Robot hand-eye calibration method, device, robot and computer storage medium

By automatically generating photo points, the operation time-consuming and low efficiency problems caused by artificial movement in robot hand and eye calibration are solved, and an efficient and accurate calibration process is achieved.

CN116352711BActive Publication Date: 2025-08-12SHENZHEN YUEJIANG TECH CO LTD
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Patent Information

Application Number
CN202310306162.7
Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
Filing Date
2023-03-21
Publication Date
2025-08-12
Estimated Expiration
2043-03-21

AI Technical Summary

Technical Problem

During the hand-eye calibration process between existing robots and cameras, the camera points need to be manually moved manually, the operation is repeated and time-consuming, and the posture differences between the camera points are small, resulting in low calibration efficiency and poor effect.

Method used

By aligning the center of the camera with the center of the calibration plate, the coordinate points of the robotic arm are determined, and multiple photo-taking points are automatically generated according to preset rules, the robotic arm moves to each point for taking pictures, recording position information, and performing hand-eye calibration.

Benefits of technology

It simplifies the operation process, saves time, improves calibration efficiency, and ensures that there are large posture differences between the various photo locations, improving calibration effect.

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Abstract

The present invention discloses a robot hand-eye calibration method, equipment, robot and computer storage medium. The robot hand-eye calibration method includes: aligning the center of a camera with the center of a calibration plate to determine the coordinate point of a robotic arm at this time; generating multiple photo-taking points according to preset rules based on the determined coordinate point of the robotic arm; controlling the robotic arm to move to each photo-taking point in turn to take photos of the calibration plate through a camera, and correspondingly recording the position information of the robotic arm; and performing hand-eye calibration based on the image obtained by the camera photo-taking and the position information of the robotic arm. The robot hand-eye calibration method of the present invention can automatically generate multiple robotic arm photo-taking points according to preset rules based on the coordinate point of the robotic arm when the camera is aligned with the center of the calibration plate. Compared with manually moving the robotic arm to determine the photo-taking points, the operation is simple and time-saving, thereby improving calibration efficiency. In addition, it can ensure that there are large posture differences between the photo-taking points, thereby improving the calibration effect.
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Citation Information

Patent Citations

  • Mechanical arm hand-eye calibration method and system, computer and readable storage medium

    CN114952856A