Robot hand and eye calibration method and device

Abstract

The application provides a robot hand and eye calibration method and device used in a robot system. The robot system comprises a mechanical arm, a calibration plate and a panoramic camera keeping fixed relative to a mechanical arm base, wherein the calibration plate is fixed at the mechanical arm tail end, and the relative positions of the mechanical arm tail end and the calibration plate remain unchanged. The method comprises the following steps of obtaining a relative position coordinate B of the mechanical arm tail end in a calibration plate coordinate system according to a plurality of calibration plate images shot by the panoramic camera in a first state, recording a plurality of position coordinate vectors D of the mechanical arm tail end in a mechanical arm base coordinate system ina second state, and solving to obtain a conversion matrix E between a panoramic camera coordinate system and the mechanical arm base coordinate system according to a first conversion matrix A1 between the calibration plate coordinate system and the panoramic camera coordinate system and the relative position coordinate B of the mechanical arm tail end in the calibration plate coordinate system, so that the accuracy is ensured and the process is simple and convenient.

Description

technical field [0001] The present application relates to the technical field of robot calibration, in particular to a method and device for robot hand-eye calibration. Background technique [0002] The robot has a vision system. Using the images acquired by the vision system, the robot can control the end of the mechanical arm to perform various actions. The vision system is equivalent to the "eyes" of the robot, and the end of the robotic arm is equivalent to the "hand" of the robot. The pre-set action tasks are completed through the cooperation between the hands and eyes. [0003] When the robot uses the hand-eye system to perform tasks, the vision system obtains the position of the environmental space object based on the vision system coordinate system. In order to ensure that the robot can accurately move the space object to the target position, it is necessary to determine the vision system coordinate system and the end coordinate system of the manipulator. The transf...

AI Technical Summary

Problems solved by technology

[0004] In the existing technology, in the calibration process, it is generally necessary to manually intervene to set the attitude of the robot, and then obtain the coordinate transformation relationship from the vision system coordinate system to the robot coordinate system. This calibration process is complicated and the accuracy cannot be guaranteed.

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