Method and device for determining the position of key points in robot hand-eye calibration based on calibration block
A technology of key point position and robot hand, applied in the direction of instrument, image data processing, calculation, etc., can solve the problems of low calibration accuracy, high calibration cost, unfavorable fast calibration, etc., and achieve the effect of low cost
Active Publication Date: 2020-07-31
GUANGDONG POLYTECHNIC NORMAL UNIV
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[0003] At present, there are many hand-eye calibration methods for the eye-in-hand vision system, but for the robot dynamic 3D vision system, these existing calibration methods either have low calibration accuracy or high calibration costs (requiring expensive laser trackers, etc.) equipment), and it is not conducive to rapid calibration
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[0046]The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.
[0047] figure 1 is the calibration block used in the present invention, wherein, the calibration block is a three-dimensional calibration block, and the key point is figure 1 Points P1, P2, and P3 in figure 2 It is a schematic diagram of robot detection posture adjustment in the present invention. After adjusting the posture of the three-dimensional calibration block, the detection posture of the robot is adjusted to determine the coordinate values of points P1,...
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The present invention proposes a method and device for determining the position of key points in robot hand-eye calibration based on calibration blocks. By adjusting the posture of the three-dimensional calibration blocks, the connection line between any two points of the key points on the three-dimensional calibration blocks can be The projection of the XY plane is not parallel to any coordinate axis of the robot base coordinate system; and the attitude of the robot is adjusted so that the three-dimensional vision system at the end of the robot can obtain the three-dimensional calibration block point cloud containing the surrounding surface of the key point; and then The CAD model of the 3D calibration block is converted into a point cloud of the 3D calibration block model; then the point cloud of the 3D calibration block model is registered with the point cloud of the 3D calibration block; finally, the threshold value is set to obtain the point cloud near the key point from the 3D calibration block point cloud, thereby Determine the coordinate value of the key point in the coordinate system of the 3D vision system. The present invention can extract key points in a low-cost, convenient and high-precision manner, thereby performing hand-eye calibration in a robot vision system in a low-cost, convenient and high-precision manner.
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 method and device for determining the position of key points in robot hand-eye calibration based on calibration blocks. 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 th...
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IPC IPC(8): G06T7/33G06T7/80
CPCG06T2207/10028G06T7/344G06T7/80
Inventor 郑振兴刁世普秦磊
Owner GUANGDONG POLYTECHNIC NORMAL UNIV