Hand-eye calibration method based on infrared stereoscopic vision positioning system and mechanical arm

A technology of stereo vision and positioning system, applied in the field of robotics and optical sensors

Active Publication Date: 2018-12-11
上海嘉奥信息科技发展有限公司
View PDF4 Cites 23 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, there is currently no solution that can well solve the problem of hand-eye calibration of the infrared stereo vision positioning system composed of external markers and structured light sensors. The present invention makes up for this gap

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Hand-eye calibration method based on infrared stereoscopic vision positioning system and mechanical arm
  • Hand-eye calibration method based on infrared stereoscopic vision positioning system and mechanical arm
  • Hand-eye calibration method based on infrared stereoscopic vision positioning system and mechanical arm

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0052] The present invention will be described in detail below in conjunction with specific embodiments. The following examples will help those skilled in the art to further understand the present invention, but do not limit the present invention in any form. It should be noted that those skilled in the art can make several changes and improvements without departing from the concept of the present invention. These all belong to the protection scope of the present invention.

[0053] In the present invention, the mechanical arm is used as the mechanical posture-changing movement execution device, the external marker of the infrared stereo vision positioning system is connected to the flange plate at the end of the mechanical arm, and the infrared stereo vision positioning system is used as the measuring device, and the mechanical arm is controlled by an algorithm to The center point of the flange is used as the origin to rotate around the axis to drive the movement of the mark...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

PUM

No PUM Login to view more

Abstract

The invention provides a hand-eye calibration method based on an infrared stereoscopic vision positioning system and a mechanical arm. The method comprises the following steps that 1, a transformationrelation between a mechanical arm tail end flange plate coordinate system {TCP} and a mechanical arm coordinate system {Base} is built; 2, a transformation relation between {TCP} and an external marker local coordinate system {DRF} is built; 3, a transformation relation between {TCP} and an infrared stereoscopic vision positioning system coordinate system {Tracker} is built; and 4, by means of the transformation relation between {TCP} and {Base} and the transformation relation between {TCP} and {Tracker}, a transformation matrix of {Base} relative to {Tracker} is obtained, and therefore hand-eye calibration based on the infrared stereoscopic vision positioning system and the mechanical arm is achieved. The hand-eye calibration method has the advantages of being easy and convenient to implement, practical, flexible, high in precision and the like.

Description

technical field [0001] The invention relates to robot technology and optical sensor technology, in particular to a hand-eye calibration method based on an infrared stereo vision positioning system and a mechanical arm. Background technique [0002] With the development of science and technology in today's society, robotics and optical sensor technologies are widely used in many fields, especially in the field of precision medicine. In order to use the robotic arm to help doctors complete some operations that require precise positioning, it is necessary to register the coordinate system of the robotic arm with the three-dimensional space coordinate system of the patient. The basis of this registration is to establish the coordinate system transformation relationship between the end of the mechanical arm (such as flange, gripper, etc.) The problem of transforming relations is called the hand-eye calibration problem of robots. [0003] For the hand-eye calibration problem of ...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

Application Information

Patent Timeline
no application Login to view more
Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16
CPCB25J9/1692
Inventor 吕天予
Owner 上海嘉奥信息科技发展有限公司
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Try Eureka
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap