A Coordinate Transformation Solution Method for Industrial Robots and 3D Sensors
A technology of industrial robot and sensor coordinate system, which is applied in the direction of instrumentation, computing, electrical digital data processing, etc., can solve problems such as complex operation, and achieve the effect of improving accuracy and ensuring reliability
Active Publication Date: 2020-09-08
SHANGHAI JIAOTONG UNIV
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Problems solved by technology
Camera calibration usually requires a dedicated calibration board for calibration; calibration based on point cloud data requires data processing of the point cloud and requires specific calibration blocks for calibration, which is complex to operate
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[0069] Such as figure 1 As shown, the hardware of the coordinate transformation solution method of an industrial robot and a three-dimensional sensor of a preferred embodiment of the present invention includes: parts to be operated 03, such as figure 2 As shown; the industrial robot 01 is used to sort the scattered parts to be operated 03 so as to complete the tasks of loading and unloading, processing, and assembling of the scattered parts; the three-dimensional sensor 02 is used to identify the pose of the calibration block, that is, the position and posture.
[0070] Such as image 3 , 4 As shown, the present invention provides a coordinate transformation solution method of an industrial robot and a three-dimensional sensor, which is characterized in that it comprises the following steps:
[0071] Step 1. First, arrange the four parts to be operated 03 to be respectively located at the four vertices of the rectangular scanning area of the three-dimensional sensor 02; ...
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The invention discloses an industrial robot and three dimensional sensor coordinate transformation solving method. The industrial robot and three dimensional sensor coordinate transformation solving method comprises following steps: a step 1 of using a three dimensional sensor to scan one or more calibration blocks to obtain point cloud data; processing the point cloud data by means of an object pose recognition algorithm, and obtaining the position and pose information of the calibration block; and taking position data points of markers on the calibration block as characteristic points in the three dimensional sensor coordinate system; a step 2 of demonstrating the characteristic points through an industrial robot, and obtaining position data points corresponding to the characteristic points in the industrial robot coordinate system; and obtaining a corresponding point pair set in the three dimensional sensor coordinate system and the industrial robot coordinate system; and a step 3 of resolving an optimal coordinate transformation matrix of the industrial robot and the three dimensional sensor according to the corresponding point pair set. According to the invention, specific calibration blocks are not needed, a part to be grabbed can be taken as the calibration block, and the coordinate transformation matrix can be calibrated by combining a robot demonstration method conveniently and quickly.
Description
technical field [0001] The invention relates to the field of three-dimensional visual perception of robots, in particular to a coordinate transformation solution method of an industrial robot and a three-dimensional sensor. Background technique [0002] Robotic intelligent perception needs to process sensor data, and then transmit the processed data to the robot for job planning. In order to apply the perceptually processed data to industrial robot tasks, it is necessary to calibrate the coordinate transformation relationship between the three-dimensional sensor and the robot, and combine the coordinate system of the sensor with the coordinate system of the industrial robot. At present, the three-dimensional visual perception of robots mainly uses laser scanners, binocular cameras and RGBD cameras (three-dimensional visual depth cameras). Camera calibration usually requires a dedicated calibration board for calibration; while calibration based on point cloud data requires d...
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IPC IPC(8): G06F7/548
CPCG06F7/548
Inventor 庄春刚贾磊王哲张磊朱向阳
Owner SHANGHAI JIAOTONG UNIV