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

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...

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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