Single-camera hand-eye calibration method of manipulator end

A hand-eye calibration and robotic arm technology, applied in image data processing, instruments, calculations, etc., can solve problems such as complex calibration process, low calibration efficiency, and impact on calibration accuracy

Active Publication Date: 2018-03-16
深圳市大族机器人有限公司
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0004] Based on this, it is necessary to provide a single-camera hand-eye calibration method at the end of the manipulator to solve the problems of complex calibration process, low calibration efficiency, and calibration accuracy are greatly affected by human factors in the hand-eye calibration method.

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  • Single-camera hand-eye calibration method of manipulator end

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Embodiment Construction

[0034] In order to facilitate the understanding of the present invention, the hand-eye calibration method of the single camera at the end of the mechanical arm will be described more fully below with reference to the relevant drawings. The preferred embodiment of the hand-eye calibration method for a single camera at the end of the manipulator is given in the accompanying drawings. However, the hand-eye calibration method of a single camera at the end of the robotic arm can be implemented in many different forms, and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the disclosure of the hand-eye calibration method for the single camera at the end of the mechanical arm more thorough and comprehensive.

[0035] It should be noted that when an element is referred to as being "fixed" to another element, it can be directly on the other element or there may be an intervening element. When an element is said t...

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Abstract

The invention relates to a single-camera hand-eye calibration method of a manipulator end. The above-mentioned single-camera hand-eye calibration method of the manipulator end includes: providing a calibration plate; placing the calibration plate in a visual field of a camera, controlling the camera for photographing, and controlling the manipulator end to be rotated to obtain a plurality of firstpixel coordinates of a center of a mark; wherein the first pixel coordinates of the center of the mark are the first of the first pixel coordinates before the manipulator end is rotated; and fittingthe plurality of first pixel coordinates into a circle, and calculating circle center coordinates corresponding to the circle, namely pixel coordinates of the manipulator end. According to the above-mentioned single-camera hand-eye calibration method of the manipulator end, artificial and manual operations of manipulator movement is not required, an entire calibration process is simple, calibration time is shorter, and impacts of artificial factors on calibration precision are smaller; and because the calibration time of the above-mentioned calibration method is shorter, calibration efficiencyof the calibration method is enabled to be higher.

Description

technical field [0001] The present invention relates to the technical field of camera calibration, in particular to a hand-eye calibration method for a single camera at the end of a mechanical arm. Background technique [0002] With the introduction of Industry 4.0, the application of robotic arms and machine vision in industrial production is becoming more and more extensive. The technology of visual positioning guiding robotic arms for precision machining has become a trend to replace traditional manual precision machining, which can greatly improve the processing efficiency of products. [0003] Visual positioning guides the robotic arm for precision machining. First, the coordinates of the machine vision and the mechanical arm are calibrated, so that the target coordinates of the visual positioning are converted into the coordinates of the robotic arm to complete the visual guidance. The hand-eye calibration is used as the visual guidance of the robotic arm. the key to. ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/80G06T7/66
CPCG06T2207/30204G06T7/66G06T7/80
Inventor 耿小猛邓辅秦丁新峰原馨杜志强刘晓阳陈作庆王光能高云峰
Owner 深圳市大族机器人有限公司
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