A method and device for hand-eye calibration of a robotic arm based on three-dimensional object recognition

Abstract

The invention discloses a method and device for hand-eye calibration of a manipulator based on three-dimensional object recognition, wherein the calibration method includes: step S1, obtaining the first calibration data of the calibration object in the three-dimensional viewing angle coordinate system; step S2, obtaining the calibration The second calibration data of the object in the mechanical arm coordinate system; step S3, according to the first calibration data and the second calibration data, using the ICP iterative closest point algorithm to solve: the coordinates in the three-dimensional viewing angle coordinate system to The transfer matrix in the robot coordinate system. This calibration method can still achieve high-precision calibration in an environment with weak light intensity, and has simple steps and strong operability, which overcomes the shortcomings of existing calibration methods such as low precision, complicated steps, poor operability, and large impact of light.

Description

technical field [0001] The invention relates to the field of image recognition processing, in particular to a method and device for hand-eye calibration of a mechanical arm based on three-dimensional object recognition. Background technique [0002] Industrial automation is the main sign of the global industry 4.0 era, intelligent manufacturing and unmanned factories are the future trend of industrial automation. In an unmanned factory, the robotic arm replaces the manual to do some repetitive sorting and assembly work, which can not only save costs, but also improve work efficiency. Smarter vision and precise robotic arm control systems have become important prerequisites for the realization of unmanned factories. [0003] Two-dimensional vision has been developed for many years and has mature theories and application scenarios. However, as people's demand for machine work scenarios increases, two-dimensional vision can no longer meet the requirements. Three-dimensional v...

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Problems solved by technology

[0006] In view of the deficiencies in the prior art above, the purpose of the present invention is to provide a method and device for manipulator hand-eye calibration based on three-dimensional object recognition, aiming to solve the problem of the existing two-dimensional checkerboard-based calibration method with complicated steps and high environmental requirements. Harsh, imprecise questions

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