Correction device and method for 3D camera and mechanical arm coordinate system

A robotic arm and coordinate system technology, which is applied in the directions of manipulators, program-controlled manipulators, claw arms, etc., can solve the problem that the edge position information of the correction device 4 cannot be obtained, the coordinate conversion relationship between the robot arm and the 3D camera cannot be obtained, and the accuracy of edge position information is reduced. And other issues

Active Publication Date: 2020-09-29
TECHMAN ROBOT INC
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Problems solved by technology

[0005] However, when performing coordinate system correction in the aforementioned prior art, because the 3D information of the 3D camera 3 is generally more accurate in the middle part, it is impossible to obtain accurate edge position information of the correction device 4, and when the surface slope of the correction device 4 changes greatly , the accuracy of the edge position information will also decrease, resulting in poor accuracy of the positioning points K1-K5 located at the edge corners. If only 3D information is used for correction, a good coordinate conversion between the robot arm and the 3D camera cannot be obtained. relation

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  • Correction device and method for 3D camera and mechanical arm coordinate system
  • Correction device and method for 3D camera and mechanical arm coordinate system
  • Correction device and method for 3D camera and mechanical arm coordinate system

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[0045] In order to achieve the above-mentioned purpose, the technical means and effects thereof adopted by the present invention are now given as preferred embodiments, and are described as follows in conjunction with the accompanying drawings.

[0046] Please also refer to figure 1 , figure 2 , image 3 and Figure 4 , figure 1 It is a schematic diagram of the correction of the robot arm and the 3D camera of the present invention, figure 2 It is the point cloud image of the correction device of the present invention, image 3 The present invention confirms that the point cloud group forms a schematic diagram of three planes, Figure 4 A schematic diagram of the corrected positioning points forming the intersection of three plane equations for the present invention. figure 1 Among them, one end of the robotic arm 10 of the present invention is a fixed base 11, and the multi-axis joint 12 is connected in series to form a movable end portion 13 at the other end. A too...

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Abstract

The invention discloses a correction device and method for a 3D camera and a mechanical arm coordinate system. The method comprises the following steps of shooting a point cloud picture of a three-panel correction device by using the 3D camera, dividing and eliminating point cloud groups according to the same Z value difference and vector included angle of adjacent point clouds to form three planepoint cloud groups, constructing three plane equations by using a least square method, and calculating intersection points of the three plane equations to serve as positioning points for external parameter correction.

Description

technical field [0001] The invention relates to a robot arm, in particular to a method for correcting the relative coordinate system of the robot arm and a 3D camera by using a calibration device. Background technique [0002] With the rapid development of artificial intelligence, factories use 3D (3-Dimensional) cameras to automate robot arms for processing, assembly and manufacturing operations to improve factory production efficiency. The correct relative relationship between the coordinate system of the 3D camera and the coordinate system of the robot arm affects the precision of factory production. [0003] Such as Figure 7 Shown is the correction of the prior art robot arm and 3D camera. The robot arm 1 forms an arm coordinate system R on the base 2, and a 3D camera 3 is installed in the working environment of the robot arm 1 to form a camera coordinate system C for automatic assembly and manufacturing of artificial intelligence. When the camera coordinate system C ...

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Application Information

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IPC IPC(8): B25J9/10B25J18/02B25J19/02G06K9/00
CPCB25J9/10B25J18/025B25J19/023G06V20/10
Inventor曾桓钰黄钟贤黄识忠
OwnerTECHMAN ROBOT INC