CN108972544A - A kind of vision laser sensor is fixed on the hand and eye calibrating method of robot - Google Patents
A kind of vision laser sensor is fixed on the hand and eye calibrating method of robot Download PDFInfo
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- CN108972544A CN108972544A CN201810641074.1A CN201810641074A CN108972544A CN 108972544 A CN108972544 A CN 108972544A CN 201810641074 A CN201810641074 A CN 201810641074A CN 108972544 A CN108972544 A CN 108972544A
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- 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
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/1607—Calculation of inertia, jacobian matrixes and inverses
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- 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
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/1653—Programme controls characterised by the control loop parameters identification, estimation, stiffness, accuracy, error analysis
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
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Abstract
The invention discloses a kind of vision laser sensors to be fixed on the hand and eye calibrating method in robot, comprising steps of step 1,8 points of selection on lying in a horizontal plane in the scaling board below camera, record coordinate of 8 points under robot basis coordinates system；Step 2 takes 8 points in scaling board plane, using least square method and Orthogonal Units, finally obtains transition matrix of the camera coordinates system relative to robot basis coordinates system.The simple and convenient and accuracy of hand and eye calibrating method calculating that vision laser sensor provided by the invention is fixed on robot (Eye-to-hand) is higher, provides necessary guarantee for the subsequent accurate high-efficient homework of robot.
Description
Technical field
Invention is related to industrial automation welding field more particularly to a kind of vision laser sensor is fixed on robot
(Eye-to-hand) hand and eye calibrating method.
Background technique
In industrial automation welding field, vision laser sensor is widely used, according to the installation of sensor
Position can be divided into that sensor is fixed on manipulator (Eye-in-hand) and sensor is fixed on robot (Eye-to-hand)
Two kinds.The hand-eye system of robot (Eye-to-hand) is fixed on for sensor, in order to meet the accuracy requirement of welding,
It needs to calculate position and posture of the accurate laser sensor relative to robot basis coordinates system by calibrated and calculated first, i.e.,
Hand and eye calibrating method, existing hand and eye calibrating method, which exists, calculates the problems such as complicated, accuracy is not high.
Summary of the invention
It is an object of the invention to overcome the deficiencies of the prior art and provide it is a kind of calculate it is simple and convenient and accurate higher
Vision laser sensor be fixed on the hand and eye calibrating method of robot (Eye-to-hand).
Above-mentioned purpose is achieved through the following technical solutions:
A kind of vision laser sensor is fixed on the hand and eye calibrating method in robot, comprising steps of
Step 1 chooses 8 points on lying in a horizontal plane in the scaling board below camera, records 8 points in robot base
Coordinate under coordinate system；
Step 2 takes 8 points to finally obtain camera using least square method and Orthogonal Units in scaling board plane
Transition matrix of the coordinate system relative to robot basis coordinates system.
Further, the step 1 specifically includes:
Step 11, in the single camera vision system that camera is fixed on robot, exist to any point on the scaling board
Following matrix expression relationship:
Wherein,Pose spin matrix for camera coordinates system relative to robot base, x and
Y is position of this in camera coordinates system, and c, d and e are respectively position of this under robot basis coordinates system；If sensor
Installation site it is constant,In all constants of element, and the quadratic sum for meeting every row is equal to 1, each
The quadratic sum of column is equal to 1；
Scaling board is horizontally arranged below camera by step 12, obtains the scaling board in camera by camera calibration method
Height z under coordinate system moves the robot on scaling board a bit, records coordinate (c, d, e) under its robot basis coordinates system, uses
Halcon software obtains this camera pixel coordinate (km,kn), coordinate (x, y) under camera coordinates system is converted to by camera calibration,
Therefore coordinate under camera coordinates systemWith coordinate under robot basis coordinates systemAll be it is known, then have:
Step 13, on scaling board, take 8 points in the same way, then it is available:
The x1~x8, y1~y8And c1~c8All be it is known, respectively correspond eight times and take a little, then can be rewritten as
Equation:
Further, the step 2 specifically includes:
Step 21 rewrites the equation into following form by least square method:
Then simplify are as follows:
Wherein, matrix A is 3 × 3 matrixes, and matrix B is 3 × 1 matrixes；
Step 22, by simplified equation both ends simultaneously premultiplication matrix A it is inverse, solve r11、r12With Δ x；Similarly, according to
The same manner solves r21、r22、Δy、r31、r32,Δz；
Step 23, so far only has r in transition matrix13, r23, r33It does not find out, for spin matrix, column vector is respectively
Unit vector, and pairwise orthogonal, therefore can be found out by the parameter solved and not solve parameter, if a1=[r11 r21 r31]T,
a2=[r12 r22 r32]T, a3=[r13 r23 r33]T, from orthogonality:
a3=a1×a2,
So as to find out the r in transition matrix13, r23, r33；
Step 24, to spin matrix carry out it is unitization, camera coordinates system can be obtained relative to robot basis coordinates system
Transition matrix.
Compared with prior art, vision laser sensor provided by the invention is fixed on the hand of robot (Eye-to-hand)
The simple and convenient and accuracy of eye scaling method calculating is higher, provides necessary guarantee for the subsequent accurate high-efficient homework of robot.
Detailed description of the invention
Fig. 1 is that vision laser sensor is fixed on robot (Eye-to-hand) schematic diagram.
Fig. 2 is hand-eye system and takes a schematic diagram.
In figure: 1- robot；2- camera；3- scaling board.
Specific embodiment
The present invention is described further in the following with reference to the drawings and specific embodiments.
A kind of vision laser sensor is fixed on the hand and eye calibrating method in robot, comprising steps of
Step 1 chooses 8 points on lying in a horizontal plane in the scaling board 3 below camera 2, records 8 points in robot
Coordinate under basis coordinates system；
Step 2 takes 8 points to finally obtain phase using least square method and Orthogonal Units in 3 plane of scaling board
Transition matrix of the machine coordinate system relative to robot basis coordinates system.
Specifically, the step 1 specifically includes:
Step 11 is fixed in the single camera vision system of robot 1 in camera 2 as shown in Figure 1, on the scaling board
There are following matrix expression relationships at any point:
Wherein,Pose spin matrix for camera coordinates system relative to robot base, x and
Y is position of this in camera coordinates system, and c, d and e are respectively position of this under robot basis coordinates system；If sensor
Installation site it is constant,In all constants of element, and the quadratic sum for meeting every row is equal to 1, each
The quadratic sum of column is equal to 1；
Step 12, as shown in Fig. 2, scaling board 3 is horizontally arranged the lower section of camera 2, obtained by camera calibration method described
The height z under camera coordinates system of scaling board 3 is moved the robot on scaling board a bit, is recorded under its robot basis coordinates system
Coordinate (c, d, e) obtains this camera pixel coordinate (k with Halcon softwarem,kn), camera coordinates are converted to by camera calibration
It is lower coordinate (x, y), therefore coordinate under camera coordinates systemWith coordinate under robot basis coordinates systemAll be it is known, then
Have:
Step 13, on scaling board 3, take 8 points in the same way, then it is available:
The x1~x8, y1~y8And c1~c8All be it is known, respectively correspond eight times and take a little, then can be rewritten as
Equation:
Specifically, the step 2 specifically includes:
Step 21 rewrites the equation into following form by least square method:
Then simplify are as follows:
Wherein, matrix A is 3 × 3 matrixes, and matrix B is 3 × 1 matrixes；
Step 22, by simplified equation both ends simultaneously premultiplication matrix A it is inverse, solve r11、r12With Δ x；Similarly, according to
The same manner solves r21、r22、Δy、r31、r32,Δz；
Step 23, so far only has r in transition matrix13, r23, r33It does not find out, and for spin matrix, column vector difference
For unit vector, and pairwise orthogonal, therefore can be found out by the parameter solved and not solve parameter, if a1=[r11 r21
r31]T, a2=[r12 r22 r32]T, a3=[r13 r23 r33]T, from orthogonality:
a3=a1×a2,
So as to find out the r in transition matrix13, r23, r33；
Step 24, to spin matrix carry out it is unitization, camera coordinates system can be obtained relative to robot basis coordinates system
Transition matrix.
The above embodiment of the present invention be only to clearly illustrate example of the present invention, and not be to the present invention
Embodiment restriction.For those of ordinary skill in the art, it can also make on the basis of the above description
Other various forms of variations or variation.There is no necessity and possibility to exhaust all the enbodiments.It is all of the invention
Made any modifications, equivalent replacements, and improvements etc., should be included in the protection of the claims in the present invention within spirit and principle
Within the scope of.
Claims (3)
1. a kind of vision laser sensor is fixed on the hand and eye calibrating method in robot, which is characterized in that comprising steps of
Step 1 chooses 8 points on lying in a horizontal plane in the scaling board below camera, records 8 points in robot basis coordinates
Coordinate under system；
Step 2 takes 8 points to finally obtain camera coordinates using least square method and Orthogonal Units in scaling board plane
It is the transition matrix relative to robot basis coordinates system.
2. vision laser sensor according to claim 1 is fixed on the hand and eye calibrating method in robot, feature exists
In the step 1 specifically includes:
Step 11, in the single camera vision system that camera is fixed on robot, to any point on the scaling board, there are following
Matrix expression relationship:
Wherein,Pose spin matrix for camera coordinates system relative to robot base, x and y are
Position of this in camera coordinates system, c, d and e are respectively position of this under robot basis coordinates system；If sensor
Installation site is constant,In all constants of element, and the quadratic sum for meeting every row is equal to 1, Mei Yilie
Quadratic sum be equal to 1；
Scaling board is horizontally arranged below camera by step 12, obtains the scaling board in camera coordinates by camera calibration method
It is lower height z, moves the robot on scaling board a bit, record coordinate (c, d, e) under its robot basis coordinates system, use
Halcon software obtains this camera pixel coordinate (km,kn), coordinate (x, y) under camera coordinates system is converted to by camera calibration,
Therefore coordinate under camera coordinates systemWith coordinate under robot basis coordinates systemAll be it is known, then have:
Step 13, on scaling board, take 8 points in the same way, then it is available:
The x1~x8, y1~y8And c1~c8All be it is known, respectively correspond eight times and take a little, then can be rewritten as equation:
3. vision laser sensor according to claim 2 is fixed on the hand and eye calibrating method in robot, feature exists
In the step 2 specifically includes:
Step 21 rewrites the equation into following form by least square method:
Then simplify are as follows:
Wherein, matrix A is 3 × 3 matrixes, and matrix B is 3 × 1 matrixes；
Step 22, by simplified equation both ends simultaneously premultiplication matrix A it is inverse, solve r11、r12With Δ x；Similarly, according to same sample prescription
Formula solves r21、r22、Δy、r31、r32,Δz；
Step 23, so far only has r in transition matrix13, r23, r33It does not find out, for spin matrix, column vector is unit respectively
Vector, and pairwise orthogonal, therefore can be found out by the parameter solved and not solve parameter, if a1=[r11 r21 r31]T, a2=
[r12 r22 r32]T, a3=[r13 r23 r33]T, from orthogonality:
a3=a1×a2,
So as to find out the r in transition matrix13, r23, r33；
Step 24, to spin matrix carry out it is unitization, conversion of the camera coordinates system relative to robot basis coordinates system can be obtained
Matrix.
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Cited By (16)
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| 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 |
| CN110202573A (en) * | 2019-06-04 | 2019-09-06 | 上海知津信息科技有限公司 | Full-automatic hand and eye calibrating, working face scaling method and device |
| CN110345869A (en) * | 2019-08-08 | 2019-10-18 | 江苏汇博机器人技术股份有限公司 | A kind of Robotic Hand-Eye Calibration accuracy evaluation system for Technique Authentication real training |
| CN111089569A (en) * | 2019-12-26 | 2020-05-01 | 中国科学院沈阳自动化研究所 | Large box body measuring method based on monocular vision |
| CN111452043A (en) * | 2020-03-27 | 2020-07-28 | 陕西丝路机器人智能制造研究院有限公司 | Method for calibrating hands and eyes of robot and industrial camera |
| CN111890355A (en) * | 2020-06-29 | 2020-11-06 | 北京大学 | Robot calibration method, device and system |
| CN111890354A (en) * | 2020-06-29 | 2020-11-06 | 北京大学 | Robot hand-eye calibration method, device and system |
| CN112019112A (en) * | 2020-08-28 | 2020-12-01 | 无锡职业技术学院 | Computing method for compensating pulse generator winding current based on d-q coordinate system |
| CN112070818A (en) * | 2020-11-10 | 2020-12-11 | 纳博特南京科技有限公司 | Robot disordered grabbing method and system based on machine vision and storage medium |
| CN112935650A (en) * | 2021-01-29 | 2021-06-11 | 华南理工大学 | Calibration optimization method for laser vision system of welding robot |
| CN113246128A (en) * | 2021-05-20 | 2021-08-13 | 菲烁易维(重庆)科技有限公司 | Robot teaching method based on vision measurement technology |
| CN114332249A (en) * | 2022-03-17 | 2022-04-12 | 常州铭赛机器人科技股份有限公司 | Camera vision internal segmentation type hand-eye calibration method |
| CN115070779A (en) * | 2022-08-22 | 2022-09-20 | 菲特（天津）检测技术有限公司 | Robot grabbing control method and system and electronic equipment |
| CN116038721A (en) * | 2023-04-03 | 2023-05-02 | 广东工业大学 | Hand-eye calibration method and system without kinematic participation |
| CN117409080A (en) * | 2023-11-10 | 2024-01-16 | 广州市斯睿特智能科技有限公司 | Hand-eye calibration method for line scanning 3D camera |
| US11992959B1 (en) | 2023-04-03 | 2024-05-28 | Guangdong University Of Technology | Kinematics-free hand-eye calibration method and system |
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| 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 |
| 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 |
| CN110202573A (en) * | 2019-06-04 | 2019-09-06 | 上海知津信息科技有限公司 | Full-automatic hand and eye calibrating, working face scaling method and device |
| CN110202573B (en) * | 2019-06-04 | 2023-04-07 | 上海知津信息科技有限公司 | Full-automatic hand-eye calibration and working plane calibration method and device |
| CN110345869A (en) * | 2019-08-08 | 2019-10-18 | 江苏汇博机器人技术股份有限公司 | A kind of Robotic Hand-Eye Calibration accuracy evaluation system for Technique Authentication real training |
| CN111089569B (en) * | 2019-12-26 | 2021-11-30 | 中国科学院沈阳自动化研究所 | Large box body measuring method based on monocular vision |
| CN111089569A (en) * | 2019-12-26 | 2020-05-01 | 中国科学院沈阳自动化研究所 | Large box body measuring method based on monocular vision |
| CN111452043B (en) * | 2020-03-27 | 2023-02-17 | 陕西丝路机器人智能制造研究院有限公司 | Method for calibrating hands and eyes of robot and industrial camera |
| CN111452043A (en) * | 2020-03-27 | 2020-07-28 | 陕西丝路机器人智能制造研究院有限公司 | Method for calibrating hands and eyes of robot and industrial camera |
| CN111890354A (en) * | 2020-06-29 | 2020-11-06 | 北京大学 | Robot hand-eye calibration method, device and system |
| CN111890354B (en) * | 2020-06-29 | 2022-01-11 | 北京大学 | Robot hand-eye calibration method, device and system |
| CN111890355B (en) * | 2020-06-29 | 2022-01-11 | 北京大学 | Robot calibration method, device and system |
| CN111890355A (en) * | 2020-06-29 | 2020-11-06 | 北京大学 | Robot calibration method, device and system |
| CN112019112A (en) * | 2020-08-28 | 2020-12-01 | 无锡职业技术学院 | Computing method for compensating pulse generator winding current based on d-q coordinate system |
| CN112070818B (en) * | 2020-11-10 | 2021-02-05 | 纳博特南京科技有限公司 | Robot disordered grabbing method and system based on machine vision and storage medium |
| CN112070818A (en) * | 2020-11-10 | 2020-12-11 | 纳博特南京科技有限公司 | Robot disordered grabbing method and system based on machine vision and storage medium |
| CN112935650A (en) * | 2021-01-29 | 2021-06-11 | 华南理工大学 | Calibration optimization method for laser vision system of welding robot |
| CN113246128B (en) * | 2021-05-20 | 2022-06-21 | 菲烁易维(重庆)科技有限公司 | Robot teaching method based on vision measurement technology |
| CN113246128A (en) * | 2021-05-20 | 2021-08-13 | 菲烁易维(重庆)科技有限公司 | Robot teaching method based on vision measurement technology |
| CN114332249A (en) * | 2022-03-17 | 2022-04-12 | 常州铭赛机器人科技股份有限公司 | Camera vision internal segmentation type hand-eye calibration method |
| CN115070779A (en) * | 2022-08-22 | 2022-09-20 | 菲特（天津）检测技术有限公司 | Robot grabbing control method and system and electronic equipment |
| CN115070779B (en) * | 2022-08-22 | 2023-03-24 | 菲特（天津）检测技术有限公司 | Robot grabbing control method and system and electronic equipment |
| CN116038721A (en) * | 2023-04-03 | 2023-05-02 | 广东工业大学 | Hand-eye calibration method and system without kinematic participation |
| CN116038721B (en) * | 2023-04-03 | 2023-07-18 | 广东工业大学 | Hand-eye calibration method and system without kinematic participation |
| US11992959B1 (en) | 2023-04-03 | 2024-05-28 | Guangdong University Of Technology | Kinematics-free hand-eye calibration method and system |
| CN117409080A (en) * | 2023-11-10 | 2024-01-16 | 广州市斯睿特智能科技有限公司 | Hand-eye calibration method for line scanning 3D camera |
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Application publication date: 20181211 |