A robot hand-eye calibration method, device and system

A hand-eye calibration and robot technology, which is applied in the field of robotics, can solve problems affecting calibration accuracy, damage to the robot arm and calibration board, and impact on the motion accuracy and service life of the robot arm, so as to ensure calibration accuracy, motion accuracy and use The effect of longevity

Active Publication Date: 2022-01-11
PEKING UNIV
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  • Application Information

AI Technical Summary

Problems solved by technology

[0004] In the prior art, when the hand-eye calibration of the robot is performed, the calibration plate is mainly used. Since the robot arm frequently physically touches the calibration plate, it will cause physical damage to the robot arm and the calibration plate, which affects both the calibration accuracy and the movement accuracy of the robot arm. and service life

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  • A robot hand-eye calibration method, device and system
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  • A robot hand-eye calibration method, device and system

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Embodiment Construction

[0044] Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited by the embodiments set forth herein. Rather, these embodiments are provided for more thorough understanding of the present disclosure and to fully convey the scope of the present disclosure to those skilled in the art.

[0045] It should be noted that, unless otherwise specified, technical terms or scientific terms used in this application shall have the usual meanings understood by those skilled in the art to which this application belongs.

[0046] In addition, the terms "first" and "second", etc. are used to distinguish different objects, not to describe a specific order. Furthermore, the terms "include" and "have", as well as any variations the...

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Abstract

The present application provides a robot hand-eye calibration method, device and system. Wherein, the method includes: controlling the laser calibration frame to generate a laser calibration point set for calibrating the robot, wherein the laser calibration point set includes a plurality of calibration points formed by intersecting laser beams; controlling the mechanical The front end of the arm sequentially touches a plurality of the calibration points concentrated in the laser calibration points; each time the front end of the mechanical arm touches the calibration points, a calibration image of the front end of the mechanical arm touching the calibration points is taken ; Determining a first transformation matrix of the pixel coordinates of the calibration point in the calibration image and the physical coordinates in the calibration frame coordinate system; performing hand-eye calibration on the robot according to the first transformation matrix. The application will not cause physical damage to the robot arm, thereby not only ensuring the calibration accuracy, but also helping to ensure the motion accuracy and service life of the robot arm.

Description

technical field [0001] The present application relates to the field of robot technology, in particular to a robot hand-eye calibration method, device and system. Background technique [0002] Robot (Robot) is a machine device that automatically performs work. It can accept human commands, run pre-programmed programs, and act according to principles and programs formulated with artificial intelligence technology. [0003] In order to meet the needs of the transformation and upgrading of the manufacturing industry, intelligent industrial robots integrated with vision systems are increasingly used in modern factories. In the field of robotics, the use of visual methods for pose estimation to help the robotic arm achieve precise target grasping has important applications. Among them, hand-eye calibration is a very basic and critical issue. Simply put, the purpose of hand-eye calibration is to obtain the relationship between the robot coordinate system and the camera coordinate ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16B25J19/00
CPCB25J9/1692B25J19/0095
Inventor 罗法蕾
Owner PEKING UNIV
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