Rapid hand-eye calibration device and method based on standard ball binocular robot

Abstract

The invention discloses a rapid hand-eye calibration device based on a standard ball binocular robot. The device comprises a base and a binocular camera. The base is provided with a robot body througha mechanical arm, the robot body is connected with a flange through a transmission device, the flange is connected with a clamp, and a standard ball is clamped at the tail end of the clamp. The binocular camera, the mechanical arm and the robot body are all connected with a demonstrator of the robot. The invention also discloses a corresponding calibration method, which comprises the following steps of: 1, positioning the standard ball; 2, obtaining a closed solution of a rotation matrix and a translation matrix of hand-eye calibration; and 3, according to an Adam optimization algorithm, calculating a relative position relationship between a robot coordinate system and a camera coordinate system through optimization iterative operation to serve as a hand-eye calibration result. The deviceis low in cost and convenient to install, three non-coplanar standard ball straight line tracks are obtained through straight line fitting, the calibration equation AX = XB is converted into AX = b,the Adam iterative optimization is used to rapidly and accurately obtain the hand-eye calibration result, and the result is more stable and more accurate.

Description

technical field [0001] The invention relates to the technical field of robot calibration, in particular to the robot hand-eye calibration technology. Background technique [0002] Traditional hand-eye calibration is to capture multiple sets of calibration targets (such as checkerboard or circular array calibration targets) through the camera to obtain the position and attitude of the marker points on the calibration target, and then use a certain method to calculate the camera coordinate system and the robot coordinate system. relative positional relationship. [0003] This kind of calibration process is often complicated, especially for the calculation of the pose of the marker points on the calibration target, and at the same time requires relatively high accuracy of the camera and the calibration target. [0004] A fast hand-eye calibration method based on a standard sphere is now proposed. It only needs to calculate the three straight-line trajectories of the standard s...

AI Technical Summary

Problems solved by technology

[0003] This kind of calibration process is often more complicated, especially for the calculation of the pose of the marker points on the calibration target, and the accuracy requirements for the camera and the calibration target are relatively high

Images