Three-dimensional camera pose online calibration device and method for industrial robot

Abstract

The invention discloses a three-dimensional camera pose online calibration device and method for an industrial robot. The three-dimensional camera pose online calibration method comprises the steps that the industrial robot drives a three-dimensional target for calibration to move to a calibration point location in a certain pose; a three-dimensional camera can measure three-dimensional point cloud data in a space and output local three-dimensional point cloud data of the three-dimensional target for calibration and of a structural part nearby the three-dimensional target to a calibration control module of an industrial control computer, and the calibration control module processes, resolves and obtains three-dimensional coordinates of visible characteristic vertexes for calibration undera three-dimensional camera coordinate system; the three-dimensional coordinates of all visible characteristic vertexes for calibration under an industrial robot coordinate system are identified, searched and obtained; and a coordinate transformation matrix between the three-dimensional camera and the industrial robot is resolved. The method does not need additional calibration tool accessories, and has the characteristics of high efficiency, high precision and capability of checking or calibrating the coordinate transformation matrix between the three-dimensional camera and the industrial robot on line after a manipulator is mounted and in the use process.

Description

technical field [0001] The invention belongs to the technical field of intelligent industrial robots, and in particular relates to an online calibration device and method for a three-dimensional camera position and posture for intelligent industrial robots. Background technique [0002] Traditional industrial robots aim at a single type of material or product with known specifications, dimensions, and accurate positioning in advance, and adopt the method of teaching programming, which has been widely used in the production and manufacturing of chemical, metal processing, food, beverage, tobacco, electronics and other industries , Depalletizing, loading and unloading and other scenarios. However, it cannot adapt to the flexible production of small batches and multi-variety materials or products in the era of Industry 4.0 where the operation objects cannot be accurately located. [0003] With the development and maturity of machine vision technology and products, industrial r...

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Problems solved by technology

[0008] In order to solve the above-mentioned defects existing in the prior art, the purpose of the present invention is to provide an online calibration method for three-dimensional stereo camera poses for intelligent industrial robots, aiming to solve the problem of the need for additional calibration tooling accessories and low precision in the prior art. , time-consuming, when installing the manipulator on the robot flange, it is necessary to remove the planar cooperation target, the process is cumbersome, and it is impossible to check or calibrate the coordinate transformation matrix of the 3D stereo camera and the industrial robot online during use

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