Robot hand-eye calibration method and device based on novel three-dimensional (3D) calibration block

Abstract

The invention provides a robot hand-eye calibration method and device based on a novel three-dimensional (3D) calibration block. The robot hand-eye calibration method based on the novel 3D calibrationblock includes the steps of enabling a 3D vision device to acquire a point cloud, containing three key points, on the 3D calibration block, by adjusting postures of a robot and placing postures of the 3D calibration block, and enabling a probe to accurately touch positions of the three key points on the 3D calibration block; confirming coordinate values of the three key points under a robot basecoordinate system; confirming coordinate values of the three key points under a 3D vision system coordinate system according to the acquired point cloud, containing the three key points, on the 3D calibration block; confirming a workpiece coordinate system PB under the robot base coordinate system; confirming a workpiece coordinate system PS under the 3D vision system coordinate system; and confirming a transformation matrix from the 3D vision system coordinate system to the robot base coordinate system according to the PB and the PS, and using the transformation matrix to realize hand-eye calibration of the robot. The robot hand-eye calibration method and device based on the novel 3D calibration block can perform the hand-eye calibration low in cost, convenient and quick, and high in accuracy in the robot dynamic 3D vision system, and is wide in application.

Description

technical field [0001] The invention relates to the calibration of the visual guidance system in the robot automatic processing system, the calibration of the vision system in the detection of the position and related parameters of the parts to be assembled in the robot automatic assembly system, and the conversion of the target position information after the defect is obtained by analyzing the sensor data in the processing center The technical field of the hand-eye calibration of the detection system in the field of automation such as the calibration of the visual inspection system and the vision-guided operation in other automated processing (operation) processes, specifically relates to a robot hand-eye calibration method and device based on a new three-dimensional calibration block. Background technique [0002] Automation equipment is a sharp weapon for manufacturing a powerful country, so it must move towards high speed and intelligence. One of the important means is to...

AI Technical Summary

Problems solved by technology

[0003] At present, there are many hand-eye calibration methods for eye-in-hand vision systems, but for robot dynamic 3D vision systems, the existing calibration methods either have low calibration accuracy or high calibration costs (requiring expensive instruments such as laser trackers) equipment), and is not conducive to rapid calibration

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