Hand-eye system calibration method, device and equipment

A calibration method and hand-eye technology, applied in the field of computer vision, can solve problems such as complex operation process and low efficiency, and achieve the effects of improving calibration efficiency, avoiding repeated disassembly, and reducing the probability of collision

Pending Publication Date: 2021-03-12
BEIJING JINGDONG QIANSHITECHNOLOGY CO LTD
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0004] In the process of implementing the present application, the inventor found that there are at least the following problems in the prior art: the operation process of the above-mentioned hand-eye calibration method is complicated and the efficiency is low

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  • Hand-eye system calibration method, device and equipment
  • Hand-eye system calibration method, device and equipment

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Embodiment Construction

[0067] Exemplary embodiments will be described in detail herein, examples of which are illustrated in the accompanying drawings. Where the following description refers to the drawings, the same numerals in different drawings refer to the same or similar elements unless otherwise indicated. The implementations described in the illustrative examples below are not intended to represent all implementations consistent with this application. Rather, they are merely examples of apparatus and methods consistent with some aspects of the present application as recited in the appended claims.

[0068] First, the terms involved in the embodiments of the present application are explained:

[0069] Hand-eye calibration: When the end of the manipulator is in different poses, the external parameters of the camera relative to the calibration board are calibrated. According to the external parameters of the camera relative to the calibration board and the pose of the end of the manipulator, th...

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Abstract

The embodiment of the invention provides a hand-eye system calibration method, device and equipment. The hand-eye system comprises a mechanical arm and a camera, the mechanical arm comprises N shafts,a calibration plate is arranged at the tail end of the Kth shaft of the mechanical arm, and the method comprises the steps: the tail end of the Nth shaft of the mechanical arm is controlled to operate to a preset inspection pose, and shooting the calibration plate through a camera to obtain a first calibration plate image, obtaining first calibration information according to the first calibrationplate image, and if an error between the first calibration information and second calibration information stored in a preset storage space is greater than a preset threshold, performing first calibration processing on the hand-eye system. In the process, the calibration plate is arranged at the tail end of the Kth shaft, so that the operation of repeated disassembly during calibration is avoided,and the calibration efficiency is improved.

Description

technical field [0001] The embodiments of the present application relate to the technical field of computer vision, and in particular, to a method, device, and device for calibrating a hand-eye system. Background technique [0002] Hand-eye systems are widely used in various scenarios such as logistics, warehousing, sorting, and destacking. The hand-eye system is a robotic vision system consisting of a camera and a robotic arm. The end of the robotic arm is provided with an end picker (such as a hand gripper or an actuator such as a suction cup), which is used to move or pick objects. The camera can provide visual information to guide the motion trajectory of the end of the robotic arm. [0003] In practical applications, it is necessary to use the calibration board to calibrate the hand-eye system to determine the transformation relationship between the coordinate system of the robotic arm and the coordinate system of the camera. Taking a six-axis manipulator as an examp...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/80G06T7/70B25J9/16
CPCB25J9/1697G06T7/70G06T7/80
Inventor 郭俊峰刘伟峰单纪昌刘旭
Owner BEIJING JINGDONG QIANSHITECHNOLOGY CO LTD
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