High-precision method for hand-eye calibration of fixed camera vision system of SCARA mechanical arm

Abstract

The invention provides a high-precision method for hand-eye calibration of a fixed camera vision system of an SCARA mechanical arm. The high-precision method comprises the following steps that a target is adhered to one end of a strip-shaped tool, the other end of the strip-shaped tool is fixed to the end of the mechanical arm, a camera is fixed at a fixed position of the working range of the mechanical arm, and the camera shooting surface and the target are parallel to the working plane; rough calibration is carried out, wherein the mechanical arm drives the target to move and rotate within apreset small range, and an initial mapping relation between an image coordinate system and a mechanical arm coordinate system is established according to the position of the mechanical arm and the identification result of the target at each position; and fine calibration is carried out, wherein a plurality of target image positions are preset in the image coordinate system, the moving position corresponding to the mechanical arm is calculated on the basis of the initial mapping relation, the corresponding target images are automatically recognized, affine transformation models are constructed, an affine transformation model is converted into the optimal solution problem, and the affine transformation matrix of the image coordinate system to the mechanical arm coordinate system is obtained. The method is high in calibration precision, simple and convenient to operate and capable of realizing one-key calibration.

Description

technical field [0001] The invention relates to the technical field of robot calibration, in particular to a high-precision method for hand-eye calibration of a SCARA manipulator with a fixed camera vision system. Background technique [0002] As the key equipment of intelligent manufacturing technology, industrial robots have been widely used in automobile, machinery, electronics, home appliances, petrochemical, logistics and other industries for workpiece handling, loading and unloading, sorting and other operations. Traditional teaching robots have to go through precise point-by-point teaching to complete these operations, and they can only target a single workpiece that is fixedly placed, which has strong limitations. With the development of society and the diversification of needs, the industrial field has put forward higher requirements for the flexibility and intelligence of automated production lines. In recent years, machine vision technology has achieved rapid dev...

AI Technical Summary

Problems solved by technology

[0005] Aiming at the technical problems of insufficient accuracy and cumbersome operation of existing robot and vision system calibration methods, the present invention proposes a high-precision method for hand-eye calibration of a SCARA manipulator vision system, aiming at the fixed installation camera vision system (Eye- to-hand) proposed an easy-to-operate and high-precision calibration method to determine the "hand-eye" relationship of the robot

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