A joint automatic calibration method and device for a robot visual servo system
A technology of robot vision and servo system, applied in the computer field, can solve problems such as global optimization without consideration of system error, error analysis and optimization, and increased debugging difficulty, so as to achieve the effect of eliminating manual operation, realizing system error and realizing automation
A technology of robot vision and servo system, applied in the computer field, can solve problems such as global optimization without consideration of system error, error analysis and optimization, and increased debugging difficulty, so as to achieve the effect of eliminating manual operation, realizing system error and realizing automation
CN110136208BActive Publication Date: 2020-03-17北京无远弗届科技有限公司
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[0036] The specific embodiments of the present invention will be further described below in conjunction with the accompanying drawings. The following examples are only used to illustrate the technical solution of the present invention more clearly, but not to limit the protection scope of the present invention.
[0037] figure 1 It shows a schematic flowchart of a joint automatic calibration method for a robot visual servo system provided in this embodiment, including:
[0038] S101. Carry out camera calibration for the robot visual servo system, and determine camera internal parameters and distortion parameters.
[0039] Specifically, the image acquisition requirements for camera calibration are the simplest, as long as the camera can capture a complete and clear target pattern, the acquisition conditions can be considered satisfied. Therefore, it is only necessary to fix the position of the calibration object in advance, calculate a series of positions and attitudes suitab...
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The embodiment of the invention discloses a joint automatic calibration method and device for a robot vision servo system, and the method comprises the steps: carrying out the camera calibration of the robot vision servo system, and determining the internal parameters and distortion parameters of a camera; performing line structured light plane calibration, and determining line structured light plane parameters; performing hand-eye calibration, and determining a coordinate conversion relation between a second robot end effector and a camera; performing positioning system calibration, and determining a transformation relation between a robot base coordinate system and an infrared laser positioning base station coordinate system; and determining a joint automatic calibration result of the robot vision servo system according to the camera internal parameters, the distortion parameters, the linear structure light plane parameters, the coordinate conversion relationship and the transformation relationship. Firstly, joint calibration of multiple sensing and positioning modes is realized, so that an industrial robot vision servo system is not limited to structured light vision sensing orbinocular vision sensing; secondly, the automation of the calibration process is realized, the manual operation is removed, and the working efficiency is improved.
Description
technical field [0001] The invention relates to the field of computer technology, in particular to a joint automatic calibration method and device for a robot visual servo system. Background technique [0002] The mechanical arm is the most widely used automatic mechanical device in the field of robotics. It is widely used in industrial manufacturing, medical treatment, entertainment services, military, semiconductor manufacturing and other fields. Although the common six-degree-of-freedom mechanical arm pose accuracy Now it can achieve a very high level, but to achieve high precision in actual use requires complex simulation and on-site teaching processes to achieve. At the same time, there are high requirements for the consistency of the workpiece, and it lacks the intelligence to correct deviations independently. [0003] In the 1960s, due to the development of robots and computer technology, people began to study robots with visual functions, aiming to collect and analyz...
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Patent Timeline
17 Mar 2020
Publication
CN110136208B
- IPC
- G06T7/80
- CPC
- G06T7/85
- Inventors
- 郭颜京天; 刘昊