Assembly line multi-manipulator calibration method, device, computer equipment and storage medium

Abstract

The invention relates to an assembly line multi-manipulator calibration method, device, computer equipment and storage medium. The method includes obtaining the coordinate system of a camera set on the assembly line to obtain a visual coordinate system; obtaining the coordinate system of the manipulator on the assembly line to obtain the coordinates of the manipulator. system; obtain the coordinate system of the pipeline to obtain the pipeline coordinate system; calculate the relationship between the visual coordinate system, the manipulator coordinate system and the pipeline coordinate system; obtain the current coordinates of the manipulator in the visual coordinate system to obtain the initial coordinates; obtain the visual coordinate system The current coordinates of the pipeline body to obtain the pipeline coordinates; obtain the current coordinates of the pipeline body corresponding to all the manipulators in the visual coordinate system to obtain the initial pipeline coordinates; calculate the coordinates of all the manipulators on the pipeline. The invention realizes effectively avoiding the phenomenon that errors in the calibration of the manipulator and the assembly line and the error of the assembly line encoder increase with the running distance of the assembly line, and improves the grasping accuracy of the manipulator at the end of the assembly line.

Description

technical field [0001] The present invention relates to a manipulator calibration method, and more specifically refers to a pipeline multi-manipulator calibration method, device, computer equipment and storage medium. Background technique [0002] With the continuous development and needs of human science and technology, cameras are used more and more widely and play an extremely important role in social life. For example, if a camera is installed on a car, after the camera is calibrated by the vehicle-mounted terminal, the pose of the camera can be obtained to determine the position of the car. [0003] The assembly line, also known as the assembly line, is an industrial production method, which means that each production unit only focuses on processing a certain segment of work to improve work efficiency and output; And the position calibration of the assembly line, in order to accurately control the work of the manipulator, but due to the errors in the calibration of the...

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Problems solved by technology

[0003] The assembly line, also known as the assembly line, is an industrial production method, which means that each production unit only focuses on processing a certain segment of work to improve work efficiency and output; And the position calibration of the assembly line, in order to accurately control the work of the manipulator, but due to the errors in the calibration of the manipulator and the pipeline and the error of the pipeline encoder, these errors will gradually increase with the running distance of the pipeline, resulting in poor grasping accuracy of the manipulator at the end of the pipeline. high

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