Hand-eye calibration method of industrial robot

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...

AI Technical Summary

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 existing automatic calibration methods have higher requirements for the deployment of the calibration environment (calibration tools and installation, etc.), and the calibration process is relatively cumbersome or the amount of calculation is large

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