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Hand-eye calibration method, system, computer equipment and storage medium

A technology of hand-eye calibration and computer program, which is applied in the field of image processing, can solve the problems of slow hand-eye calibration speed and achieve the effect of improving calibration efficiency and speeding up calibration speed

Active Publication Date: 2022-03-25
杭州思锐迪科技有限公司
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  • Claims
  • Application Information

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Problems solved by technology

[0003] Aiming at the problem of slow hand-eye calibration between robots and 3D scanners in related technologies, no effective solution has been proposed yet

Method used

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  • Hand-eye calibration method, system, computer equipment and storage medium
  • Hand-eye calibration method, system, computer equipment and storage medium
  • Hand-eye calibration method, system, computer equipment and storage medium

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Embodiment Construction

[0036] In order to make the purpose, technical solutions and advantages of the present application clearer, the present application will be described and illustrated below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present application, and are not intended to limit the present application. Based on the embodiments provided in the present application, all other embodiments obtained by persons of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.

[0037] Obviously, the accompanying drawings in the following description are only some examples or embodiments of the present application, and those skilled in the art can also apply the present application to other similar scenarios. In addition, it can also be understood that although such development efforts may be complex and lengthy, for those of ...

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Abstract

The present application relates to a hand-eye calibration method, system, computer equipment and storage medium. The method includes: obtaining the first coordinates of the calibration object in the robot coordinate system; scanning the calibration object through the scanner to obtain the second coordinates of the calibration object in the scanner coordinate system, and obtaining the position of the end of the robot during scanning. According to the pose, the first coordinate and the second coordinate of the end of the robot, the coordinate transformation relationship between the scanner and the end of the robot is determined to realize hand-eye calibration. By adopting the method, the hand-eye calibration of the optical three-dimensional scanner system can be performed at one position, thereby speeding up the calibration speed and improving the calibration efficiency.

Description

technical field [0001] The present application relates to the technical field of image processing, in particular to a hand-eye calibration method, system, computer equipment and storage medium. Background technique [0002] With the development of industry, optical three-dimensional scanners are widely used as a measurement sensor for industrial robots in industrial field automation measurement. When robots use optical scanners as a tool for calibration, they use multi-position and multi-angle calibration. This calibration method is slow. , introducing different position errors of different robots into the tool calibration results. [0003] Aiming at the problem of slow hand-eye calibration between robots and 3D scanners in related technologies, no effective solution has been proposed yet. Contents of the invention [0004] Based on this, it is necessary to provide a hand-eye calibration method, system, computer equipment and storage medium for the above technical problem...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16B25J19/00
CPCB25J19/0095B25J9/16B25J9/1602
Inventor 王江峰王俊亮
Owner 杭州思锐迪科技有限公司