Robot hand-eye calibrating posture selection method and device, robot system and medium

A robot hand and hand-eye calibration technology, applied in the field of robot systems, robot hand-eye calibration pose selection, computer equipment and storage media, can solve the problems of visual information affecting calibration results, poor versatility, and difficulty in implementation, etc., to reduce errors , position dispersion, and the effect of increasing the difference

Active Publication Date: 2021-05-04
SOUTH CHINA UNIV OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] At present, in order to optimize the calibration results, the traditional method is mainly to improve the calculation and optimization process of the calibration results after data acquisition. The quality of the input calibration pose visual information will significantly affect the quality of the calibration results
Some methods simplify the calculation of calibration results by specially constraining the robot's hand-eye calibration movement; or define a relatively reasonable selection of calibration poses, but their versatility is poor, and it is difficult to implement in complex or unstructured scenes

Method used

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  • Robot hand-eye calibrating posture selection method and device, robot system and medium
  • Robot hand-eye calibrating posture selection method and device, robot system and medium
  • Robot hand-eye calibrating posture selection method and device, robot system and medium

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Experimental program
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Embodiment 1

[0064] Such as figure 1 As shown, this embodiment provides a method for selecting the hand-eye calibration pose of a robot. The method is applied to a robot system and uses the geometric characteristics of the Archimedes body to select an efficient and reasonable hand-eye calibration pose, so as to improve the accuracy of hand-eye calibration and efficiency, including the following steps:

[0065] S101. Control the manipulating arm of the robot to move to the position of the calibration plate in the working space of the robot vision system to be calibrated, so that the camera on the end effector of the manipulating arm can capture the calibration pattern on the calibration plate.

[0066] The robot system of this embodiment includes a connected control device and a robot. The control device can be a computer, etc. The environment configuration of the robot's hand-eye calibration is as follows: figure 2 As shown, the robot includes a base 201, an operating arm 202, an end eff...

Embodiment 2

[0099] Such as Figure 4 As shown, the present embodiment provides a robot hand-eye positioning pose selection device, which includes a control module 401, a hand-eye relationship acquisition module 402, a calibration position set acquisition module 403, a selection module 404, and a calculation module 405. The specific details of each module The function is as follows:

[0100] The control module 401 is used to control the manipulating arm of the robot to move to the position of the calibration plate in the working space of the robot vision system to be calibrated, so that the camera on the end effector of the manipulating arm can capture the calibration pattern on the calibration plate.

[0101] The hand-eye relationship acquiring module 402 is configured to acquire the robot's hand-eye relationship according to the robot hand-eye calibration scene.

[0102] The calibration position set acquisition module 403 is used to use the vertex distribution on the Archimedes body as ...

Embodiment 3

[0107] This embodiment provides a computer device, which may be a computer, such as Figure 5 As shown, it includes a processor 502 connected through a system bus 501, a memory, an input device 503, a display 504, and a network interface 505. The processor is used to provide computing and control capabilities. The memory includes a non-volatile storage medium 506 and internal Memory 507, the non-volatile storage medium 506 stores an operating system, computer programs and databases, the internal memory 507 provides an environment for the operation of the operating system and computer programs in the non-volatile storage medium, and the processor 502 executes memory storage During the computer program, realize the robot hand-eye mark position selection method of above-mentioned embodiment 1, as follows:

[0108] Control the manipulating arm of the robot to move to the position of the calibration plate in the working space of the robot vision system to be calibrated, so that the...

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Abstract

The invention discloses a robot hand-eye calibrating posture selection method and device, a robot system and a medium. The robot hand-eye calibrating posture selection method comprises the steps that an operation arm of a robot is controlled to move to a calibration plate position in a to-be-calibrated robot vision system working space, so as to enable a camera to shoot a calibration pattern on the calibration plate; a hand-eye relationship is obtained according to a hand-eye calibration scene; according to an Archimedes body placed between the camera and the calibration plate, vertex distribution on the Archimedes body is used as a selectable calibration position set, and the shape of the Archimedes body is determined according to on-site conditions and the quantity of data expected to be collected; according to the selectable calibration position set, referring to the obtained hand-eye relationship, a position subset with a proper height is selected; and according to the position subset, calculating is carried out to obtain a robot hand-eye calibrating posture data set. The problem of blindness in pose selection of a traditional hand-eye calibration method is solved, and the method has the advantages of being convenient to implement and high in applicability.

Description

technical field [0001] The invention belongs to the technical field of industrial robot vision, and in particular relates to a method, a device, a robot system, computer equipment and a storage medium for selecting a robot's hand-eye marking position and posture. Background technique [0002] At present, in order to improve the operational flexibility and adaptability of traditional industrial robots, a visual sensing system is added to guide, correct and change the movement path of the robot through real-time visual feedback information on the measurement target to achieve more intelligent industrial applications. . On this basis, installing the vision sensor at the end of the robot can realize the tracking of the actual operation of the robot actuator at different positions, making the feedback control of the vision system more flexible and time-effective. [0003] In order to apply the visual feedback information to the detection and control of the position of the end of...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16B25J13/00
CPCB25J9/1607B25J9/161B25J9/1653B25J13/00
Inventor 王念峰钟凯帆张宪民
Owner SOUTH CHINA UNIV OF TECH
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