CN108748146A - A kind of Robotic Hand-Eye Calibration method and system - Google Patents
A kind of Robotic Hand-Eye Calibration method and system Download PDFInfo
- Publication number
- CN108748146A CN108748146A CN201810541740.4A CN201810541740A CN108748146A CN 108748146 A CN108748146 A CN 108748146A CN 201810541740 A CN201810541740 A CN 201810541740A CN 108748146 A CN108748146 A CN 108748146A
- Authority
- CN
- China
- Prior art keywords
- information
- matrix
- robot
- antithesis
- eye
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1692—Calibration of manipulator
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0095—Means or methods for testing manipulators
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to a kind of Robotic Hand-Eye Calibration method, it is fixed with the scaling board equipped with calibration point on the end of robot, scaling method includes：Posture information of the tool center point of robot in robot basis coordinates system is obtained, the form that posture information is converted to dual quaterion obtains hands movement helix information；The image information of scaling board is obtained, and coordinate information of the calibration point in camera coordinates system is calculated according to image information, the form that coordinate information is converted to dual quaterion obtains eye movement helix information；The motion transform equation between hands movement helix information and eye movement helix information is established, and extracts the matrix multiplier of motion transform equation；Multiple matrix multipliers when robot is located at different positions and pose are obtained, transformation matrix is built according to each matrix multiplier；Singular value decomposition is carried out to transformation matrix and obtains unit dual quaterion of the robot basis coordinates system relative to camera coordinates system.The present invention has the advantages that calibration speed is fast, it is simple to calculate.
Description
Technical field
The present invention relates to technical field of machine vision more particularly to a kind of Robotic Hand-Eye Calibration method and system.
Background technology
As industrial robot is widely used in the operation process such as assembly, crawl, Robotic Hand-Eye Calibration precision
It is required that also higher and higher.In traditional hand and eye calibrating method, most of is to establish hand and eye calibrating side by homogeneous transform matrix
Journey, and being solved to calibration equation using least square method, calculating process include asking for spin matrix and translation matrix
Solution has the shortcomings that calculating process complexity, calculating speed is slow, precision is low etc., further for nominal data acquisition also have it is certain
Limitation.
Invention content
The technical problem to be solved by the present invention is to solve the above shortcomings of the prior art and to provide a kind of Robot Hand-eye marks
Determine method, the motion transform equation by establishing dual quaterion form carries out hand and eye calibrating to robot, and calculating process is simple,
It is fast to demarcate speed, stated accuracy is high.
The technical solution that the present invention solves above-mentioned technical problem is as follows：A kind of Robotic Hand-Eye Calibration method, robot
Scaling board is fixed on end, the scaling board is equipped with calibration point, the described method comprises the following steps：
Step S1, posture information of the tool center point of robot in robot basis coordinates system is obtained, by the pose
The representation that information is converted to dual quaterion obtains the hands movement helix information of the tool center point；
Step S2, the image information of the scaling board is obtained, and the calibration point is calculated in phase according to described image information
Coordinate information in machine coordinate system, the representation that the coordinate information is converted to dual quaterion obtain the calibration point
Eye movement helix information；
Step S3, the motion transform equation between the hands movement helix information and the eye movement helix information is established,
And extract the matrix multiplier in the motion transform equation；
Step S4, multiple matrix multipliers when robot is located at different positions and pose are obtained, according to each matrix multiplier
Build transformation matrix；Singular value decomposition is carried out to the transformation matrix and obtains robot basis coordinates system relative to camera coordinates system
Unit dual quaterion, and then realize the hand and eye calibrating of robot.
The beneficial effects of the invention are as follows：The present invention indicates hands movement and eye movement by the form of dual quaterion, and
The motion transform equation for the dual quaterion form that trick converts is established, in the motion transform equation for extracting dual quaterion form
Matrix multiplier, obtain unit dual quaterion.For the motion transform equation for directly directly using matrix structure, this
The solution procedure for inventing the motion transform equation of structure is easier, and difficulty in computation is low, stated accuracy higher.
Based on the above technical solution, the present invention can also be improved as follows：
Further：The step S3 is specifically included：
Step S31, the motion transform equation between the hands movement helix information and the eye movement helix information is established:
In above formula,Indicate the hands movement helix information,Indicate the eye movement helix information,Indicate the unit
Dual quaterion,Indicate the unit dual quaterionConjugate Duality quaternary number；
Step S32, the motion transform equation is divided into antithesis part and non-antithesis part:
In above formula, h and h' indicate hands movement helix information respectivelyNon- antithesis part and antithesis part, e and e' distinguish table
Show eye movement helix informationNon- antithesis part and antithesis part, q and q' indicate unit dual quaterion respectivelyNon- antithesis
Part and antithesis part, q*And q*' Conjugate Duality quaternary number is indicated respectivelyNon- antithesis part and antithesis part；
Step S33, using the motion transform equation characteristic unrelated with the scalar component of dual quaterion, by the fortune
The antithesis part of dynamic transformation equation and non-antithesis are partially shown as:
In above formula, e1For the vector section of the non-antithesis part e of eye movement helix information, e '1For eye movement helix information antithesis
The vector section of part e', h1For the vector section of the non-antithesis part h of hands movement helix information, h '1For hands movement helix information pair
The vector section of even part h', [e1+h1]∨For e1+h1Antisymmetric matrix, [e '1+h′1]∨For e '1+h′1Antisymmetric matrix.
Step S34, the matrix multiplier in the motion transform equation is extracted：
The advantageous effect of above-mentioned further scheme is：The motion transform equation of dual quaterion is established, and according to antithesis four
The property of first number extracts the matrix multiplier of motion transform equation, and tectonic transition matrix, is convenient for subsequent calculating and solution.
Further：The step S4 is specifically included：
Step S41, multiple matrix multiplier S when robot is located at different positions and pose are obtained1,S2,...,Sn, according to more
A matrix multiplier builds the transformation matrix
Step S42, singular value decomposition M=U Σ V are carried out to the transformation matrix M, obtains zero spy in the transformation matrix M
Feature vector V corresponding to value indicativem、Vn, enable：
Obtain the linear side of the non-antithesis part q of the unit dual quaterion and unit dual quaterion antithesis part q'
Journey：
Step S43, the constraint equation of the linear equation is solved：
Obtain constraint factor λ1、λ2Value, according to λ1、λ2Value and the linear equation calculate the unit antithesis four
First non-antithesis part q and antithesis part q ' of number, and then obtain the unit dual quaterion
The advantageous effect of above-mentioned further scheme is：Transformation matrix is decomposed using singular value decomposition, and solves it
Feature vector corresponding to zero eigenvalue establishes linear equation according to feature vector, finally solves unit in conjunction with constraints
Dual quaterionValue.
Further：Further include step S5, calculate the unit dual quaterion using least square method formulaCalibration miss
DifferenceThe unit dual quaterion is examined according to the calibrated errorStated accuracy.
The advantageous effect of above-mentioned further scheme is：Least square method is a kind of common error calculation method, using most
Small square law calculates calibrated error, continuouslys optimize unit dual quaterion.
The present invention also provides a kind of Robotic Hand-Eye Calibration system, including robot, scaling board, camera, workbench and
Processor, the robot and the camera are mounted on the workbench, and the scaling board is fixed on the robot
End on, the scaling board be equipped with calibration point, the robot and camera are electrically connected with the processor；
The processor is used to obtain posture information of the tool center point of robot in robot basis coordinates system, and will
The representation that the posture information is converted to dual quaterion obtains the hands movement helix information of the tool center point；
The camera is used to obtain the image information of the scaling board；
The processor is used to calculate coordinate information of the calibration point in camera coordinates system according to described image information,
And the representation that the coordinate information is converted to dual quaterion obtains the eye movement helix information of the calibration point；
The processor is additionally operable to establish the movement between the hands movement helix information and the eye movement helix information
Transformation equation, and extract the matrix multiplier in the motion transform equation；
The processor is additionally operable to obtain matrix multiplier when multiple robots are located at different positions and pose, according to each described
Matrix multiplier builds transformation matrix；Singular value decomposition is carried out to the transformation matrix and obtains robot basis coordinates system relative to camera
The unit dual quaterion of coordinate system.
Robotic Hand-Eye Calibration system provided by the invention is based on above-mentioned Robotic Hand-Eye Calibration method, therefore, above-mentioned machine
The technique effect that device people's hand and eye calibrating method has, Robotic Hand-Eye Calibration system are likewise supplied with, and details are not described herein.
Further：The scaling board is gridiron pattern scaling board, and the X-comers on the gridiron pattern scaling board are described
Calibration point.
The advantageous effect of above-mentioned further scheme is：Standard grid on gridiron pattern is conducive to camera Fast Calibration calibration point
Position.
Further：The workbench includes at least one support leg, mounting plate and mounting bracket, and the mounting plate passes through institute
It states support leg support to be set on ground, the robot is installed on the mounting plate, and the camera passes through the mounting bracket
Support is set to the top of the mounting plate.
The advantageous effect of above-mentioned further scheme is：Mounting plate and support leg provide stable operation ring for robot
Border is conducive to provide the precision of hand and eye calibrating, and mounting bracket provides stable support for camera, and by camera support in the upper of robot
Side, convenient for the image of camera shooting scaling board.
Further, the processor establishes the movement between the hands movement helix information and the eye movement helix information
Transformation equation, and the matrix multiplier in the motion transform equation is extracted, it specifically includes：
The motion transform equation between the hands movement helix information and the eye movement helix information is established, by the fortune
Dynamic transformation equation is divided into antithesis part and non-antithesis part, utilizes the scalar component of the motion transform equation and dual quaterion
The antithesis part of the motion transform equation and non-antithesis are partially shown as matrix form, described in extraction by unrelated characteristic
Matrix multiplier in motion transform equation.
The advantageous effect of above-mentioned further scheme is：The motion transform equation of dual quaterion is established, and according to antithesis four
The property of first number extracts the matrix multiplier of motion transform equation, and tectonic transition matrix, is convenient for subsequent calculating and solution.
Further, the processor obtains matrix multiplier when multiple robots are located at different positions and pose, according to each institute
Matrix multiplier structure transformation matrix is stated, carrying out singular value decomposition to the transformation matrix obtains robot basis coordinates system relative to phase
The unit dual quaterion of machine coordinate system, specifically includes：
Multiple matrix multipliers when robot is located at different positions and pose are obtained, institute is built according to multiple matrix multipliers
Transformation matrix is stated, singular value decomposition is carried out to the transformation matrix, obtains the spy corresponding to zero eigenvalue in the transformation matrix
Sign vector, obtains the linear equation of the non-antithesis part q of the unit dual quaterion and unit dual quaterion antithesis part q',
Solve the constraint equation of the linear equation and the linear equation calculate the non-antithesis part q of unit dual quaterion with
And antithesis part q ', and then solve and obtain the unit dual quaterion
The advantageous effect of above-mentioned further scheme is：Transformation matrix is decomposed using singular value decomposition, and solves it
Feature vector corresponding to zero eigenvalue establishes linear equation according to feature vector, finally solves unit in conjunction with constraints
Dual quaterionValue.
The present invention also provides a kind of computer readable storage mediums, are stored thereon with computer program, the computer journey
Robotic Hand-Eye Calibration method is realized when sequence is executed by processor.
Computer readable storage medium provided by the invention is for realizing Robotic Hand-Eye Calibration method, therefore robot
The technique effect that eye scaling method has, computer readable storage medium are likewise supplied with, and details are not described herein.
Description of the drawings
Fig. 1 is a kind of flow chart of Robotic Hand-Eye Calibration method provided by the invention；
Fig. 2 is a kind of structural schematic diagram of Robotic Hand-Eye Calibration system provided by the invention.
In attached drawing, parts list represented by the reference numerals are as follows：
1, robot, 2, scaling board, 3, camera, 41, support leg, 42, mounting plate, 43, mounting bracket.
Specific implementation mode
The principle and features of the present invention will be described below with reference to the accompanying drawings, and the given examples are served only to explain the present invention, and
It is non-to be used to limit the scope of the present invention.
Below in conjunction with the accompanying drawings, the present invention will be described.
As shown in Figure 1, the embodiment of the present invention provides a kind of Robotic Hand-Eye Calibration method, it is fixed on the end of robot
Scaling board, the scaling board are equipped with calibration point, the described method comprises the following steps：
Step S1, posture information of the tool center point of robot in robot basis coordinates system is obtained, by the pose
The representation that information is converted to dual quaterion obtains the hands movement helix information of the tool center point；
Step S2, the image information of the scaling board is obtained, and the calibration point is calculated in phase according to described image information
Coordinate information in machine coordinate system, the representation that the coordinate information is converted to dual quaterion obtain the calibration point
Eye movement helix information；
Step S3, the motion transform equation between the hands movement helix information and the eye movement helix information is established,
And extract the matrix multiplier in the motion transform equation；
Step S4, multiple matrix multipliers when robot is located at different positions and pose are obtained, according to each matrix multiplier
Build transformation matrix；Singular value decomposition is carried out to the transformation matrix and obtains robot basis coordinates system relative to camera coordinates system
Unit dual quaterion, and then realize the hand and eye calibrating of robot.
Specifically, the process for coordinate information of the calibration point in camera coordinates system being calculated according to described image information is adopted
It can be thus achieved with existing image processing techniques, such as OpenCV.
Specifically, it at least needs to obtain matrix multiplier when three groups of robots are located at different positions and pose, to ensure stated accuracy.
The present invention establishes the motion transform equation of Robot Hand-eye transformation, motion transform side by the form of dual quaterion
The expression of journey is simple.Then by the motion transform equation characteristic unrelated with the scalar of dual quaterion, dual quaterion of forgoing
Scalar, only retain vector section, extraction obviates the matrix multiplier in the motion transform equation of scalar component, and tectonic transition
Matrix carries out transformation matrix to seek singular value decomposition, obtains robot basis coordinates system phase using matrix singular value decomposition algorithm
For the unit dual quaterion of camera coordinates systemTo realize Robotic Hand-Eye Calibration.
Robotic Hand-Eye Calibration method provided by the invention based on dual quaterion, calculating speed simple with expression formula
Spend feature fast and with high accuracy, can be applied in the operation of various robot eye devices, realize flexibly, accurately and fast, Gao Chong
The crawl of multiplicity or assembly manipulation.
Preferably, the step S3 is specifically included：
Step S31, the motion transform equation between the hands movement helix information and the eye movement helix information is established:
In above formula,Indicate the hands movement helix information,Indicate the eye movement helix information,Indicate the unit
Dual quaterion,Indicate the unit dual quaterionConjugate Duality quaternary number；
Step S32, the motion transform equation is divided into antithesis part and non-antithesis part:
In above formula, h and h' indicate hands movement helix information respectivelyNon- antithesis part and antithesis part, e and e' distinguish table
Show eye movement helix informationNon- antithesis part and antithesis part, q and q' indicate unit dual quaterion respectivelyNon- antithesis
Part and antithesis part, q*And q*' Conjugate Duality quaternary number is indicated respectivelyNon- antithesis part and antithesis part；
Step S33, using the motion transform equation characteristic unrelated with the scalar component of dual quaterion, by the fortune
The antithesis part of dynamic transformation equation and non-antithesis are partially shown as:
In above formula, e1For the vector section of the non-antithesis part e of eye movement helix information, e '1For eye movement helix information antithesis
The vector section of part e', h1For the vector section of the non-antithesis part h of hands movement helix information, h '1For hands movement helix information pair
The vector section of even part h', [e1+h1]∨For e1+h1Antisymmetric matrix, [e '1+h′1]∨For e '1+h′1Antisymmetric matrix.
Step S34, the matrix multiplier in the motion transform equation is extracted：
Specifically, the matrix that above-mentioned matrix multiplier S is 6 × 8, wherein e1-h1With e '1-h′1For 3 × 1 matrix [e1+h1]∨With
[e′1+h′1]∨For 3 × 3 matrixes.
Specifically, in step S32, the motion transform equation is divided into antithesis part and non-antithesis part：
Q is multiplied by simultaneously to above-mentioned the right and left, and utilizes q*q'+q*' q=0 characteristics, it obtains：
Motion transform equation is established in the form of dual quaterion, expression formula is simple, and calculating speed is fast, and precision is high, makes
The operations such as crawl, assembly that flexible, accurate, quick, high multiplicity occur can be located by obtaining the robot by calibration.
Preferably, the step S4 is specifically included：
Step S41, multiple matrix multiplier S when robot is located at different positions and pose are obtained1,S2,...,Sn, according to more
A matrix multiplier builds the transformation matrix
Step S42, singular value decomposition M=U Σ V are carried out to the transformation matrix M, obtains zero spy in the transformation matrix M
Feature vector V corresponding to value indicativem、Vn, enable：
Obtain the linear side of the non-antithesis part q of the unit dual quaterion and unit dual quaterion antithesis part q'
Journey：
Step S43, the constraint equation of the linear equation is solved：
Obtain constraint factor λ1、λ2Value, according to λ1、λ2Value and the linear equation calculate the unit antithesis four
First non-antithesis part q and antithesis part q ' of number, and then obtain the unit dual quaterion
Specifically, above-mentioned transformation matrix M is the matrix of 6n × 8, and wherein n is the number of matrix multiplier.U and V is respectively to become
The singular vector of matrix M is changed, Σ is the singular value of transformation matrix.
By carrying out singular value decomposition to transformation matrix, the solution of motion transform equation is realized, calibration is enormously simplified
Calculation formula in the process, reduces difficulty in computation, accelerates calculating speed and calibration efficiency.Preferably, further include step
S5, the unit dual quaterion is calculated using least square method formulaCalibrated errorAccording to the mark
Determine unit dual quaterion described in error-testedStated accuracy.
Read real-time hands movement helix informationAnd corresponding eye movement helix informationThe unit that will be calculated
Dual quaterionAnd the hands movement helix information readAnd corresponding eye movement helix informationSubstitute into formulaIn calculate calibrated error, and then obtain stated accuracy, convenient for according to calibrated error to unit dual quaterion
It is adjusted.
As shown in Fig. 2, the embodiment of the present invention provides a kind of Robotic Hand-Eye Calibration system, hereinafter referred to as calibration system, packet
Robot 1, scaling board 2, camera 3, workbench and processor are included, the robot 1 and the camera 3 are mounted on described
On workbench, the scaling board 2 is fixed on the end of the robot 1, and the scaling board 2 is equipped with calibration point, the machine
Device people 1 and camera 3 are electrically connected with the processor；
The processor is used to obtain posture information of the tool center point of robot 1 in robot basis coordinates system, and
The representation that the posture information is converted to dual quaterion obtains the hands movement helix information of the tool center point；
The camera 3 is used to obtain the image information of the scaling board 2；
The processor is used to calculate coordinate information of the calibration point in camera coordinates system according to described image information,
And the representation that the coordinate information is converted to dual quaterion obtains the eye movement helix information of the calibration point；
The processor is additionally operable to establish the movement between the hands movement helix information and the eye movement helix information
Transformation equation, and extract the matrix multiplier in the motion transform equation；
The processor is additionally operable to obtain matrix multiplier when multiple robots are located at different positions and pose, according to each described
Matrix multiplier builds transformation matrix；Singular value decomposition is carried out to the transformation matrix and obtains robot basis coordinates system relative to camera
The unit dual quaterion of coordinate system.
Specifically, robot 1 selects six degree of freedom UR3 industrial robots in the present embodiment, is clapped camera 3 using OpenCV
The scaling board image taken the photograph is demarcated, and the corresponding posture information of calibration point is obtained.Processor is completed above-mentioned using MATLAB programs
The calculating process of scaling method, to obtain unit dual quaterion of the robot basis coordinates system relative to camera coordinates system
Value, and then complete the hand and eye calibrating process of robot.
Robotic Hand-Eye Calibration system provided by the invention is based on above-mentioned Robotic Hand-Eye Calibration method, therefore, above-mentioned machine
The technique effect that device people's hand and eye calibrating method has, Robotic Hand-Eye Calibration system are likewise supplied with, and details are not described herein.
Preferably, the scaling board 2 is gridiron pattern scaling board, and the X-comers on the gridiron pattern scaling board are described
Calibration point.
Standard grid on gridiron pattern can be used as reference when camera calibration, be conducive to calibration point described in camera Fast Calibration
Coordinate information.
Preferably, as shown in Fig. 2, the workbench includes at least one support leg 41, mounting plate 42 and mounting bracket 43,
The mounting plate 42 is set to by the support of the support leg 41 on ground, and the robot 1 is installed on the mounting plate 42,
The camera 3 supports the top for being set to the mounting plate 42 by the mounting bracket 43.
Mounting plate 42 and support leg 41 are that robot 1 provides the running environment stablized support and stablized, mounting bracket 43
Stable support is provided for camera 3, a stable shooting environmental is provided for camera 3, is conducive to the shooting of the image of scaling board 2.
Preferably, the processor establishes the movement between the hands movement helix information and the eye movement helix information
Transformation equation, and the matrix multiplier in the motion transform equation is extracted, it specifically includes：
The motion transform equation between the hands movement helix information and the eye movement helix information is established, by the fortune
Dynamic transformation equation is divided into antithesis part and non-antithesis part, utilizes the scalar component of the motion transform equation and dual quaterion
The antithesis part of the motion transform equation and non-antithesis are partially shown as matrix form, described in extraction by unrelated characteristic
Matrix multiplier in motion transform equation.
The motion transform equation of dual quaterion is established, and according to the property of dual quaterion, extracts motion transform equation
Matrix multiplier, and tectonic transition matrix is convenient for subsequent calculating and solution.
Preferably, the processor obtains matrix multiplier when multiple robots are located at different positions and pose, according to each institute
Matrix multiplier structure transformation matrix is stated, carrying out singular value decomposition to the transformation matrix obtains robot basis coordinates system relative to phase
The unit dual quaterion of machine coordinate system, specifically includes：
Multiple matrix multipliers when robot is located at different positions and pose are obtained, institute is built according to multiple matrix multipliers
Transformation matrix is stated, singular value decomposition is carried out to the transformation matrix, obtains the spy corresponding to zero eigenvalue in the transformation matrix
Sign vector, obtains the linear equation of the non-antithesis part q of the unit dual quaterion and unit dual quaterion antithesis part q',
Solve the constraint equation of the linear equation and the linear equation calculate the non-antithesis part q of unit dual quaterion with
And antithesis part q ', and then solve and obtain the unit dual quaterion
Transformation matrix is decomposed using singular value decomposition, and solves the feature vector corresponding to its zero eigenvalue, root
Linear equation is established according to feature vector, finally solves unit dual quaterion in conjunction with constraintsValue.
The embodiment of the present invention also provides a kind of computer readable storage medium, is stored thereon with computer program, the meter
Calculation machine program realizes the Robotic Hand-Eye Calibration method when being executed by processor.
Computer readable storage medium provided by the invention is for realizing Robotic Hand-Eye Calibration method, therefore robot
The technique effect that eye scaling method has, computer readable storage medium are likewise supplied with, and details are not described herein.
The foregoing is merely presently preferred embodiments of the present invention, is not intended to limit the invention, it is all the present invention spirit and
Within principle, any modification, equivalent replacement, improvement and so on should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of Robotic Hand-Eye Calibration method, which is characterized in that be fixed with scaling board, the scaling board on the end of robot
It is equipped with calibration point, the described method comprises the following steps：
Step S1, posture information of the tool center point of robot in robot basis coordinates system is obtained, by the posture information
The representation for being converted to dual quaterion obtains the hands movement helix information of the tool center point；
Step S2, the image information of the scaling board is obtained, and the calibration point is calculated according to described image information and is sat in camera
Coordinate information in mark system, the representation that the coordinate information is converted to dual quaterion obtain the eye fortune of the calibration point
Dynamic helix information；
Step S3, the motion transform equation between the hands movement helix information and the eye movement helix information is established, and is carried
Take the matrix multiplier in the motion transform equation；
Step S4, multiple matrix multipliers when robot is located at different positions and pose are obtained, are built according to each matrix multiplier
Transformation matrix；Singular value decomposition is carried out to the transformation matrix and obtains unit of the robot basis coordinates system relative to camera coordinates system
Dual quaterion, and then realize the hand and eye calibrating of robot.
2. Robotic Hand-Eye Calibration method according to claim 1, which is characterized in that the step S3 is specifically included：
Step S31, the motion transform equation between the hands movement helix information and the eye movement helix information is established:
In above formula,Indicate the hands movement helix information,Indicate the eye movement helix information,Indicate the unit antithesis
Quaternary number,Indicate the unit dual quaterionConjugate Duality quaternary number；
Step S32, the motion transform equation is divided into antithesis part and non-antithesis part:
In above formula, h and h' indicate hands movement helix information respectivelyNon- antithesis part and antithesis part, e and e' indicate eye respectively
Kinematic screw informationNon- antithesis part and antithesis part, q and q' indicate unit dual quaterion respectivelyNon- antithesis part
With antithesis part, q*And q*' Conjugate Duality quaternary number is indicated respectivelyNon- antithesis part and antithesis part；
Step S33, using the motion transform equation characteristic unrelated with the scalar component of dual quaterion, the movement is become
The antithesis part and non-antithesis for changing equation are partially shown as:
In above formula, e1For the vector section of the non-antithesis part e of eye movement helix information, e1' it is eye movement helix information antithesis part
The vector section of e', h1For the vector section of the non-antithesis part h of hands movement helix information, h1' it is hands movement helix information antithesis portion
Divide the vector section of h', [e1+h1]∨For e1+h1Antisymmetric matrix, [e1'+h1']∨For e1'+h1' antisymmetric matrix.
Step S34, the matrix multiplier in the motion transform equation is extracted：
3. Robotic Hand-Eye Calibration method according to claim 2, which is characterized in that the step S4 is specifically included：
Step S41, multiple matrix multiplier S when robot is located at different positions and pose are obtained1,S2,...,Sn, according to multiple institutes
It states matrix multiplier and builds the transformation matrix
Step S42, singular value decomposition M=U Σ V are carried out to the transformation matrix M, obtains zero eigenvalue in the transformation matrix M
Corresponding feature vector Vm、Vn, enable：
Obtain the linear equation of the non-antithesis part q of the unit dual quaterion and unit dual quaterion antithesis part q'：
Step S43, the constraint equation of the linear equation is solved：
Obtain constraint factor λ1、λ2Value, according to λ1、λ2Value and the linear equation to calculate the unit dual quaterion non-
Antithesis part q and antithesis part q ', and then obtain the unit dual quaterion
4. according to any Robotic Hand-Eye Calibration methods of claim 1-3, which is characterized in that further include step S5, utilize
Least square method formula calculates the unit dual quaterionCalibrated errorAccording to the calibrated error
Examine the unit dual quaterionStated accuracy.
5. a kind of Robotic Hand-Eye Calibration system, which is characterized in that including robot (1), scaling board (2), camera (3), work
Platform and processor, the robot (1) and the camera (3) are mounted on the workbench, and the scaling board (2) is solid
Due on the end of the robot (1), the scaling board (2) is equipped with calibration point, the robot (1) and camera (3)
It is electrically connected with the processor；
The processor is used to obtain posture information of the tool center point of robot (1) in robot basis coordinates system, and will
The representation that the posture information is converted to dual quaterion obtains the hands movement helix information of the tool center point；
The camera (3) is used to obtain the image information of the scaling board (2)；
The processor is used to calculate coordinate information of the calibration point in camera coordinates system according to described image information, and will
The representation that the coordinate information is converted to dual quaterion obtains the eye movement helix information of the calibration point；
The processor is additionally operable to establish the motion transform between the hands movement helix information and the eye movement helix information
Equation, and extract the matrix multiplier in the motion transform equation；
The processor is additionally operable to obtain matrix multiplier when multiple robots are located at different positions and pose, according to each matrix
The factor builds transformation matrix；Singular value decomposition is carried out to the transformation matrix and obtains robot basis coordinates system relative to camera coordinates
The unit dual quaterion of system.
6. Robotic Hand-Eye Calibration system according to claim 5, which is characterized in that the scaling board (2) is chessboard case marker
Fixed board, the X-comers on the gridiron pattern scaling board are the calibration point.
7. according to the Robotic Hand-Eye Calibration system of claim 5 or 6, which is characterized in that the workbench includes at least one
Support leg (41), mounting plate (42) and mounting bracket (43), the mounting plate (42) are set by the support leg (41) support
It is placed on ground, the robot (1) is installed on the mounting plate (42), and the camera (3) passes through the mounting bracket (43)
Support is set to the top of the mounting plate (42).
8. Robotic Hand-Eye Calibration system according to claim 5, which is characterized in that the processor establishes the hands movement
Motion transform equation between helix information and the eye movement helix information, and extract the matrix in the motion transform equation
The factor specifically includes：
The motion transform equation between the hands movement helix information and the eye movement helix information is established, the movement is become
It changes equation and is divided into antithesis part and non-antithesis part, it is unrelated with the scalar component of dual quaterion using the motion transform equation
Characteristic, the antithesis part of the motion transform equation and non-antithesis are partially shown as matrix form, extract the movement
Matrix multiplier in transformation equation.
9. Robotic Hand-Eye Calibration system according to claim 5, which is characterized in that the processor obtains multiple robots
Matrix multiplier when positioned at different positions and pose builds transformation matrix according to each matrix multiplier, to the transformation matrix into
Row singular value decomposition obtains unit dual quaterion of the robot basis coordinates system relative to camera coordinates system, specifically includes：
Multiple matrix multipliers when robot is located at different positions and pose are obtained, the change is built according to multiple matrix multipliers
Change matrix, singular value decomposition carried out to the transformation matrix, obtain feature in the transformation matrix corresponding to zero eigenvalue to
Amount, obtains the linear equation of the non-antithesis part q of the unit dual quaterion and unit dual quaterion antithesis part q', solves
The constraint equation of the linear equation and the linear equation calculate the non-antithesis part q of the unit dual quaterion and right
Even part q', and then solve and obtain the unit dual quaterion
10. a kind of computer readable storage medium, is stored thereon with computer program, which is characterized in that the computer program
The Robotic Hand-Eye Calibration method as described in any one of claim 1-4 is realized when being executed by processor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810541740.4A CN108748146A (en) | 2018-05-30 | 2018-05-30 | A kind of Robotic Hand-Eye Calibration method and system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810541740.4A CN108748146A (en) | 2018-05-30 | 2018-05-30 | A kind of Robotic Hand-Eye Calibration method and system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108748146A true CN108748146A (en) | 2018-11-06 |
Family
ID=64004651
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810541740.4A Pending CN108748146A (en) | 2018-05-30 | 2018-05-30 | A kind of Robotic Hand-Eye Calibration method and system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108748146A (en) |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110009689A (en) * | 2019-03-21 | 2019-07-12 | 上海交通大学 | A kind of image data set fast construction method for the robot pose estimation that cooperates |
| CN110238845A (en) * | 2019-05-22 | 2019-09-17 | 湖南视比特机器人有限公司 | Optimal Calibration point chooses and the automatic hand and eye calibrating method and device of error measurement |
| CN110634164A (en) * | 2019-10-16 | 2019-12-31 | 易思维（杭州）科技有限公司 | Quick calibration method for vision sensor |
| CN110977980A (en) * | 2019-12-17 | 2020-04-10 | 上海嘉奥信息科技发展有限公司 | Mechanical arm real-time hand-eye calibration method and system based on optical position indicator |
| CN111121818A (en) * | 2019-12-11 | 2020-05-08 | 中山大学 | Calibration method for camera and two-dimensional code in unmanned vehicle |
| CN111167731A (en) * | 2019-10-23 | 2020-05-19 | 武汉库柏特科技有限公司 | Product sorting method, product sorting system and intelligent sorting robot |
| CN111515950A (en) * | 2020-04-28 | 2020-08-11 | 腾讯科技（深圳）有限公司 | Method, device and equipment for determining transformation relation of robot coordinate system and storage medium |
| CN112091971A (en) * | 2020-08-21 | 2020-12-18 | 季华实验室 | Robot eye calibration method and device, electronic equipment and system |
| CN112790786A (en) * | 2020-12-30 | 2021-05-14 | 无锡祥生医疗科技股份有限公司 | Point cloud data registration method and device, ultrasonic equipment and storage medium |
| WO2022193640A1 (en) * | 2021-03-19 | 2022-09-22 | 深圳市优必选科技股份有限公司 | Robot calibration method and apparatus, and robot and storage medium |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20060095226A1 (en) * | 2002-11-21 | 2006-05-04 | Samsung Electronics Co., Ltd. | Hand/eye calibration method using projective invariant shape descriptor of 2-dimensional image |
| CN106767393A (en) * | 2015-11-20 | 2017-05-31 | 沈阳新松机器人自动化股份有限公司 | The hand and eye calibrating apparatus and method of robot |
| CN107253190A (en) * | 2017-01-23 | 2017-10-17 | 梅卡曼德（北京）机器人科技有限公司 | The device and its application method of a kind of high precision machines people trick automatic camera calibration |
| CN206568190U (en) * | 2017-03-03 | 2017-10-20 | 梅卡曼德（北京）机器人科技有限公司 | A kind of depth camera caliberating device that field is captured for industrial robot |
| CN107498558A (en) * | 2017-09-19 | 2017-12-22 | 北京阿丘科技有限公司 | Full-automatic hand and eye calibrating method and device |
-
2018
- 2018-05-30 CN CN201810541740.4A patent/CN108748146A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20060095226A1 (en) * | 2002-11-21 | 2006-05-04 | Samsung Electronics Co., Ltd. | Hand/eye calibration method using projective invariant shape descriptor of 2-dimensional image |
| CN106767393A (en) * | 2015-11-20 | 2017-05-31 | 沈阳新松机器人自动化股份有限公司 | The hand and eye calibrating apparatus and method of robot |
| CN107253190A (en) * | 2017-01-23 | 2017-10-17 | 梅卡曼德（北京）机器人科技有限公司 | The device and its application method of a kind of high precision machines people trick automatic camera calibration |
| CN206568190U (en) * | 2017-03-03 | 2017-10-20 | 梅卡曼德（北京）机器人科技有限公司 | A kind of depth camera caliberating device that field is captured for industrial robot |
| CN107498558A (en) * | 2017-09-19 | 2017-12-22 | 北京阿丘科技有限公司 | Full-automatic hand and eye calibrating method and device |
Non-Patent Citations (1)
| Title |
|---|
| K. DANIILIDIS和E. BAYRO-CORROCHANO: "The dual quaternion approach to hand-eye calibration", 《PROCEEDINGS OF 13TH INTERNATIONAL CONFERENCE ON PATTERN RECOGNITION》 * |
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110009689A (en) * | 2019-03-21 | 2019-07-12 | 上海交通大学 | A kind of image data set fast construction method for the robot pose estimation that cooperates |
| CN110009689B (en) * | 2019-03-21 | 2023-02-28 | 上海交通大学 | Image data set rapid construction method for collaborative robot pose estimation |
| CN110238845A (en) * | 2019-05-22 | 2019-09-17 | 湖南视比特机器人有限公司 | Optimal Calibration point chooses and the automatic hand and eye calibrating method and device of error measurement |
| CN110634164B (en) * | 2019-10-16 | 2022-06-14 | 易思维（杭州）科技有限公司 | Quick calibration method for vision sensor |
| CN110634164A (en) * | 2019-10-16 | 2019-12-31 | 易思维（杭州）科技有限公司 | Quick calibration method for vision sensor |
| CN111167731A (en) * | 2019-10-23 | 2020-05-19 | 武汉库柏特科技有限公司 | Product sorting method, product sorting system and intelligent sorting robot |
| CN111167731B (en) * | 2019-10-23 | 2022-11-08 | 武汉库柏特科技有限公司 | Product sorting method, product sorting system and intelligent sorting robot |
| CN111121818A (en) * | 2019-12-11 | 2020-05-08 | 中山大学 | Calibration method for camera and two-dimensional code in unmanned vehicle |
| CN110977980A (en) * | 2019-12-17 | 2020-04-10 | 上海嘉奥信息科技发展有限公司 | Mechanical arm real-time hand-eye calibration method and system based on optical position indicator |
| CN111515950A (en) * | 2020-04-28 | 2020-08-11 | 腾讯科技（深圳）有限公司 | Method, device and equipment for determining transformation relation of robot coordinate system and storage medium |
| CN111515950B (en) * | 2020-04-28 | 2022-04-08 | 腾讯科技（深圳）有限公司 | Method, device and equipment for determining transformation relation of robot coordinate system and storage medium |
| CN112091971B (en) * | 2020-08-21 | 2021-10-12 | 季华实验室 | Robot eye calibration method and device, electronic equipment and system |
| CN112091971A (en) * | 2020-08-21 | 2020-12-18 | 季华实验室 | Robot eye calibration method and device, electronic equipment and system |
| CN112790786A (en) * | 2020-12-30 | 2021-05-14 | 无锡祥生医疗科技股份有限公司 | Point cloud data registration method and device, ultrasonic equipment and storage medium |
| WO2022193640A1 (en) * | 2021-03-19 | 2022-09-22 | 深圳市优必选科技股份有限公司 | Robot calibration method and apparatus, and robot and storage medium |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108748146A (en) | A kind of Robotic Hand-Eye Calibration method and system | |
| CN111429532B (en) | Method for improving camera calibration accuracy by utilizing multi-plane calibration plate | |
| CN111089569B (en) | Large box body measuring method based on monocular vision | |
| CN106204718A (en) | A kind of simple and efficient 3 D human body method for reconstructing based on single Kinect | |
| CN109544606A (en) | Fast automatic method for registering and system based on multiple Kinect | |
| CN106767393A (en) | The hand and eye calibrating apparatus and method of robot | |
| CN109099883A (en) | The big visual field machine vision metrology of high-precision and caliberating device and method | |
| CN105631161B (en) | A kind of determination method and apparatus that actual situation model is overlapped | |
| CN107358633A (en) | Join scaling method inside and outside a kind of polyphaser based on 3 points of demarcation things | |
| CN106504275B (en) | A kind of real-time three-dimensional method for reconstructing of inertial positioning and point cloud registering coupling and complementing | |
| WO2022135011A1 (en) | Method and apparatus for obtaining combined centroid state, humanoid robot, and readable storage medium | |
| CN108324373A (en) | A kind of puncturing operation robot based on electromagnetic positioning system is accurately positioned implementation method | |
| CN109465822A (en) | Based on 3D vision hand and eye calibrating method | |
| CN104697463B (en) | The blanking feature constraint scaling method and device of a kind of binocular vision sensor | |
| CN106323286B (en) | A kind of robot coordinate system and the transform method of three-dimensional measurement coordinate system | |
| CN106340059B (en) | Automatic splicing method based on three-dimensional modeling of multi-body feeling acquisition equipment | |
| CN106441200B (en) | A kind of method for three-dimensional measurement of more measurement patterns | |
| CN109035327A (en) | Panorama camera Attitude estimation method based on deep learning | |
| CN111652941A (en) | Camera internal reference calibration method based on adaptive variation longicorn group optimization algorithm | |
| CN103646377B (en) | Coordinate conversion method and device | |
| CN109345581A (en) | Augmented reality method, apparatus and system based on more mesh cameras | |
| CN113870366A (en) | Calibration method and calibration system of three-dimensional scanning system based on pose sensor | |
| Pang et al. | A tool-free calibration method for turntable-based 3D scanning systems | |
| CN116309879A (en) | Robot-assisted multi-view three-dimensional scanning measurement method | |
| CN110232710A (en) | Article localization method, system and equipment based on three-dimensional camera |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20181106 |