A method for hand-eye calibration of workpiece

Abstract

The invention relates to a hand-eye calibration method, in particular to a hand-eye calibration method for workpieces. According to two-time hand-eye calibration data of layers separated by multiple layers, the workpiece position and posture coordinates of all intermediate layers are subjected to automatic interpolation calculation. The problem that layer-by-layer calibration is needed due to space relative position change is effectively solved, the number of calibration times is decreased, the time is saved, the labor work intensity is reduced, and the grasping precision is improved.

Description

technical field [0001] The invention relates to a hand-eye calibration method, in particular to a hand-eye calibration method for workpieces. Background technique [0002] In industrial sites, manipulators and industrial cameras (hand-eye system) are usually used to complete the handling, packaging and installation of workpieces. In order to save space, the workpiece is placed in a multi-layer manner. The position of the camera is relatively unchanged from the space position of the top layer of workpiece. The group needs to descend and move a fixed distance to ensure that the relative spatial position of the camera and the next layer remains unchanged, such as figure 1 , for an n-layer workpiece, the camera module needs to be lowered n-1 times. In actual production, due to the processing error of the module itself, the error caused by the wear of the tooling for a long time, the vibration of the module, etc., the camera module There is an error between the relative spatial...

AI Technical Summary

Problems solved by technology

In order to save space, the workpiece is placed in a multi-layer manner. The position of the camera is relatively unchanged from the space position of the top layer of workpiece. The group needs to descend and move a fixed distance to ensure that the relative spatial position of the camera and the next layer remains unchanged, such as figure 1 , for an n-layer workpiece, the camera module needs to be lowered n-1 times. In actual production, due to the processing error of the module itself, the error caused by the wear of the tooling for a long time, the vibration of the module, etc., the camera module There is an error between the relative spatial position of the current layer and the standard spatial position. Because only one hand-eye calibration is performed, the workpiece coordinates of the current layer calculated by the hand-eye calibration data cannot be applied to the hand-eye grasping after the spatial position error occurs.

[0003] The existing layer-by-layer hand-eye calibration mode is used. Each layer has a calibration data, and the workpiece pose coordinates are calculated layer by layer based on the calibration data of the current layer. This method takes a long time and is slow, requiring operators to have higher professional knowledge

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