of measurement, grasping, and welding. In practical applications, the camera is usually fixed on the end effector of the robot manipulator and moves with the movement of the end effector, thus forming a hand-eye system based on the robot body. When the robot is in production operation, it needs to know the position of the target object relative to the end effector of the manipulator, and the position information of the target object can be obtained through the ...

AI Technical Summary

Problems solved by technology

However, this method does not involve the solution of relevant parameters such as the camera internal parameter matrix and the depth of the target of the feature point.

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