Hand-eye calibration evaluation method and robot

A hand-eye calibration and standard technology, applied in the field of robotic arms

Inactive Publication Date: 2020-04-28
HANGZHOU HIKVISION DIGITAL TECH
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  • Hand-eye calibration evaluation method and robot
  • Hand-eye calibration evaluation method and robot
  • Hand-eye calibration evaluation method and robot

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[0067] The technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Apparently, the described embodiments are only some of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present application.

[0068] In order to evaluate the accuracy of hand-eye calibration, embodiments of the present application provide a hand-eye calibration evaluation method, a robot, and an electronic device. In order to realize the evaluation of the positioning accuracy of the mechanical arm, the embodiments of the present application provide a positioning accuracy determination method, a robot, and an electronic device. In order to more accurately de...

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Abstract

The embodiment of the invention provides a hand-eye calibration evaluation method and a robot. The hand-eye calibration evaluation method comprises the following steps: acquiring a first transformation relation of a tail end coordinate system of a mechanical arm relative to a marker coordinate system where a marker is located; determining a standard hand-eye calibration transformation relation based on the first transformation relation, first pose information and second pose information; acquiring a measurement hand-eye calibration transformation relation of the mechanical arm, and determiningcalibration precision of the measurement hand-eye calibration transformation relation based on the standard hand-eye calibration transformation relation, wherein the marker is positioned at a presetposition at the tail end of the mechanical arm, the standard hand-eye calibration transformation relation is used for representing the transformation relation of a camera coordinate system where a vision sensor is located relative to a base coordinate system, the first pose information is the pose information of the tail end of the mechanical arm in the base coordinate system, and the second poseinformation is the pose information of the marker in the camera coordinate system. By applying the scheme provided by the embodiment of the invention, the accuracy of hand-eye calibration can be evaluated.

Description

technical field [0001] The present application relates to the technical field of mechanical arms, in particular to a hand-eye calibration evaluation method and a robot. Background technique [0002] Hand-eye calibration refers to establishing the relative relationship between the base of the manipulator and the coordinate system of the camera, so that the objects captured by the visual sensor can be expressed in the coordinate system of the base of the manipulator. High-precision hand-eye calibration is a prerequisite for completing operational tasks. A robotic arm is a device that combines mechanical parts and electrical components. A robotic arm usually includes a visual sensor, a main body, a base, and a main control component. The vision sensor is fixed relative to the base. A robotic arm can be part of a robot or a separate device. The mechanical arm can move the main part of the mechanical arm through the control of a series of motors and movable joints, and make t...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16
CPCB25J9/1664B25J9/1697
Inventor 李裕超蔡宏毛慧浦世亮
Owner HANGZHOU HIKVISION DIGITAL TECH
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