Robot hand-eye calibration method and device, electronic equipment and system

A hand-eye calibration and robotic hand technology, applied in the field of robotics, can solve problems such as affecting the accuracy of calibration results, taking a long time, and reducing the correlation of different groups of data.

Active Publication Date: 2020-12-18
JIHUA LAB
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0005] 1. Due to the large number of measurement groups, the collection is divided into multiple times, which takes a long time and is inefficient;
[0006] 2. Every time the robot moves, it is easy to cause the calibration plate to shake due to the complex industrial env...

Method used

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  • Robot hand-eye calibration method and device, electronic equipment and system
  • Robot hand-eye calibration method and device, electronic equipment and system
  • Robot hand-eye calibration method and device, electronic equipment and system

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Embodiment Construction

[0081] The following will clearly and completely describe the technical solutions in the embodiments of the present application with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, not all of them. The components of the embodiments of the application generally described and illustrated in the figures herein may be arranged and designed in a variety of different configurations. Accordingly, the following detailed description of the embodiments of the application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely represents selected embodiments of the application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without making creative efforts belong to the scope of protection of the present application.

[0082] It should ...

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Abstract

The invention provides a robot hand-eye calibration method and device, electronic equipment and a system. The method comprises the steps that three-dimensional point cloud image information obtained through photographing of a three-dimensional camera is obtained, wherein the three-dimensional point cloud image information comprises three-dimensional point cloud information of at least three identification balls which are not completely located on the same straight line; first position data of the mass center of the identification balls in a camera coordinate system are calculated according tothe three-dimensional point cloud image information; second position data of the mass center of the identification balls in a robot base coordinate system are acquired; and a conversion matrix betweenthe camera coordinate system and the robot base coordinate system is calculated according to the first position data and the second position data. Calibration can be completed only by acquiring the image information once, so that hand-eye calibration of a robot can be completed quickly, the efficiency is high, the calibration result is accurate, and the requirement on the industrial skill of an operator is relatively low.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a robot hand-eye calibration method, device, electronic equipment and system. Background technique [0002] With the development of precision and intelligent modern industry, the dependence on robot vision is getting higher and higher, and the application of robot vision is becoming more and more common, such as welding and assembly in the fields of aerospace and automobile manufacturing, and coding in the field of logistics. Palletizing, sorting, industrial 3D automatic inspection and other fields are used. The first and most important step in the intelligent application of robots is the robot hand-eye calibration. Its accuracy directly determines the processing and manufacturing precision of the robot system. [0003] Existing hand-eye calibration generally uses a calibration plate with a specific square or pattern. For hand-eye calibration where the eye is outside the hand, c...

Claims

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Application Information

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IPC IPC(8): B25J9/16
CPCB25J9/1602B25J9/1697
Inventor 胡迪江德智温志庆周德成李伟
Owner JIHUA LAB
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