Method and device for jointly calibrating robot and three-dimensional sensing component

A sensor component and joint calibration technology, applied in the field of three-dimensional measurement, can solve the problem of low matching accuracy of calibration results, and achieve the effect of improving matching accuracy

Active Publication Date: 2018-07-31
SHENZHEN ESUN DISPLAY +1
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Problems solved by technology

[0004] Based on this, it is necessary to address the problem of low matching accuracy of calibration results, and provide a joint calibrat...

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  • Method and device for jointly calibrating robot and three-dimensional sensing component
  • Method and device for jointly calibrating robot and three-dimensional sensing component
  • Method and device for jointly calibrating robot and three-dimensional sensing component

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Embodiment Construction

[0042] In order to make the purpose, technical solution and advantages of the present application clearer, the present application will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present application, and are not intended to limit the present application.

[0043] The joint calibration method of robot and three-dimensional sensing components provided by this application can be applied to such as figure 1 shown in the application environment. Wherein, the terminal 102 communicates with the server 104 through the network. Obtain the target reference point information, the transformation relationship of the first coordinate system, the transformation relationship of the third coordinate system and the transformation relationship of the second coordinate system corresponding to the robot in different postures through the termina...

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Abstract

The invention relates to a method and device for jointly calibrating a robot and a three-dimensional sensing component, a computer device and a storage medium. The method comprises: acquiring target reference point information corresponding to a robot in different attitudes; calibrating the parameter of the three-dimensional sensing component; determining a first coordinate system transformation relation matching the three-dimensional depth information under different robot attitudes; determining a second coordinate system transformation relation of the space attitudes of the robot under different rotation angles; and according to the plurality of transformation relations and the acquired robot attitude information and rotation angle information, calculating a global transformation matrixfor global calibration and optimization. The method, by calibrating the parameter and obtaining the transformation relation between multiple coordinate systems, performs multi-view three-dimensional reconstruction on an object under a finite field of view angle, further obtains the field of view information of different rotation angles of the robot, calculates the global transformation matrix, andperforms global calibration so as to fully realize the multi-view depth data information fusion, and achieve an effect of improving the matching accuracy.

Description

technical field [0001] The present application relates to the technical field of three-dimensional measurement, in particular to a joint calibration method, device, computer equipment and storage medium of a robot and a three-dimensional sensing component. Background technique [0002] With the continuous development of my country's manufacturing industry, robots have become indispensable and important equipment in advanced manufacturing industries. The intelligent perception of robots needs to process sensor data, and then transmit the processed data to robots for job planning. In the field of 3D measurement, robots need to be combined with various types of 3D sensing components to realize functions such as intelligent perception, viewpoint planning, multi-viewpoint 3D reconstruction and matching, etc. The transformation relationship between the sensing component and the robot is calibrated, and the coordinate system of the sensing component is combined with the coordinate ...

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Application Information

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IPC IPC(8): G06T7/80G06T17/00G06F17/16B25J19/02B25J9/16
CPCB25J9/16B25J19/02G06F17/16G06T7/85G06T17/00G06T2207/10028
Inventor 陈海龙张雅琴刘晓利彭翔刘梦龙向开兵
Owner SHENZHEN ESUN DISPLAY
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