Hand-eye calibration method of industrial robot

An industrial robot and calibration method technology, applied in the field of industrial robot hand-eye calibration, can solve the problems of time-consuming calibration process, difficult to guarantee accuracy, and cumbersome calibration process, so as to reduce the difficulty and cost of actual operation, avoid manual operation, and achieve high-precision automatic Calibration effect

Active Publication Date: 2019-08-09
UNIV OF ELECTRONICS SCI & TECH OF CHINA
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  • Description
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Problems solved by technology

[0004] Traditional industrial robot hand-eye calibration mostly uses manual calibration. Due to human intervention in data collection, the calibration process is time-consuming and laborious, and the accuracy is difficult to guarantee.
However, some

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  • Hand-eye calibration method of industrial robot
  • Hand-eye calibration method of industrial robot
  • Hand-eye calibration method of industrial robot

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Embodiment

[0036] In order to better illustrate the technical scheme and technical effect of the present invention, a specific example is used for experimental verification. In this experimental verification, an industrial robot with 4 degrees of freedom is used, and its calibration environment is deployed according to figure 2 (a) is carried out, where the camera is about 1200mm high from the working plane of the industrial robot, and a camera with a resolution of 1.3 million is used. For the sake of simplicity in the description of the embodiment, in this embodiment, four calibration data collection points are selected in the working plane area of ​​the industrial robot, and their coordinates in the base coordinate system of the industrial robot are respectively

[0037] Calibration data collection is performed at each calibration data collection point in turn, and the specific process is as follows:

[0038] Control the movement of the end of the robot manipulator arm to the fir...

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Abstract

The invention discloses a hand-eye calibration method of an industrial robot; the hand-eye calibration method can deploy a camera and a calibration plate, a plurality of calibration data collection points are set in a working plane area of the industrial robot and the coordinates in the industrial robot base coordinate system are recorded; and then the tail end of the operating arm of the industrial robot is controlled to drive the calibration plate to rotate around a central shaft at the tail end of the operating arm; during this process, the camera is controlled to collect the image of the calibration plate at different positions extract the calibration point from the image; the coordinates of the center of the circle are calculated according to the coordinates of the same calibration point in the calibration plate image at different positions; and the coordinate is the coordinate of the tail end of the operating arm in the camera image coordinate system, so the coordinate mapping data of the industrial robot coordinate system and the camera image coordinate system is obtained; the conversion matrix between the industrial robot base coordinate system and the camera image coordinate system can be calculated according to the data, so the automatic hand-eye calibration of the industrial robot is realized.

Description

technical field [0001] The invention belongs to the technical field of machine vision and image processing, and more specifically relates to a hand-eye calibration method for an industrial robot. Background technique [0002] With the continuous development of artificial intelligence technology, the traditional industrial robot is endowed with the machine vision system, which detects the working scene and operating objects of the robot through the vision system, and automatically guides the robot to complete the relevant operation tasks, making it more flexible or intelligent in application . To combine machine vision with the motion control of industrial robots, it is necessary to find the conversion relationship between the two, which is commonly referred to as the hand-eye relationship, and the process of determining this hand-eye relationship is hand-eye calibration. [0003] According to the positional relationship between the visual sensor and the manipulator of the i...

Claims

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Application Information

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IPC IPC(8): B25J9/16
CPCB25J9/1692
Inventor 康波杨曦李云霞徐阳翰杨丽萍
Owner UNIV OF ELECTRONICS SCI & TECH OF CHINA
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