Robot hand eye calibration method and device based on standard ball

Abstract

The invention relates to a robot hand eye calibration method and a robot hand eye calibration device based on a standard ball. The method comprises the steps of acquiring point cloud information of the standard ball based on a camera coordinate system, and position information of a robot TCP in a robot-based coordinate system; positioning a ball surface of the standard ball according to the pointcloud information, determining a ball center position of the standard ball, and determining a three-dimensional coordinate value of the ball center of the standard ball in the camera coordinate systembased on a maximum likelihood estimation algorithm according to the ball center position; and determining an overdetermined transformation matrix equation of the three-dimensional coordinate value from the camera coordinate system to the robot-based coordinate system, and utilizing a least square optimization algorithm for determining a homogeneous transformation matrix of the camera coordinate system in the robot-based coordinate system, so that robot hand eye calibration is realized. According to the robot hand eye calibration method and the robot hand eye calibration device based on the standard ball provided by the invention, the robot hand eye calibration is realized by adopting the standard ball, no internal parameters of a camera is required to be calibrated, and the calibration method is simple, high in efficiency and suitable for hand eye calibration operation of various robots.

Description

technical field [0001] The invention relates to the technical field of robot calibration, in particular to a method and device for robot hand-eye calibration based on a standard sphere. Background technique [0002] With the development of artificial intelligence technology, robots have been widely used in many industries, especially in industrial applications, such as assembly, grasping workpieces, etc., all require high-precision calibration of the robot's hand-eye relationship. Cooperate with each other to complete the pre-set action tasks. At present, most of the robot hand-eye calibration methods focus on the calibration of dots, checkerboards, and three-dimensional calibration blocks. However, these hand-eye calibration methods all need to calibrate the internal parameters of the camera. The calibration workload is large, and the calibration accuracy will decrease after the camera is worn out. Contents of the invention [0003] Aiming at the technical problems exist...

AI Technical Summary

Problems solved by technology

At present, most of the robot hand-eye calibration methods focus on the calibration of dots, checkerboards, and three-dimensional calibration blocks. However, these hand-eye calibration methods all need to calibrate the internal parameters of the camera, and the calibration workload is large. At the same time, the calibration accuracy will decrease after the camera is worn out.

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