High-precision automatic calibration device for robot hand-eye camera and using method thereof

Abstract

The invention discloses a high-precision automatic calibration device for a robot hand-eye camera. The automatic calibration device comprises an industrial robot, a robot tail-end tool, laser generators connected to the industrial robot tail-end tool, a calibration board and the camera. The industrial robot is connected with one side of a connecting piece, and the robot tail-end tool is installed at the other side of the connecting piece. The laser generators are installed at one side of the robot tail-end tool and comprise the red laser generator and the green laser generator. The calibration board is a checkerboard with black alternating with white. The camera is fixed to a workbench and refers to a 2D camera. By means of the high-precision automatic calibration device for the robot hand-eye camera, the problem that high-precision placement of the calibration board and installation of the tail-end tool are required when the industrial robot hand-eye camera is calibrated is effectively solved; and meanwhile, there is no need to put the calibration board at an accurate position, the calibration board only needs to be placed at any position in a robot working space and make lasers intersect with the calibration board, and the calibration workloads of the camera are greatly relieved.

Description

technical field [0001] The invention relates to the technical field of industrial robot and camera calibration, in particular to a device for automatic calibration of a high-precision robot hand-eye camera and a method for using the same. Background technique [0002] With the continuous improvement of labor costs and the continuous development of industrial robot control, planning, and identification methods, the degree of automatic production using industrial robots instead of manual labor is getting higher and higher. However, the problem of hand-eye camera calibration for industrial robots in the industry is still unsolved. [0003] The hand-eye industrial robot system is mainly divided into eye-in-hand and eye-to-hand systems. In the eye-in-hand system, the camera is fixed at the end of the industrial robot. Therefore, as the robot moves, the camera The calibration board and the working space can be observed from different directions, so the calibration process of the ...

AI Technical Summary

Problems solved by technology

For the eye-to-hand system, since the camera is fixed, it is impossible to calibrate the relative position of the camera and the robot only by means of the calibration board and the movement of the robot. The difficulty lies in: 1) how to associate the position of the feature point with the movement of the robot; 2) How to extract the position of the feature points required for calibration with high precision; 3) How to automate the calibration process

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