Calibration method and device for hand-eye relation of polishing operation arm

A calibration method and a calibration device technology, applied in the direction of manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of inapplicability of fast automatic identification, etc., and achieve the effect of solving fast automatic identification and improving the grinding speed

Active Publication Date: 2018-12-14
GUANGDONG UNIV OF TECH
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Problems solved by technology

[0004] The invention provides a method and device for calibrating the hand-eye relationship of the grinding operation arm, which solves the technical

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  • Calibration method and device for hand-eye relation of polishing operation arm
  • Calibration method and device for hand-eye relation of polishing operation arm
  • Calibration method and device for hand-eye relation of polishing operation arm

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Embodiment Construction

[0059] The embodiments of the present invention provide a method and device for calibrating the hand-eye relationship of a polishing manipulator, which solves the technical problem that the traditional visual sensor 3D stereo calibration is not suitable for the rapid automatic identification required by the polishing system.

[0060] In order to better understand the technical solution of the present invention, it should be noted that:

[0061] Because the 3D stereo calibration of the traditional vision sensor is not suitable for the fast automatic identification required by the grinding system, the hand-eye relationship proposed by Shiu et al. The relationship B is established, AX=XB matrix equation is established, and the transformation relationship matrix X between the vision sensor and the robot end is solved.

[0062] The calibration of the robot 3D scanning system includes the calibration of the internal parameters of the scanner, the conversion relationship between the se...

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Abstract

The invention discloses a calibration method and device for a hand-eye relation of a polishing operation arm. The calibration method comprises the steps that collected three-dimensional point cloud data of the surface of a calibration block is acquired; preprocessing is carried out on the three-dimensional point cloud data to remove corresponding noise points; a consistency algorithm is adopted tocarry out plane segmentation on the three-dimensional point cloud data with the noise points being removed, and an estimation planar model is obtained; according to a preset convex hull algorithm, the estimation planar model is solved, and a corresponding convex polygon is obtained; and by fitting vertexes of the convex polygon, an outer parameter rotation translation matrix RW(Cam) of a camera is calculated so that a transformational relation MCam(Tool) of a three-dimensional scanning camera coordinate system relative to the robot actuator tail end in robot hand-eye calibration can be determined. The technical problems that traditional visual sensor 3D calibration is not suitable for rapid automatic identification required by a polishing system is solved.

Description

technical field [0001] The invention relates to the technical field of hand-eye relationship calibration, in particular to a method and device for calibrating the hand-eye relationship of a polishing operation arm. Background technique [0002] Point cloud data is an important three-dimensional data in the fields of robotics, optical measurement, reverse engineering, geographic surveying and mapping. The 3D laser scanning technology performs non-contact scanning measurement by emitting laser light, and obtains the spatial pose information of the object surface, which is the point cloud data of the current research hotspot. It changes the previous method of single-point measurement with low accuracy. 3D laser scanning adopts binocular ranging, obtains the same object from two cameras, and measures distance with high precision according to parallax, and is suitable for various measurement of various complex environments. Point cloud data can truly restore the geometric inform...

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Application Information

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IPC IPC(8): B25J9/16
CPCB25J9/1671B25J9/1694
Inventor 李志梅陈新度吴磊刁世普
Owner GUANGDONG UNIV OF TECH
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