Full-automatic robot hand-eye calibration method

Abstract

The invention relates to the field of automatic robots, in particular to a full-automatic robot hand-eye calibration method. The method involves a system of a robot. The method comprises the followingspecific steps that S1, data are collected; S2, a mode is selected; S3, a calibration plate is manually mounted and arranged; S4, the data are recorded; S5, whether enough calibration data are collected or not is judged; S6, calibration is performed; S7, a mechanical arm tail end posture is converted into a transfer matrix from a tail end to a mechanical arm base; S8, 80% of the data are extracted randomly, and a hand-eye calibration matrix is calculated according to a formula; S9, errors of a calibration result on all the data are calculated; S10, the eighth and ninth steps are repeated, andthe hand-eye calibration matrix with the minimum error is recorded; and S11, the hand-eye calibration results are stored in a document so that other programs can read and use the results conveniently. Compared with a previous manual teaching calibration mode which frequently costs half an hour, automatic calibration can shorten the calibration time to a dozen of minutes or even less, and the timeis greatly saved.

Description

technical field [0001] The invention relates to the field of automatic robots, in particular to a hand-eye calibration method for a fully automatic robot. Background technique [0002] In the existing hand-eye calibration technology, most of them rely on manual collection of calibration data, such as the industrial robot hand-eye calibration method with the Chinese patent application number 201910386656.4 and the robot hand-eye calibration method and system with the patent application number 201810541740.4. Compared with the machine In terms of automation, it is more time-consuming and labor-intensive. At the same time, due to manual participation, it will inevitably affect the data during data collection, which in turn affects the accuracy of the calibration results. The existing automatic calibration, such as the fully automatic hand-eye patent application number 201910479456.3 Calibration, working plane calibration method and device described above, fully automatic calibr...

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Problems solved by technology

[0002] In the existing hand-eye calibration technology, most of them rely on manual collection of calibration data, such as the industrial robot hand-eye calibration method with the Chinese patent application number 201910386656.4 and the robot hand-eye calibration method and system with the patent application number 201810541740.4. Compared with the machine In terms of automation, it is more time-consuming and labor-intensive. At the same time, due to manual participation, it will inevitably affect the data during data collection, which in turn affects the accuracy of the calibration results. The existing automatic calibration, such as the fully automatic hand-eye patent application number 201910479456.3 Calibration, working plane calibration method and device, fully automatic calibration, but excessive dependence on a fixed working plane, which limits the use and control space of cameras and robotic arms

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