A three-dimensional spherical target for isotropic vision sensing and its calibration method
A visual sensing, isotropic technology, applied in the direction of program control manipulators, manufacturing tools, manipulators, etc., can solve the problems of low absolute positioning accuracy and dynamic pose errors of industrial robots, and achieve the effect of low cost and simple operation.
Active Publication Date: 2019-07-09
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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[0005] The purpose of the present invention is to address the defects or problems of the prior art, provide an isotropic and robust to the measurement environment three-dimensional target and its calibration method, to solve the problem of low absolute positioning accuracy of industrial robots, dynamic pose error compensation, etc. question
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[0065] In order to enable those skilled in the art to better understand the technical solutions in the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described The embodiments are only some of the embodiments of the present application, but not all of them. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative efforts shall fall within the protection scope of this application.
[0066] Unless the context clearly states otherwise, the number of elements and components in the present invention can exist in a single form or in multiple forms, and the present invention is not limited thereto. Although the steps in the present invention are arranged with labels, they are not used to limit the order of the steps. Unless the order of ...
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The invention provides an isotropic vision-sensing stereoscopic spherical target object which comprises a mark module, a circular marker and a sphere support. A calibration method of the isotropic vision-sensing stereoscopic spherical target object comprises the steps of connecting the stereoscopic spherical target object and a flange plate at the tail end of a robot, wherein the robot comprises abinocular vision system, and the binocular vision system faces the stereoscopic spherical target object and is used for acquiring vision information of the stereoscopic spherical target object; calibrating the binocular system, calibrating hands and eyes of the robot, calibrating a conversion relation between a tail end target object coordinate system and the tail end of the robot, and building awhole situation measurement coordinate system; obtaining a theoretical tail end pose of robot movement according to a robot movement model; carrying out binocular vision measurement on a target object ball at the tail end of the robot, calculating a pose of a measured target object sphere space point in a spherical coordinate, converting the pose to the tail end of the robot according to the calibration result, and obtaining the pose of the tail end of the robot; and controlling the robot to move, and calculating a theoretical pose and a measured pose at the time.
Description
technical field [0001] The invention relates to the fields of visual three-dimensional measurement and robot precision control, in particular to an isotropic visual sensing three-dimensional spherical target and a calibration method. Background technique [0002] Industrial robots have the advantages of high flexibility, high repeatability, good reliability, and strong applicability. In recent years, they have been gradually used in flexible automation and intelligent manufacturing, and are widely used in mechanical engineering, automobiles, and aerospace fields. With the gradual expansion of applications, robots are gradually used in the fields of precision processing and intelligent processing, such as laser cutting, aircraft assembly, flexible precision processing, etc. However, due to the influence of the working environment and the working principle of the robot itself, errors will occur during the robot's work, resulting in high relative positioning accuracy and low ab...
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IPC IPC(8): B25J9/16
CPCB25J9/1697
Inventor 崔海华姜涛程筱胜田威
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS