Robot hand-eye calibration method, device, robot and storage medium
A hand-eye calibration and robot technology, applied in the field of mobile robots, can solve the problems of inaccurate processing accuracy of the calibration plate, low hand-eye calibration accuracy, affecting the accuracy of the hand-eye calibration result, etc., and achieve the effect of saving costs and improving accuracy.
Active Publication Date: 2021-09-28
CLOUDMINDS BEIJING TECH CO LTD
View PDF5 Cites 0 Cited by
- Summary
- Abstract
- Description
- Claims
- Application Information
AI Technical Summary
Problems solved by technology
[0005] The inventor found that there are at least the following problems in the related technology: the calibration board is pre-processed, and the processing accuracy of the calibration board will affect the accuracy of the hand-eye calibration results. If the processing accuracy of the calibration board is not accurate, the accuracy of the hand-eye calibration will be low.
Method used
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View moreImage
Smart Image Click on the blue labels to locate them in the text.
Smart ImageViewing Examples
Examples
Experimental program
Comparison scheme
Effect test
Embodiment Construction
[0024] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the embodiments of the present invention will be described in detail below with reference to the accompanying drawings. However, those skilled in the art can understand that in each embodiment of the present invention, many technical details are provided for readers to better understand the present application. However, even without these technical details and various changes and modifications based on the following embodiments, the technical solutions claimed in this application can also be realized.
[0025] The division of the following embodiments is for the convenience of description, and should not constitute any limitation to the specific implementation of the present invention, and the various embodiments can be combined and referred to each other on the premise of no contradiction.
[0026] The first embodiment of the present invention relates t...
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More PUM
Login to View More Abstract
The embodiment of the present invention relates to the field of mobile robots, and discloses a robot hand-eye calibration method, device, robot and storage medium. In the present invention, the robot is controlled to move, and the rotation data of each joint of the robot is obtained; according to the rotation data of each joint and the preset parameters of each joint, the position of the hand after the robot moves is calculated relative to the position of the hand when the robot is in zero position position change data; determine the first position data of the robot’s hand in the robot coordinate system according to the position change data; according to the first position data and the first position data of the hand in the camera coordinate system collected by the camera of the robot after moving Two position data, calculate the conversion matrix between the robot coordinate system and the camera coordinate system and the compensation value of the preset parameters of each joint; use the conversion matrix and the compensation value of the preset parameters of each joint as the result of the hand-eye calibration of the robot.
Description
technical field [0001] Embodiments of the present invention relate to the field of mobile robots, and in particular to a robot hand-eye calibration method, device, robot and storage medium. Background technique [0002] With the rapid development of the field of mobile robots, mobile robots have been widely used in various application scenarios. In order to enable the robot to realize the detection and identification of the external environment, visual sensors can be installed on the robot to assist the robot to complete detection, etc. Complex and intelligent tasks. [0003] After the vision sensor is installed on the robot, since the position of the object sensed by the vision sensor is not consistent with the coordinate system of the robot arm that controls the robot's action, if the movement of the robot is controlled by the position information of the object detected by the vision sensor, the robot will not be able to To achieve the desired action, it is necessary to k...
Claims
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More Application Information
Patent Timeline
Login to View More Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16
CPCB25J9/1602B25J9/1664B25J9/1697
Inventor 徐泽元彭飞
Owner CLOUDMINDS BEIJING TECH CO LTD