A four-point hand-eye calibration method

Abstract

The present invention provides a four-point hand-eye calibration method, comprising the following steps: step S1, obtaining images of a calibration object and coordinate points of a robotic arm end at different positions; step S2, calculating the proportional relationship between the displacement of the robotic arm end and the displacement of the calibration object in the image; step S3, rotating and then moving the robotic arm end so that the relative relationship between the robotic arm end and the calibration object remains unchanged; step S4, calculating the coordinate points of the calibration object, and obtaining a relationship point based on the relationship between the coordinate point of the initial position and the coordinate point of the calibration object; step S5, obtaining an adjustment image to identify the adjustment coordinate point and adjustment angle of the calibration object, rotating the adjustment angle in reverse according to the relationship point to obtain the adjustment coordinate of the robotic arm end, and calculating the offset compensation amount of the robotic arm end; step S6, adding the translation amount of the robotic arm end and the offset compensation amount to obtain the actual translation coordinate point of the robotic arm end; the present invention has the advantage of simple, efficient and high-precision calibration when the camera and the tool are not coaxial.

Description

Technical Field

[0001] The present invention relates to the technical field of robotic arm calibration, and more particularly to a four-point hand-eye calibration method. Background Art

[0002] Hand-eye calibration is to find the relationship between the hand (end of the robotic arm) and the eye (camera), so that after the camera captures the image, the end of the robotic arm or the workpiece on the end of the robotic arm can perform corresponding operations to complete the task. Hand-eye calibration can be divided into two cases, one is that the eye is outside the hand, and the other is that the eye is on the hand. This application mainly focuses on the calibration method of the eye outside the hand (the gripper and the flange at the end of the robotic arm are not coaxial). The traditional calibration method adopts a 12-point calibration method to solve this problem, and the 12-point calibration method has more steps and takes a long time. Summary of the Invention

[0003] In view of the shortcomings of the existing technology, the purpose of the present invention is to provide a four-point hand-eye calibration method, which can achieve simple, efficient and high-precision calibration when the camera and the tool are not coaxial using only four points.

[0004] To achieve the above object, the present invention provides the following technical solutions:

[0005] A four-point hand-eye calibration method comprises the following steps:

[0006] Step S1: Obtain the calibration object image captured by the camera when the robotic arm is in different positions and the coordinate points of the end of the robotic arm;

[0007] In step S2, pixel coordinates of the calibration object are obtained according to the calibration object image recognition, and the proportional relationship between the displacement of the end of the robotic arm and the displacement of the calibration object in the image is calculated based on the coordinates of the robotic arm and the pixel coordinates of the calibration object through a ratio formula;

[0008] In step S3, when the end of the manipulator arm is moved to the initial position, the end of the manipulator arm is rotated by the calibration angle and then translated to the to-be-determined position so that the relative relationship between the end of the manipulator arm and the calibration object remains unchanged;

[0009] In step S4, the coordinate point of the initial position, the coordinate point of the to-be-determined position, and the calibration angle are obtained, the coordinate point of the calibration object is obtained by calculation based on the coordinate point of the initial position, the coordinate point of the to-be-determined position, and the calibration angle, and the relationship point is obtained based on the relationship between the coordinate point of the initial position and the coordinate point of the calibration object;

[0010] In step S5, when the end of the manipulator is moved to the initial position, an image of the calibration object moved to the adjustment position is obtained by taking a camera as the adjustment image, and the adjustment coordinate point of the calibration object and the adjustment angle of the rotation of the end of the manipulator are obtained according to the adjustment image. The adjustment angle is reversely rotated according to the relationship point to obtain the adjustment coordinate of the end of the manipulator, and then the offset compensation amount of the end of the manipulator is calculated according to the relationship formula based on the adjustment coordinate point of the calibration object, the adjustment angle, the relationship point and the adjustment coordinate of the end of the manipulator;

[0011] In step S6, the translation amount of the end of the robot arm and the offset compensation amount are added to obtain the actual translation coordinate point of the end of the robot arm.

[0012] Furthermore, the calibration object image in step S1 includes an initial calibration image taken by the camera when the end of the manipulator is at an initial position, a secondary calibration object image taken by the camera when the end of the manipulator moves to a first position, and a final calibration object image taken by the camera when the end of the manipulator moves to a second position.

[0013] In the step S2, the initial coordinate points of the calibration object pixels are obtained by identifying the initial image, the secondary coordinate points of the calibration object pixels are obtained by identifying the secondary image, and the subsequent coordinate points of the calibration object pixels are obtained by identifying the subsequent image.

[0014] Furthermore, the initial position, the first point position and the second point position are not on the same straight line.

[0015] Furthermore, the S2 step also includes an S21 step, which includes calculating the initial coordinates, the first point coordinates, and the second point coordinates to obtain the axial change of the end of the robotic arm, and calculating the initial coordinate points of the calibration object pixels, the secondary coordinate points of the calibration object pixels, and the post-level coordinate points of the calibration object pixels to obtain the axial change of the calibration object, and calculating the proportional relationship between the two according to the axial change of the end of the robotic arm and the axial change of the calibration object through a ratio formula.

[0016] Furthermore, the ratio formula is configured as:

[0017] Δx=aΔx′+bΔy′

[0018] Δy=cΔy′+dΔx′

[0019] Where Δx is the change of the end of the robotic arm on the X-axis, Δx′ is the change of the calibration object on the X-axis, Δy is the change of the end of the robotic arm on the Y-axis, Δy′ is the change of the calibration object on the Y-axis, and a, b, c, and d are all constants.

[0020] Furthermore, the relative relationship between the end of the robotic arm and the calibration object is the distance between the end of the robotic arm and the calibration object and the pixel coordinates of the calibration object.

[0021] Furthermore, the S4 step also includes a S41 step, which includes forming a triangle by connecting the initial position, the position to be determined, and the coordinate point of the calibration object, calculating the slope of the perpendicular bisector of the line connecting the initial position and the position to be determined in the triangle, and then analyzing the quadrant area of ​​the initial position and the position to be determined in the coordinate system, and comparing the quadrant of the initial position with the quadrant of the position to be determined. If the two are different, the direction of the line connecting the coordinate point of the calibration object at the initial position and the position to be determined is determined according to the calibration angle. If the two are different, the direction of the line connecting the coordinate point of the calibration object at the initial position and the position to be determined is determined according to the calibration angle and the angle of the position to be determined.

[0022] Furthermore, the calculation formula for the perpendicular bisector slope is configured as:

[0023]

[0024] where K M4o ,K 4o --The slope of the perpendicular bisector connecting the initial position and the undetermined position, K 03 --The slope of the line connecting the initial position and the undetermined position;

[0025] The calculation formula for the calibration object coordinate point is configured as:

[0026]

[0027]

[0028]

[0029] Where M0 is the initial position, M4 is the midpoint of the line connecting the initial position and the position to be determined, and β is the calibration angle. Furthermore, the relational formula is configured as:

[0030] x″=(x)cosa-(y)sina

[0031] y″=(x)sina+(y)cosa

[0032] Δx″=x″-(x0-x oo )

[0033] Δt″=y″-(y0- oo )

[0034] -δ=a

[0035] x0-x oo =(x)

[0036] y0-y oo =(y)

[0037] X t =-Δx+Δx″

[0038] Y t =-Δy+Δy″

[0039] Where δ is the adjustment angle, M0(x0, y0) is the initial position coordinate, O(x oo ,y oo )--calibration object coordinate point, M′0(x0-x oo , y0-y oo )--Relationship point coordinates, M′5(x″, y″)--M′0 rotation-δ after the end of the robot coordinate position, X t --Offset compensation amount of the end of the robot arm on the X axis, Y t --Offset compensation of the end of the robotic arm on the Y axis.

[0040] The beneficial effects of the present invention are as follows: by analyzing the image of the calibration object taken by the camera, the position relationship between the moving position of the robotic arm end and the position of the calibration object in the image taken by the camera at the corresponding position is obtained; then, by rotating and moving the robotic arm end so that the coordinate point of the calibration object in the camera in the robotic arm coordinate system does not change, the coordinate point of the calibration object is calculated according to the initial position of the robotic arm end and the position after rotation and movement; finally, the relationship point is obtained according to the relationship between the coordinate point of the initial position and the coordinate point of the calibration object; according to the relationship point, the offset compensation amount required by the robotic arm end on the X-axis and Y-axis can be calculated to complete the robotic arm end to accurately and efficiently grasp the target object, that is, the four-point calibration method can achieve simple, efficient and high-precision calibration when the camera and the tool are not coaxial by only four points. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 is a flow chart of the steps of the present invention;

[0042] Figure 2 It is a diagram showing the movement relationship of the end of the robot arm in the present invention;

[0043] Figure 3 It is a top view in the z-axis direction of the robot arm coordinate system of the present invention; DETAILED DESCRIPTION

[0044] The present invention will be described in further detail below with reference to the accompanying drawings and embodiments. Identical components are denoted by the same reference numerals. It should be noted that the terms "front," "rear," "left," "right," "upper," and "lower" used in the following description refer to directions in the accompanying drawings, and the terms "bottom," "top," "inner," and "outer" refer to directions toward or away from the geometric center of a particular component, respectively.

[0045] Since hand-eye calibration is a pre-set step for high-precision manipulators in the field of automation, the manipulator and the camera must be calibrated and debugged to enable the manipulator to accurately grasp the target object according to the camera's image. The traditional calibration method uses a 12-point calibration method to solve this problem. The 12-point calibration method has many steps, low calibration efficiency, and takes a long time. Therefore, the present invention designs this four-point hand-eye calibration method, such as Figure 1 As shown, the following steps are included:

[0046] Step S1: Obtain the calibration object image captured by the camera when the robotic arm is in different positions and the coordinate points of the end of the robotic arm;

[0047] In step S2, the pixel coordinate points of the calibration object are obtained based on the calibration object image recognition, and then the proportional relationship between the displacement of the end of the robotic arm and the displacement of the calibration object in the image is calculated through the ratio formula based on the coordinate points of the robotic arm and the pixel coordinate points of the calibration object; in plane calibration, the Z axis of the end of the robotic arm will not change, and it will only move in the X and Y axis directions, and the camera is parallel to the calibrated plane. During the calibration process, we set a calibration object and check its position in the taken photo, that is, the pixel coordinates. Since the camera is parallel to the calibration plane, it can be seen that the displacement of the end of the robotic arm is proportional to the displacement of the calibration object in the image.

[0048] In step S3, when the end of the manipulator is moved to the initial position, the end of the manipulator is rotated by the calibration angle and then translated to the to-be-determined position, so that the relative relationship between the end of the manipulator and the calibration object remains unchanged. The relative relationship between the end of the manipulator and the calibration object is the distance between the end of the manipulator and the calibration object and the pixel coordinates of the calibration object. Because the camera center and the rotation center of the end of the manipulator are not coaxial, and the rotation center of the tool and the rotation center of the end of the manipulator are not coaxial, so on the basis of finding the relationship between the offset of the end of the manipulator and the calibration object in the image, if the calibration object not only has an offset but also rotates, then the end of the manipulator directly comes to the corresponding position according to the offset and rotates, and the corresponding operation cannot be performed because the relative position between the tool on the end of the manipulator and the calibration object has changed. In other words, the X and Y coordinates of the end of the manipulator remain unchanged, and rotating around the Z axis by a certain angle will cause the direction of the calibration object in the captured image to change, and the pixel coordinate position will also change.

[0049] Therefore, the offset problem caused by the rotation of the end of the robotic arm must be solved. After the camera takes a picture and obtains the xy coordinates and rotation angle of the calibration point, the end of the robotic arm rotates and translates to the corresponding position, so that the relative relationship between the tool on the end of the robotic arm and the calibration object remains unchanged.

[0050] Step S4: Obtain the coordinate point of the initial position, the coordinate point of the position to be determined, and the calibration angle; obtain the coordinate point of the calibration object by calculation based on the coordinate point of the initial position, the coordinate point of the position to be determined, and the calibration angle; and obtain the relationship point based on the relationship between the coordinate point of the initial position and the coordinate point of the calibration object. The above is the calibration step;

[0051] In step S5, when the end of the manipulator is moved to the initial position, an image of the calibration object moved to the adjustment position is obtained by taking a camera as the adjustment image, and the adjustment coordinate point of the calibration object and the adjustment angle of the rotation of the end of the manipulator are obtained according to the adjustment image recognition. The adjustment angle is reversely rotated according to the relationship point to obtain the adjustment coordinate of the end of the manipulator, and then the offset compensation amount of the end of the manipulator is calculated by the relationship formula according to the adjustment coordinate point of the calibration object, the adjustment angle, the relationship point and the adjustment coordinate of the end of the manipulator. The above is the positioning step;

[0052] In step S6, the translation amount of the end of the robot arm and the offset compensation amount are added to obtain the actual translation coordinate point of the end of the robot arm; its beneficial effect is: the position of the movement of the end of the robot arm and the position relationship of the calibration object in the image taken by the camera at the corresponding position are obtained by analyzing the calibration object image taken by the camera, and then the end of the robot arm is rotated and moved so that the coordinate point of the calibration object in the camera in the robot arm coordinate system does not change, the coordinate point of the calibration object is calculated according to the initial position of the end of the robot arm and the position after rotation and movement, and finally the relationship point is obtained according to the relationship between the coordinate point of the initial position and the coordinate point of the calibration object, and the offset compensation amount required by the end of the robot arm on the X-axis and Y-axis can be calculated according to the relationship point, so as to complete the robot arm end to accurately and efficiently grasp the target object, that is, the four-point calibration method can achieve simple, efficient and high-precision calibration when the camera and the tool are not coaxial by only four points.

[0053] The calibration object image in step S1 includes the calibration initial image taken by the camera when the end of the manipulator is at the initial position, the calibration object secondary image taken by the camera when the end of the manipulator moves to the first point position, and the calibration object post-image taken by the camera when the end of the manipulator moves to the second point position;

[0054] In step S2, the initial coordinate points of the calibration object pixels are obtained by identifying the initial image, the secondary coordinate points of the calibration object pixels are obtained by identifying the secondary image, and the final coordinate points of the calibration object pixels are obtained by identifying the final image;

[0055] First, the calibration object is located in the middle of the photo taken by the camera, and the coordinates of the end of the manipulator M0 (x0, y0) are recorded. The direction is the pixel coordinates of the calibration object in the α image C0 (x′0, y′0). Then the end of the manipulator is translated twice, that is, the first point and the second point, and the initial position is not on the same line as the first point and the second point, and the coordinates of the end of the manipulator M1 (x1, y1), the image coordinates of the calibration object C1 (x′1, y′1), the coordinates of the end of the manipulator M2 (x2, y2), and the image coordinates of the calibration object C2 (x ′2, y′2), step S2 also includes step S21, step S21 includes calculating the initial coordinates, the first point coordinates and the second point coordinates to obtain the amount of change of the end of the manipulator in the axial direction, and calculating the initial coordinate point of the calibration object pixel, the secondary coordinate point of the calibration object pixel and the final coordinate point of the calibration object pixel to obtain the amount of change of the calibration object in the axial direction, and calculating the proportional relationship between the amount of change of the end of the manipulator in the axial direction and the amount of change of the calibration object in the axial direction by a ratio formula, wherein the ratio formula is configured as:

[0056] Δx=aΔx′+bΔy′

[0057] Δy=cΔy′+dΔx′

[0058] Among them, Δx is the change of the end of the manipulator on the X axis, Δx′ is the change of the calibration object on the X axis, Δy is the change of the end of the manipulator on the Y axis, Δy′ is the change of the calibration object on the Y axis, a, b, c and d are all constants, and a, b, c and d are solved. The rotation part is processed as follows: the end of the manipulator returns to M0, the direction is α, and then rotates an arbitrary angle β. At this time, the angle of the end of the manipulator is α+β, and the pixel coordinates of the calibration object are offset. The angle offset of the calibration object is β. Then the end of the manipulator is translated so that the pixel coordinates of the calibration object return to C0 (x′0, y′0), and the coordinates of the end of the manipulator at this time are recorded as M3 (x3, y3). At this time, the distances between M0 and M3 and the calibration object are the same, that is, at these two points, the distances between the tool and the calibration object are the same. Let the midpoint of M0 and M3 be M4 (x4, y4), and let the coordinates of the calibration object in the coordinate system of the end of the manipulator be O (xoo, y oo ), under the relationship between M0, M3, M4, and O Figure 3 As shown, d is the distance between the end of the robotic arm and the calibration object point.

[0059] Since the calculated point O can be on the left or right side of the line connecting the initial position and the position to be determined, that is, the potential calibration object coordinates O1 and O2 are set, that is, step S4 also includes step S41, which includes forming a triangle by connecting the initial position, the position to be determined, and the calibration object coordinate points, such as Figure 3As shown, calculate the slope of the perpendicular bisector of the line connecting the initial position and the to-be-determined position in the triangle, then analyze the quadrant areas where the initial position and the to-be-determined position are located in the coordinate system, compare the quadrant of the initial position with the quadrant of the to-be-determined position, and if the two are different, determine the direction of the line connecting the coordinate point of the calibration object at the initial position and the to-be-determined position according to the calibration angle. If the two are different, determine the direction of the line connecting the coordinate point of the calibration object at the initial position and the to-be-determined position according to the calibration angle and the angle of the to-be-determined position. The formula for calculating the perpendicular bisector slope is configured as follows:

[0060]

[0061] where K M4o ,K 4o --The slope of the perpendicular bisector connecting the initial position and the undetermined position, K 03 --The slope of the line connecting the initial position and the undetermined position;

[0062] The calculation formula for the calibration object coordinate point is configured as:

[0063]

[0064]

[0065]

[0066] Where M0 is the initial position, M4 is the midpoint of the line connecting the initial position and the position to be determined, β is the calibration angle; O1 coordinates are The coordinates of O2 are To specifically distinguish whether the calibration object coordinates are O1 or O2, it mainly depends on whether O1 is the origin and which quadrant M0 and M3 are in. If the quadrant of M3 is larger than M0, then see whether β is greater than 0. If the quadrant of M3 is less than 0, then see whether β is less than 0. If so, O1 is the true calibration object coordinate, otherwise O2 is the true calibration object coordinate; if M0 and M3 are in the same quadrant, it is necessary to judge based on the slope of the perpendicular bisector. If the slope is positive, the greater the slope, the greater the corresponding angle; if the slope is negative, the smaller the slope, the greater the corresponding angle. If the angle of M3 is large, then see whether β is greater than 0. If the angle of M3 is small, then see whether β is less than 0. If so, O1 is the true calibration object coordinate O, otherwise O2 is the true calibration object coordinate O.

[0067] The positioning steps are as follows: place the calibration object arbitrarily, take a picture at the end of the manipulator M0, obtain the image of the calibration object when it moves to the adjustment position, and use it as the adjustment image. According to the adjustment image, the calibration object adjustment coordinate point C5 (x′5, y′5) and the adjustment angle δ of the manipulator end rotation are obtained. According to the relationship point M′0 (x0-x oo , y0-y oo) Reversely rotate the adjustment angle to obtain the adjustment coordinates of the end of the manipulator, and then calculate the offset compensation amount of the end of the manipulator through the relational formula based on the calibration object adjustment coordinate point, adjustment angle, relation point and the adjustment coordinates of the end of the manipulator. The relational formula is configured as:

[0068] x″=(x)cosa-(y)sina

[0069] y″=(x)sina+(y)cosa

[0070] Δx″=″-(x0-x oo )

[0071] Δy″=y″-(y0-y oo )

[0072] -δ=a

[0073] x0-x oo =(x)

[0074] y0-y oo =(y)

[0075] X t =-Δx+Δx″

[0076] Y t =-Δy+Δy″

[0077] Where δ is the adjustment angle, M0(x0, y0) is the initial position coordinate, O(x oo ,y oo )--calibration object coordinate point, M′0(x0-x oo , y0-y oo )--Relationship point coordinates, M′5(x″, y″)--M′0 rotation-δ after the end of the robot coordinate position, X t --Offset compensation amount of the end of the robot arm on the X axis, Y t --Offset compensation of the end of the robotic arm on the Y axis.

[0078] The above are merely preferred embodiments of the present invention. The scope of protection of the present invention is not limited to the above embodiments. All technical solutions based on the principles of the present invention are within the scope of protection of the present invention. It should be noted that improvements and modifications that do not depart from the principles of the present invention are within the scope of protection of the present invention.

Claims

1. A four-point hand-eye calibration method, characterized by: The following steps are involved: Step S1: Obtain the calibration object image captured by the camera when the robotic arm is in different positions and the coordinate points of the end of the robotic arm; In step S2, pixel coordinates of the calibration object are obtained according to the calibration object image recognition, and the proportional relationship between the displacement of the end of the robotic arm and the displacement of the calibration object in the image is calculated based on the coordinates of the robotic arm and the pixel coordinates of the calibration object through a ratio formula; In step S3, when the end of the manipulator arm is moved to the initial position, the end of the manipulator arm is rotated by the calibration angle and then translated to the to-be-determined position so that the relative relationship between the end of the manipulator arm and the calibration object remains unchanged; In step S4, the coordinate point of the initial position, the coordinate point of the to-be-determined position, and the calibration angle are obtained, the coordinate point of the calibration object is obtained by calculation based on the coordinate point of the initial position, the coordinate point of the to-be-determined position, and the calibration angle, and the relationship point is obtained based on the relationship between the coordinate point of the initial position and the coordinate point of the calibration object; The step S4 also includes a step S41, which includes forming a triangle by connecting the initial position, the position to be determined, and the coordinate point of the calibration object, calculating the slope of the perpendicular bisector of the line connecting the initial position and the position to be determined in the triangle, then analyzing the quadrant areas of the initial position and the position to be determined in the coordinate system, comparing the quadrant of the initial position with the quadrant of the position to be determined, and if the two are different, determining the direction of the line connecting the coordinate point of the calibration object at the initial position and the position to be determined according to the calibration angle; if the two are different, determining the direction of the line connecting the coordinate point of the calibration object at the initial position and the position to be determined according to the calibration angle and the angle of the position to be determined; The calculation formula for the perpendicular bisector slope is configured as follows: （ ） in , --The slope of the perpendicular bisector connecting the initial position and the undetermined position, --The slope of the line connecting the initial position and the undetermined position; The calculation formula for the calibration object coordinate point is configured as: = = = in --initial position, --The midpoint of the line connecting the initial position and the position to be determined, β--calibration angle; In step S5, when the end of the manipulator is moved to the initial position, an image of the calibration object moved to the adjustment position is obtained by taking a camera as the adjustment image, and the adjustment coordinate point of the calibration object and the adjustment angle of the rotation of the end of the manipulator are obtained according to the adjustment image. The adjustment angle is reversely rotated according to the relationship point to obtain the adjustment coordinate of the end of the manipulator, and then the offset compensation amount of the end of the manipulator is calculated according to the relationship formula based on the adjustment coordinate point of the calibration object, the adjustment angle, the relationship point and the adjustment coordinate of the end of the manipulator; In step S6, the translation amount of the end of the robot arm and the offset compensation amount are added to obtain the actual translation coordinate point of the end of the robot arm.

2. The four-point hand-eye calibration method according to claim 1, characterized in that: The calibration object image in step S1 includes an initial calibration image taken by the camera when the end of the manipulator is at the initial position, a secondary calibration object image taken by the camera when the end of the manipulator moves to the first position, and a final calibration object image taken by the camera when the end of the manipulator moves to the second position. In the step S2, the initial coordinate points of the calibration object pixels are obtained by identifying the initial image, the secondary coordinate points of the calibration object pixels are obtained by identifying the secondary image, and the subsequent coordinate points of the calibration object pixels are obtained by identifying the subsequent image.

3. The four-point hand-eye calibration method according to claim 2, characterized in that: The initial position is not on the same straight line as the first point and the second point.

4. The four-point hand-eye calibration method according to claim 3, characterized in that: The S2 step also includes an S21 step, which includes calculating the initial coordinates, the first point coordinates, and the second point coordinates to obtain the axial change of the end of the robotic arm, and calculating the initial coordinate points of the calibration object pixels, the secondary coordinate points of the calibration object pixels, and the post-level coordinate points of the calibration object pixels to obtain the axial change of the calibration object, and calculating the proportional relationship between the two according to the axial change of the end of the robotic arm and the axial change of the calibration object through a ratio formula.

5. The four-point hand-eye calibration method according to claim 4, characterized in that: The ratio formula is configured as follows: in --The change in the end of the robotic arm on the X axis, --The change of the calibration object on the X-axis, --The change in the Y axis of the end of the robotic arm, --The change of the calibration object on the Y axis, , , as well as are all constants.

6. The four-point hand-eye calibration method according to claim 1, characterized in that: The relative relationship between the end of the robotic arm and the calibration object is the distance between the end of the robotic arm and the calibration object and the pixel coordinates of the calibration object.

7. The four-point hand-eye calibration method according to claim 5, characterized in that: The relational formula is configured as follows: = = = in --Adjust the angle, --Initial position coordinates, --calibration object coordinate points, --Relationship point coordinates, -- Rotation The final coordinate position of the end of the robotic arm is --Offset compensation amount of the end of the robotic arm on the X axis, --Offset compensation of the end of the robotic arm on the Y axis.

Images