High-precision mechanical arm hand-eye camera calibration method and system

A hand-eye camera and calibration method technology, which is applied in image data processing, instruments, calculations, etc., can solve the problems that the high-precision calibration method has not been solved, and achieve the effect of realizing high-precision positioning and ensuring accuracy

Active Publication Date: 2017-10-17
XI AN JIAOTONG UNIV +1
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AI Technical Summary

Problems solved by technology

The calibration of internal and external parameters of the camera realized by the calibration algorithm guarantees the calibration accuracy of the internal and external parameters of the camera itself, but the high-precision calibration method of the external parameters between the robot arm and the camera has not been resolved.

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  • High-precision mechanical arm hand-eye camera calibration method and system
  • High-precision mechanical arm hand-eye camera calibration method and system
  • High-precision mechanical arm hand-eye camera calibration method and system

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Embodiment Construction

[0045] The present invention will be further described in detail below in conjunction with specific embodiments, which are explanations of the present invention rather than limitations.

[0046] The high-precision mechanical arm hand-eye camera calibration method disclosed in the present invention, such as figure 1 shown in the process.

[0047] A specific implementation example includes the following steps:

[0048] 1) see figure 2 , fix the wrist camera 1 and the robotic arm 2 together, and ensure that their relative positions and camera internal parameters will not change. Select the calibration board 5, which is a checkerboard calibration board, the number of black and white grids is 25*24, the side length is 15mm, the processing accuracy is better than 0.05mm, the grayscale of the black area and the white area on the checkerboard calibration board image The difference between the values ​​is greater than or equal to 70.

[0049] Place and adjust two high-precision me...

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Abstract

The invention discloses a high-precision mechanical arm hand-eye camera calibration method and system, and the method comprises the steps: collecting images of a calibration plate at different positions, and measuring the internal parameters of a camera and the external parameters between a wrist camera and the calibration plate through a visual method; measuring the external parameters between a mechanical arm target and the calibration plate through a high-precision self-collimating theodolite, a mechanical arm target design and key points selected from the calibration plate; and finally completing the calibration of the mechanical arm wrist camera through a visual computing method. According to the invention, the system employs two high-precision measurement instruments, takes a calibration plate coordinate system as the central coordinate system, achieves the high-precision coordinate system parameter conversion, and finally obtains the external parameters between the tail end of the mechanical arm and the camera. The method can achieve the high-precision calibration of the external parameters between the mechanical arm and the camera.

Description

technical field [0001] The invention belongs to the field of computer vision measurement and image processing, and in particular relates to a calibration method and a calibration system for a hand-eye camera of a high-precision mechanical arm. Background technique [0002] In the field of robotics, the use of vision methods for pose estimation to help robotic arms achieve precise target grasping has important applications. Among them, high-precision calibration of the internal and external parameters of the camera and the calibration of the external parameters of the camera and the robotic arm are important conditions to ensure the accuracy of visual measurement. The calibration of internal and external parameters of the camera realized by the calibration algorithm ensures the calibration accuracy of the internal and external parameters of the camera itself, but the high-precision calibration method of the external parameters between the robotic arm and the camera has not be...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/80
CPCG06T7/80
Inventor 王飞刘彤王伟农王丽霞杨海伟
Owner XI AN JIAOTONG UNIV
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