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

Abstract

The present invention provides a robot hand-eye calibration method, device, electronic equipment and system, which acquires 3D point cloud image information captured by a 3D camera, and the 3D point cloud image information includes at least three 3D point cloud images that are not all on the same straight line. Point cloud information; according to the three-dimensional point cloud image information, calculate the first position data of the center of mass of the logo ball in the camera coordinate system; obtain the second position data of the center of mass of the logo ball in the robot base coordinate system; Calculate the transformation matrix between the camera coordinate system and the robot base coordinate system according to the first position data and the second position data; only need to collect image information once to complete the calibration, so that the robot hand-eye calibration can be quickly completed, and its efficiency is high. The calibration results are accurate, and the requirements for the professional skills of the operators are 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...

AI Technical Summary

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 environment, which reduces the correlation between different sets of data and affects the accuracy of the calibration results;

[0007] 3. Professionals are required to determine the measurement point based on their experience, which requires high professional skills for operators

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