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System for robot calibration and calibration method

A technology of robots and robotic machines, applied in the field of visual measurement, to achieve the effect of reducing the difficulty and simplifying the process

Active Publication Date: 2021-08-06
菲烁易维(重庆)科技有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] The object of the present invention is to provide a system for robot calibration, and a calibration method based on the system for robot calibration, at least for solving the existing hand-eye calibration method "once the relative position of the robot and the camera changes, , hand-eye calibration needs to be re-calibrated every time, which requires a lot of repetitive calibration work, and can only limit the use of one vision system to one robot" technical problem

Method used

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  • System for robot calibration and calibration method
  • System for robot calibration and calibration method

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Embodiment 1

[0024] like figure 1 As shown, a system for the robot calibration, including a visual measurement system, which is mainly composed of camera 2 and its calculation unit 3, and the robot 4 (number 6 represents the robot execution mechanism tool output) sets in a visual measurement system. Within the field of view of the camera 2, and the control unit 5 of the robot 4 connects the calculation unit 3 of the camera 2 through a wireless or wired manner; further comprising a movable optical pen or detection target 1 (in the figure to detect probe) The target or a light pen), and the coordinate conversion unit 7 fixed to the robot 4, at least three marking points that are not in the same straight line. The marker point is directly secured to the machine 4, or the member with the tag point is fixed to the machine 4 of the robot 4. In this embodiment, the optical pen or detective target 1 employs a light-emitted optical pen or a detection target without an external light source.

[0025] A ...

Embodiment 2

[0045] A system for a robot calibration, and a calibration method based on a system used for a robot calibration in the present embodiment, and its scheme references and combined with reference to Example 1 figure 2 As shown, the difference from Embodiment 1 is that the optical pen or detective target 1 employs a detecting device with passive reflective marker points, there is a need to illuminate the outer light source 8, a light source irradiation in the optical pen or detective target 1, and a light source. And the reflective markings on the coordinate conversion unit 7 facilitate the acquisition of the visual system to capture the optical structure of a more clear reflective point.

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Abstract

The invention provides a system for robot calibration and a calibration method. The system comprises a vision measurement system, robots are arranged within a visual field range of the vision measurement system, and the system further comprises a movable light pen or a detection target, and a coordinate conversion part fixed to the robot. The coordinate conversion part at least comprises three mark points which are not on the same straight line. The calibration method comprises the steps that firstly, a conversion relation between a coordinate system of the coordinate conversion part and a robot machine base coordinate system is acquired, and binding is conducted; and after a camera of the vision measurement system is replaced or moved, coordinates of the coordinate conversion part in the camera coordinate system are collected, and the robot machine base coordinate system is calibrated on the basis of the conversion relation. Due to the adoption of the system and the calibration method, the camera coordinate system and the robot machine base coordinate system of the vision measurement system can be calibrated, one robot only needs to carry out coordinate system marking once, one set of vision measurement system can be applied to multiple robots, and rapid switching among the multiple robots can be achieved after marking.

Description

Technical field [0001] The present invention belongs to the technical field of visual measurement, and specific relates to a system for a robot calibration, and a standard method based on the system identified by the robot. Background technique [0002] When using the robot to automate repeat operation, it is necessary to accurately carry out accurate path planning of the robot by means of a visual system, which is a comparison of the robot to calibrate the robot. At present, the camera coordinate system and the seat coordinate system of the visual system mainly use the method of hand-eye calibration, and the hand-eye calibration method is usually divided into three categories: standard hand-eye calibration, the hand-eye calibration based on the rotary motion, and the online hand eye calibration. However, problems with hand-eye calibration methods include: Once variations in the relative position of the robot and camera, each time you need to re-perform your hand-eye calibration,...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16
CPCB25J9/1653B25J9/1692
Inventor 游四清游晓龙黄科白灵孔俊黄菊芳陈平平
Owner 菲烁易维(重庆)科技有限公司