A robot hand-eye calibration method based on line laser sensor

Abstract

The present invention discloses a robot hand-eye calibration method based on a line laser sensor, which mainly solves the problem of low calibration accuracy of line laser sensors in the prior art. The specific method is to arrange three laser tracker target balls on the end of the robot equipped with a line laser sensor, adjust the robot posture so that the sensor is irradiated on the standard ball, calculate the posture of the end coordinate system composed of the center of the standard ball and the three target balls in the laser tracker coordinate system, collect multiple groups of data to construct a set of equations, solve the conversion matrix from the line laser sensor to the end coordinate system, and finally train through an optimization algorithm to find the optimal solution to complete the hand-eye calibration of the line laser sensor. Compared with the prior art methods, the present invention uses high-precision measurement means to calibrate the external parameters of the sensor, avoiding the introduction of external errors. The method is flexible, accurate, and stable.

Description

Technical Field

[0001] The invention relates to the field of precision measurement technology, and in particular to a robot hand-eye calibration method based on a line laser sensor. Background Art

[0002] In recent years, with the continuous improvement of the level of aviation manufacturing industry, the performance of the new generation of aircraft has put forward higher and higher requirements on the detection technology in the manufacturing and assembly process, and the traditional contact measurement method can no longer meet the detection requirements. Line laser sensors are widely used in the field of laser triangulation measurement, and can obtain laser irradiation cross-sectional profile information within a certain range, which belongs to non-contact measurement. Because of its characteristics of fast, high precision, and high efficiency, it is increasingly used in processing detection. Its high degree of packaging reduces the technical requirements for operators, making it have a large number of application needs in high-precision measurements in the industrial field. The line laser sensor used in the present invention is mainly used in the field of industrial intelligent applications of robots, and has high requirements on the calibration accuracy of the sensor.

[0003] Industrial robots have shown strong reliability and applicability in the field of intelligent manufacturing due to their high processing efficiency, wide working range, high flexibility, and high repeatability. Compared with traditional CNC machine tools, industrial robots have the advantages of good flexibility, large movement space, and low cost. On the other hand, industrial robots carry end effectors with different functions to achieve collaborative processing and detection, and have been increasingly widely used in the automated processing and assembly processes of aircraft factories. In order to achieve high-efficiency and high-precision measurement requirements, in modern industry, line laser sensors are generally installed on the robot end effectors through connectors. During installation, the positional relationship between the robot and the line laser sensor is unknown. In order to achieve the purpose of accurate measurement, the positional relationship between the robot and the laser sensor must be solved and corrected before the actual measurement activity, that is, "hand-eye calibration". In the prior art, the common operation process is: with the help of various calibration tools, such as calibration balls, calibration blocks, calibration needles or calibration tooling, the hand-eye transformation calibration matrix is ​​solved based on the robot teaching pendant readings or the measurement results of the visual measuring instrument. The final calibration results are the rotation and offset of the camera relative to a certain coordinate system.

[0004] The above calibration methods either use the robot's own readings to obtain the end position for matrix calculation, or use visual cameras for auxiliary calibration. In the process of obtaining the end posture, due to the robot's own positioning accuracy error and the camera's measurement error, the calibration results are often significantly different from the true value. Therefore, in order to improve the accuracy of line laser sensors in industrial measurement applications, it is urgent to propose a simple and feasible robot-sensor hand-eye calibration method with higher operating accuracy. Summary of the invention

[0005] In order to solve the problems existing in the above-mentioned prior art, the present invention aims to use a laser tracker to export calibration data instead of the robot's own readings, so as to avoid the introduction of errors to the greatest extent, especially the calibration errors caused by the robot's own positioning accuracy errors, thereby solving the problem of low calibration accuracy of the external parameters of the line laser sensor.

[0006] In order to achieve the above technical objectives, the present invention provides the following technical solutions:

[0007] A robot hand-eye calibration method based on a line laser sensor, comprising:

[0008] The end effector of the robot is fixedly connected to a line laser sensor through a connector, and three laser tracker target balls are fixedly placed on the housing of the end effector; the laser tracker is fixedly placed and fixed in relative position to the robot base;

[0009] The specific process of the hand-eye calibration method includes:

[0010] S1, the radius is The standard ball is installed on a fixed fixture, placed in the robot workspace, and ensured to be within the measurement range of the laser tracker. The laser tracker is used to measure the coordinates of the center of the standard ball in the laser tracker coordinate system. ;

[0011] S2. Use a line laser sensor to illuminate the standard sphere to obtain a circular cross-section profile; the circular cross-section is the intersection plane of the laser plane of the line laser sensor and the target sphere, and the circular cross-section profile is composed of a point cloud in the coordinate system of the line laser sensor;

[0012] S3. Fit the line laser sensor point cloud data to obtain the circular profile radius and the center position , calculate the coordinates of the center of the standard ball in the online laser sensor coordinate system ;

[0013] S4. Use a laser tracker to measure the positions of the three target balls fixed on the end effector housing to obtain the three sphere center points; the plane normal fitted by the three sphere center points is Axis direction, with the direction of the line connecting the two points as Axis direction, take one point as the origin of the coordinate system, establish a Cartesian coordinate system, and record it as the terminal coordinate system;

[0014] S5. Use matrix operation to represent the conversion of the coordinates of the center of the standard ball from the line laser sensor coordinate system to the laser tracker coordinate system. The laser tracker and the standard ball are in fixed positions, so there is a fixed conversion relationship, and the relationship equation is:

[0015] ;

[0016] in, To represent the transformation relationship matrix from the terminal coordinate system to the laser tracker coordinate system, the relative position relationship of the terminal coordinate system obtained from each data acquisition with respect to the laser tracker coordinate system is obtained; is the transformation matrix from the line laser sensor coordinate system to the terminal coordinate system, which is also the hand-eye calibration matrix required; since the installation position of the line laser sensor is fixed, this matrix is ​​a fixed value; , The formulas are expressed as:

[0017] ;

[0018] ;

[0019] in, , They are the rotation matrix and translation matrix from the end coordinate system to the laser tracker coordinate system, , They are the rotation matrix and translation matrix from the line laser sensor coordinate system to the terminal coordinate system;

[0020] S6. Change the position and posture of the robot end effector and repeat the above steps S1-S4 to obtain the coordinates of the centers of multiple sets of standard balls in the laser tracker coordinate system. , Coordinates in the line laser sensor coordinate system And multiple sets of transformation relationship matrices from the terminal coordinate system to the laser tracker coordinate system ;

[0021] S7, substituting the coordinate data obtained in step S6 into the relational equation in step S5 to obtain the equation system:

[0022] ;

[0023] Solve the system of equations to get the rotation matrix and translation matrix , that is, the hand-eye relationship between the end coordinate system and the line laser sensor system;

[0024] According to the obtained rotation matrix With the translation matrix Get the position relationship parameters of the line laser sensor coordinate system relative to the end coordinate system ( x , y , z ) and the angle relationship parameter ( α , β , γ ), and finally the genetic algorithm is used to optimize the six independent parameters to complete the hand-eye calibration.

[0025] Furthermore, the coordinates of the center of the standard ball obtained in step S3 in the laser sensor coordinate system are ,in, , ; , The positive or negative value is determined by the position of the standard ball relative to the line laser sensor during calibration.

[0026] Furthermore, in step S4, three target balls fixed on the housing of the robot end effector are dispersedly distributed to reduce measurement errors and improve calibration accuracy.

[0027] Furthermore, in step S6, the position and posture of the end effector of the robot are changed by the movement of the end; the movement of the end is divided into translation and rotation; during translation, the end effector only changes in position but not in posture, and during rotation, the end effector changes in posture.

[0028] More specifically, in step S6, the position and posture of the robot's end effector are significantly changed to enrich the diversity of the data and improve the calibration accuracy; at the same time, the multiple sets of data collected must include at least 4 sets of robot end translational motion and at least 3 sets of robot end rotation.

[0029] Further, in step S7, the equation group is solved by first obtaining the rotation matrix using the data collected in the translation state of the end effector. , and then use the obtained rotation matrix as a known quantity to solve the translation matrix by substituting it into the data collected by the end effector in the rotating state , and then get the hand-eye calibration matrix .

[0030] More specifically, in step S7, a genetic algorithm is used to optimize six independent parameters respectively:

[0031] The six independent parameters calculated Set up the initial interval of the parameters respectively, extract one group from the multiple groups of data collected, train the results, select individuals with higher fitness to enter the next generation of crossover mutation, and optimize until the fitness exceeds the set threshold and jumps out;

[0032] Fitness The formula is:

[0033] ;

[0034] in, , is the rotation matrix and translation matrix from the line laser sensor coordinate system to the terminal coordinate system, is a set of selected data, is the coordinate of the standard sphere in the laser tracker coordinate system.

[0035] Through the above technical solution, the present invention has the following beneficial effects:

[0036] The hand-eye calibration method provided by the present invention uses a terminal housing to fix three target balls to establish a terminal coordinate system, uses the terminal coordinate system as a calibration reference, collects data to calculate the terminal coordinate system to line laser sensor conversion matrix, calibrates the position relationship of the line laser sensor relative to the terminal coordinate system, and then combines a laser tracker to track the position of the terminal coordinate system to obtain the specific posture of the line laser sensor coordinate system. The laser tracker is a high-precision large-scale measuring instrument. Compared with other calibration methods, the present invention uses a laser tracker to replace the robot's own readings to derive calibration data, which avoids the introduction of errors to the greatest extent, especially calibration errors caused by the robot's own positioning accuracy errors.

[0037] The present invention provides a simple, easy-to-operate linear laser sensor-robot hand-eye calibration method through the above technical solution, which takes into account flexibility and stability and has better calibration accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 This is a schematic diagram of the overall system of a robot hand-eye calibration method based on a line laser sensor proposed in the present invention.

[0039] Figure 2 This is a schematic diagram of solving the coordinates of the center of a standard sphere in the method proposed by the present invention.

[0040] Figure 3 Schematic diagram of the method for establishing the terminal coordinate system in the method proposed by the present invention. DETAILED DESCRIPTION

[0041] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0042] Although the steps in the present invention are arranged with numbers, they are not used to limit the order of the steps. Unless the order of the steps is clearly stated or the execution of a certain step requires other steps as a basis, the relative order of the steps can be adjusted. It is understood that the term "and / or" used in this article involves and covers any and all possible combinations of one or more of the associated listed items.

[0043] like Figures 1 to 3 As shown, a specific embodiment of a robot hand-eye calibration method based on a line laser sensor proposed by the present invention is given:

[0044] In the method proposed by the present invention, the end effector of the robot is fixedly connected to a line laser sensor through a connecting piece, and three laser tracker target balls are fixedly placed on the housing of the end effector; the laser tracker is fixedly placed and fixed in relative position to the robot base; Figure 1 As shown, in this embodiment:

[0045] The line laser sensor 3 is installed on the robot end effector 1 through a connector. Three laser tracker target balls 2 are fixedly placed on the shell of the end effector 1. The target balls are 1.5 inches in size, with a center positioning accuracy of 0.00015 inches and made of metal. The standard ball 4 in the figure is placed on a fixed fixture 6. The laser tracker 5 is fixed on site. The robot base, the standard ball 4 and the laser tracker 5 are fixed in relative positions. In addition, 7 is the robot body, and 8, 9 and 10 are the established line laser sensor coordinate system, the end coordinate system and the laser tracker coordinate system respectively.

[0046] The specific process of the hand-eye calibration method proposed in the present invention is as follows:

[0047] S1, the radius is The standard ball is installed on a fixed fixture, placed in the robot workspace, and ensured to be within the measurement range of the laser tracker. The laser tracker is used to measure the coordinates of the center of the standard ball in the laser tracker coordinate system. ;

[0048] S2. Use a line laser sensor to illuminate the standard sphere to obtain a circular cross-section profile; the circular cross-section is the intersection plane of the laser plane of the line laser sensor and the target sphere, and the circular cross-section profile is composed of a point cloud in the coordinate system of the line laser sensor;

[0049] S3. Fit the line laser sensor point cloud data to obtain the circular profile radius and the center position , calculate the coordinates of the center of the standard ball in the online laser sensor coordinate system ;

[0050] As a preferred implementation of step S3, in this embodiment, specifically:

[0051] By adjusting the robot's posture, the three target balls fixed at the end are within the field of view of the laser tracker, so that the line laser sensor shines on the standard ball, and the sensor camera captures the laser line profile data. Through processing, the point cloud data of the standard ball in the line laser sensor coordinate system under the current robot posture is obtained. The measurement points with large errors in the point cloud data are eliminated through the median filtering algorithm, and the remaining points are fitted by the least squares method. The principle of the least squares method is to find the best fitting function of the data by minimizing the sum of squares of the errors, thereby obtaining the standard sphere circular profile radius captured by the line laser sensor of the robot under this posture. and the center position .

[0052] like Figure 2 As shown, is the center of the circle obtained by the intersection of the line laser sensor measurement plane and the standard sphere. From the geometric relationship, it is easy to know that the center of the sphere The projection of the X0Z plane of the online laser sensor coordinate system is , then the coordinates of the sphere center in the linear laser sensor coordinate system are ,in , . Center of the ball With the center The connection direction is the sensor coordinate system Axis direction, sphere center Coordinates in the sensor coordinate system ,in The positive or negative value is determined according to the actual situation in the calibration. Then the coordinates of the center of the standard ball in the online laser sensor coordinate system are obtained. .

[0053] S4. Use a laser tracker to measure the positions of the three target balls fixed on the end effector housing to obtain the three sphere center points; the plane normal fitted by the three sphere center points is Axis direction, with the direction of the line connecting the two points as Axis direction, take one point as the origin of the coordinate system, establish a Cartesian coordinate system, and record it as the terminal coordinate system;

[0054] As a preferred implementation of step S4, the three target balls fixed on the housing of the robot end effector are dispersedly distributed to reduce measurement errors and improve calibration accuracy.

[0055] In this embodiment, Figure 3 As shown, a laser tracker is used to measure the center positions of the three fixed target balls at the end to obtain three points , the plane normal fitted by three points for Axis direction, with The direction of the line connecting the two points is Axis direction, As the origin of the coordinate system, the terminal coordinate system is established, and the position and angle relationship of the terminal coordinate system relative to the laser tracker coordinate system can be obtained, which is expressed as .

[0056] S5. Use matrix operation to represent the conversion of the coordinates of the center of the standard ball from the line laser sensor coordinate system to the laser tracker coordinate system. The laser tracker and the standard ball are in fixed positions, so there is a fixed conversion relationship, and the relationship equation is:

[0057] ;

[0058] in, To represent the transformation relationship matrix from the terminal coordinate system to the laser tracker coordinate system, the relative position relationship of the terminal coordinate system obtained from each data acquisition with respect to the laser tracker coordinate system is obtained; is the transformation matrix from the line laser sensor coordinate system to the terminal coordinate system, which is also the hand-eye calibration matrix required; since the installation position of the line laser sensor is fixed, this matrix is ​​a fixed value; , The formulas are expressed as:

[0059] ;

[0060] ;

[0061] in, , They are the rotation matrix and translation matrix from the end coordinate system to the laser tracker coordinate system, , They are the rotation matrix and translation matrix from the line laser sensor coordinate system to the terminal coordinate system;

[0062] In this embodiment, The positional relationship and angular relationship between the terminal coordinate system obtained in step S4 and the laser tracker coordinate system , given , The specific formula is:

[0063] ;

[0064] ;

[0065] S6. Change the position and posture of the robot end effector and repeat the above steps S1-S4 to obtain the coordinates of the centers of multiple sets of standard balls in the laser tracker coordinate system. , Coordinates in the line laser sensor coordinate system and multiple conversion relation matrices from the end - effector coordinate system to the laser tracker coordinate system ;

[0066] As a preferred embodiment of step S6, in step S6, the position and attitude of the end - effector of the robot are changed through the movement of the end. The movement of the end is divided into translation and rotation. During translation, only the position of the end - effector changes and the attitude does not change. During rotation, the attitude changes.

[0067] More specifically, a method of greatly changing the position and attitude of the end - effector of the robot is adopted to enrich the data diversity and improve the calibration accuracy. At the same time, among the multiple groups of data collected, there should be at least 4 groups of situations of the end - effector translation movement of the robot and at least 3 groups of situations of the end - effector rotation of the robot.

[0068] S7. Substitute the coordinate data obtained in step S6 into the relation equation in step S5 to obtain a system of equations:

[0069] ;

[0070] Solve the system of equations to obtain the rotation matrix and the translation matrix , that is, the hand - eye relationship between the end - effector coordinate system and the line - laser sensor system;

[0071] According to the obtained rotation matrix and the translation matrix obtain the position - relation parameters of the line - laser sensor coordinate system relative to the end - effector coordinate system ( x , y , z ) and the angle - relation parameters ( α , β , γ ). Finally, use the genetic algorithm to optimize these six independent parameters respectively to complete the hand - eye calibration.

[0072] As a preferred embodiment of step S7, when solving the system of equations, first obtain the rotation matrix through the data collected in the translation state of the end - effector, and then use the obtained rotation matrix as a known quantity to solve the translation matrix by substituting the data collected in the rotation state of the end - effector, and further obtain the hand - eye calibration matrix .

[0073] In this embodiment, a total of N groups of data are collected. Suppose the data of the center of the ball in the line - laser sensor coordinate system under n (4 ≤ n < N) groups of translation movements is , and the conversion relation matrix from the end - effector coordinate system to the laser tracker coordinate system is , since the rotation angle of the end coordinate system relative to the laser tracker coordinate system is fixed, the rotation matrix The following system of equations is obtained:

[0074] ;

[0075] in is known, and there is , subtract the remaining equations in the system from the first equation in turn to get the equation:

[0076] ;

[0077] remember ;

[0078] ;

[0079] Then there is , that is, .

[0080] Then Solving as a known quantity :

[0081] Will N (3≤ N ) The data collected in the rotation state and the data obtained in the last translation state are combined to obtain the coordinates of the center of the ball under the online laser sensor system under the changed posture , and the transformation matrix from the terminal coordinate system to the laser tracker coordinate system under the changed posture , and then substitute it into the equation system to obtain:

[0082] ;

[0083] in, As is known, subtracting the remaining equations from the first equation group in turn can obtain the equation group:

[0084] ;

[0085] remember ;

[0086] Then there is .

[0087] According to the calculated , Calculate the position relationship parameters of the terminal coordinate system relative to the laser tracker coordinate system ( x , y , z ) and the angle relationship parameter ( α , β , γ ), and these six independent parameters are optimized using an optimization algorithm.

[0088] In this embodiment, a genetic algorithm is used to optimize the calculation results. The optimization process is: The initial intervals of the parameters are set respectively, several groups are randomly selected from the experimental data to train the results, individuals with higher fitness are selected to enter the next generation of crossover mutation, and optimized until the fitness exceeds the set threshold and jumps out.

[0089] Fitness function for:

[0090] ;

[0091] in, , is the translation and rotation matrix from the line laser sensor coordinate system to the end coordinate system formed by the current individual, is a set of experimental data randomly selected. is the actual coordinate position of the standard sphere 4 in the laser tracker coordinate system.

[0092] The optimization process does not focus on the transformation matrix, but on the position relationship and angle relationship obtained by inverse solution of the matrix. After multiple screening, a set of parameters with the best fitness is obtained, which is the most correct posture.

[0093] At this point, the spatial position and posture relationship between the line laser sensor and the robot is determined and the calibration is completed.

[0094] In summary, the method proposed in the present invention uses a high-precision measuring instrument, a laser tracker, to replace the robot's own readings to derive calibration data, which avoids the introduction of errors to the greatest extent, especially the calibration errors caused by the robot's own positioning accuracy errors. The overall hand-eye calibration method is simple and easy to operate, taking into account flexibility and stability, and has better calibration accuracy.

[0095] It will be apparent to those skilled in the art that the invention is not limited to the details of the exemplary embodiments described above and that the invention can be implemented in other specific forms without departing from the spirit or essential features of the invention. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description, and it is intended that all variations falling within the meaning and scope of the equivalent elements of the claims be included in the invention. Any reference numeral in a claim should not be considered as limiting the claim to which it relates.

[0096] In addition, it should be understood that although the present specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

Claims

1. A robot hand-eye calibration method based on a line laser sensor, characterized in that: include: The end effector of the robot is fixedly connected to a line laser sensor through a connector, and three laser tracker target balls are fixedly placed on the housing of the end effector; The laser tracker is fixedly placed and fixed in relative position to the robot base; The specific process of the hand-eye calibration method includes: S1. Install a standard ball with a radius of R on a fixed fixture, place it in the robot workspace, and ensure that it is within the measurement range of the laser tracker. Use the laser tracker to measure the coordinates P of the center of the standard ball in the laser tracker coordinate system. W (X W , Y W , Z w ); S2. Use a line laser sensor to illuminate the standard sphere to obtain a circular cross-section profile; the circular cross-section is the intersection plane of the laser plane of the line laser sensor and the target sphere, and the circular cross-section profile is composed of a point cloud in the coordinate system of the line laser sensor; S3, fitting line laser sensor point cloud data to obtain the circle profile radius R O and the center position O′(X O , Z O ), calculate the coordinates P of the center of the standard ball in the online laser sensor coordinate system S (X S , Y S , Z S ); S4. Use a laser tracker to measure the positions of three target balls fixed on the housing of the end effector to obtain three ball center points; take the plane normal fitted by the three ball center points as the Z-axis direction, the direction of the line connecting two of the three points as the X-axis direction, and one point as the origin of the coordinate system to establish a Cartesian coordinate system, which is recorded as the end coordinate system; S5. Use matrix operation to represent the conversion of the coordinates of the center of the standard ball from the line laser sensor coordinate system to the laser tracker coordinate system. The laser tracker and the standard ball are in fixed positions, so there is a fixed conversion relationship, and the relationship equation is: in, To represent the transformation relationship matrix from the terminal coordinate system to the laser tracker coordinate system, the relative position relationship of the terminal coordinate system obtained from each data acquisition with respect to the laser tracker coordinate system is obtained; is the transformation matrix from the line laser sensor coordinate system to the terminal coordinate system, which is also the hand-eye calibration matrix required; since the installation position of the line laser sensor is fixed, this matrix is ​​a fixed value; The formulas are expressed as: Among them, R M , T M They are the rotation matrix and translation matrix from the terminal coordinate system to the laser tracker coordinate system, R S , T S They are the rotation matrix and translation matrix from the line laser sensor coordinate system to the terminal coordinate system; S6, changing the position and posture of the robot end effector, repeating the above steps S1-S4; obtaining the coordinates of the centers of multiple sets of standard balls in the laser tracker coordinate system {P W1 , P W2 …P WN }, coordinates in the line laser sensor coordinate system {P S1 , P S2 …P SN } and multiple sets of transformation relationship matrices from the terminal coordinate system to the laser tracker coordinate system S7, substituting the coordinate data obtained in step S6 into the relational equation in step S5 to obtain the equation system: Solve the equations to get the rotation matrix R S and the translation matrix T S , that is, the hand-eye relationship between the end coordinate system and the line laser sensor system; According to the obtained rotation matrix R S With the translation matrix T S The position relationship parameters (x, y, z) and angle relationship parameters (α, β, γ) of the line laser sensor coordinate system relative to the end coordinate system are obtained. Finally, the genetic algorithm is used to optimize these six independent parameters to complete the hand-eye calibration.

2. According to claim 1, a robot hand-eye calibration method based on a line laser sensor is characterized in that: In step S3: The coordinates P of the center of the standard ball in the laser sensor coordinate system are obtained S (X S , Y S , Z S ), where X S =X O , Z S =Z O ; Y S The positive or negative value is determined by the position of the standard ball relative to the line laser sensor during calibration.

3. According to the method of claim 1, the robot hand-eye calibration method based on line laser sensor is characterized in that: In step S4, three target balls fixed on the housing of the robot end effector are dispersedly distributed to reduce measurement errors and improve calibration accuracy.

4. The robot hand-eye calibration method based on a line laser sensor according to claim 1, characterized in that: In step S6: The position and posture of the robot's end effector are changed by the movement of the end; the movement of the end is divided into translation and rotation; during translation, the end effector only changes position but not posture, while during rotation, the posture changes.

5. The robot hand-eye calibration method based on a line laser sensor according to claim 4 is characterized in that: In step S6: The position and posture of the robot's end effector are drastically changed to enrich the diversity of the data and improve the calibration accuracy. At the same time, the multiple sets of data collected must include at least 4 sets of robot end translational motion and at least 3 sets of robot end rotation.

6. The robot hand-eye calibration method based on a line laser sensor according to claim 1, characterized in that: The specific process of solving the equation system in step S7 is: The rotation matrix R is obtained by first collecting data from the end effector in the translation state. S Then, the obtained rotation matrix is ​​used as a known quantity to solve the translation matrix T by substituting the data collected by the end effector in the rotating state. S , and then get the hand-eye calibration matrix 7. The robot hand-eye calibration method based on a line laser sensor according to claim 6, characterized in that: In step S7, the six independent parameters are optimized by genetic algorithm respectively as follows: The initial intervals of the six independent parameters (x, y, z, α, β, γ) calculated are set respectively, and one group is extracted from the multiple groups of data collected. The results are trained, and individuals with higher fitness are selected to enter the next generation of crossover mutation, and optimized until the fitness exceeds the set threshold and jumps out; fitness ΔP i The formula is: Among them, R S , T S is the rotation matrix and translation matrix from the line laser sensor coordinate system to the terminal coordinate system, R Mi , T Mi , P Si is a set of selected data, P W is the coordinate of the standard sphere in the laser tracker coordinate system.

Images