CN109079774A - A kind of isotropism visual sensing three-dimensional spherical target and scaling method - Google Patents
A kind of isotropism visual sensing three-dimensional spherical target and scaling method Download PDFInfo
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Abstract
The present invention provides a kind of isotropism visual sensing three-dimensional spherical targets, including Sign module, circle marker object, spheroid support；A kind of scaling method of isotropism visual sensing three-dimensional spherical target, three-dimensional spherical target is connect with robot end's ring flange, robot includes binocular vision system, and binocular vision system faces three-dimensional spherical target, for carrying out visual information acquisition to three-dimensional Spherical Target mark；To biocular systems calibration, Robotic Hand-Eye Calibration, end target co-ordinates system is demarcated to the transformational relation of robot end, establishes global measuring coordinate system；The theoretical end pose of robot motion is obtained according to robot motion model；Binocular vision photogrammetry robot end's target ball calculates measurement target drone spherical space point in the pose of spherical coordinates, and converts it to robot end according to calibration result, acquires robot end's pose；Robot motion is controlled, and calculates theoretical pose at this time and measurement pose.
Description
Technical field
The present invention relates to 3 D visual measurement and robot precision's control field, specially a kind of isotropism visual sensings
Three-dimensional spherical target and scaling method.
Background technique
Industrial robot has many advantages, such as high flexibility, repeatable accuracy height, good reliability, strong applicability, gradually uses in recent years
In flexible automation and intelligence manufacture, it is widely used in mechanical engineering, automobile, aerospace field.As application is gradually expanded,
Robot is gradually applied to Precision Machining and Intelligent Machining field, such as the assembly of laser cutting, aircraft, flexible Precision Machining.So
And influenced by working environment and robot itself working principle, error can be generated in robot work, leads to industrial machine
People's positioning precision is high and absolute fix precision is very low, to limit industrial robot in fields such as high-accuracy intelligence manufactures
Application.Typical industry robot localization precision can reach 1mm, and be 0.25mm for aerospace field application demand
Or higher precision, it only relies on robot self poisoning precision and is unable to reach.
The existing method for improving absolute fix precision has two classes: one kind is to robot static calibration, to absolute fix essence
Degree is demarcated；It is another kind of be by some measurement means, to industrial robot end effector carry out dynamic measurement tracking with
Pose resolves, and then carries out pose compensation control by comparing with ideal pose.Second class method precision is high, and common measurement is set
Have automatic theodolite, ball bar, three coordinate measuring machine, laser tracker, stereoscopic vision sensor-based system etc..Wherein stereoscopic vision
Sensor-based system is cheap with its, high reliablity, simple operation and other advantages are increasingly becoming new technology.
To improve binocular or estimating accuracy of measurement more, measurement target drone is installed in end effector of robot precision, and accurate
Calibrate the transformation relation of stereo target and end effector of robot.Have at present and is served only for biocular systems calibration and tracks vertical
Body target, still, due to factors such as robot working space is big, wide, the vision measurement bad environments of end effector moving range,
The target for being currently used for binocular measurement cannot be guaranteed environmental robustness and isotropism.
Summary of the invention
It is an object of the invention in view of the drawbacks of the prior art or problem, provide a kind of isotropism and to measurement environment
Stereo target and its scaling method with robustness, solution industrial robot absolute fix precision is low, dynamic position and attitude error is mended
The problems such as repaying.
Technical scheme is as follows:
A kind of isotropism visual sensing three-dimensional spherical target, including Sign module, circle marker object and spheroid support, institute
The beaded support stated is the hollow out target ball being interconnected to constitute by several connecting rods, if being distributed on the beaded support
Dry column structure, the Sign module is several terrace with edge structures, and the terrace with edge structure is fixed on column structure, each
Terrace with edge structure is made of several trapezoidal sides and a top surface, and the center of each trapezoidal side is equipped with round shallow slot, in top surface
For the heart there are round hole, the circle marker object is placed in fixed, all circle marker objects in corresponding round shallow slot and round hole
The center of circle on the same spherical surface, and the centre of sphere of the spherical surface is the centre of sphere of target ball, is located at the same trapezoidal side of terrace with edge structure
The center of circle of the circle marker object in face is distributed in one plane, and the distance between the center of circle of adjacent circular marker is different,
The mounting flange for connecting with robot end's ring flange is fixed on the beaded support.
Preferably, the quantity of the terrace with edge structure is 11, and correspondingly, the quantity of column structure is also 11.
Preferably, the quantity of the trapezoidal side is eight.
Preferably, the trapezoidal side and top surface are working face, install translucent cover on the working face outer surface.
Preferably, the circle marker object is reflective object, and the round shallow slot depth is 0.2mm, as round mark
The thickness of will object.
A kind of scaling method of isotropism visual sensing three-dimensional spherical target, includes the following steps:
S1: three-dimensional spherical target is connect with robot end's ring flange, robot includes binocular vision system, binocular vision
Feel system faces three-dimensional spherical target, for carrying out visual information acquisition to three-dimensional Spherical Target mark；
S2: to biocular systems calibration, Robotic Hand-Eye Calibration, the conversion of calibration end target co-ordinates system to robot end
Relationship establishes global measuring coordinate system；
S3: the theoretical end pose of robot motion is obtained according to robot motion model；
S4: Binocular vision photogrammetry robot end's target ball calculates measurement target drone spherical space point in the pose of spherical coordinates, and
Robot end is converted it to according to calibration result, acquires robot end's pose；
S5: control robot motion, according to route calculation theoretical pose and the measurement pose at this time of step S3, S4.
Preferably, the biocular systems calibration of the step S2 utilizes plane reference method, and Robotic Hand-Eye Calibration is utilized and asked
The robot theory pose of the method for dematrix equation, the step S3 is calculated as the kinematics model side articulated robot DH
Method.
Preferably, the specific method is as follows in the pose of spherical coordinates for the step S4 calculating measurement target drone spherical space point:
S41: in the design of target ball, for all circle marker objects on a spherical surface, each circle marker object is a mark
Will point, when detecting that putting and can use least square method for four or more fits a spherical surface, the centre of sphere of spherical surface is target
The ball centre of sphere；
Coordinate of the index point on target ball has uniqueness, by the way of distance discrimination, with the calculation of minimum similarity distance
Method determines that index point is numbered；
Designed distance in 8 points of a Sign module, for taking i index point, with contiguous tokens point i-1, i+1
For di,i-1、di,i+1, an index point is obtained using binocular measurement, if meeting
The point for then determining measurement is the i-th index point on Sign module；
D in above formulaij、dikThe three-dimensional distance of index point j, k and i are obtained for binocular measurement；
δ is Distance conformability degree threshold value；
For the uniqueness for guaranteeing index point, in all 11 Sign module 88 index points, each index point and phase
The distance of adjacent index point is all different, and this different mainly due in spheroidal coordinate system, distance is managed between index point adjacent coordinates
It is by value
Wherein α is the angle of index point and circle center line connecting in Z-direction, and variation range is 0~180 °；
β is the angle of consecutive points and the Sign module line of centres, and variation range is 0~180 °；R is radius of sphericity；
S42: after the completion of the design of target ball, coordinate of each index point center of circle under spherical coordinate system isUtilize ball
Relationship between coordinate system and rectangular coordinate system can obtain the rectangular co-ordinate (x, y, z) in the center of circle, i.e. x=Rsin θ cos φ, y=Rsin
θ sin φ, z=Rcos θ.If target ball moves in place 2 from position 1, coordinate of the target ball under binocular coordinate system is respectively P1
(x1,y1,z1)、P2(x2,y2,z2), the pose variation of target ball movement is P2=[R | t] P1.Wherein R is rotationally-varying, and t is flat
Move transformation.Index point coordinate under spherical coordinate system is determined using index point uniqueness, can acquire R, t by corresponding points.
Preferably, machine is converted it to according to target spherical space point is acquired in the pose of spherical coordinates in the S4 step
People acquires end robot end's pose, and the specific method is as follows:
If the point A of measurement puts coordinate on target ballThen
WhereinFor coordinate of the point A under robot basis coordinates system；
For coordinate of the point A under camera coordinates system；
For coordinate of the point A under target spherical coordinate system；
MQCFor camera coordinates system to the transition matrix of target spherical coordinate system；
MEQFor target spherical coordinate system to the transformational relation of ending coordinates system；
MBEFor robot end's pose；
Transformational relation M of the target spherical coordinate system to ending coordinates systemEQIt is obtained by calibration, the specific method is as follows:
Camera coordinates system is OC, coordinate system, robot base coordinate sys-tem O are replaced with coordinate originB, OE1、OE2Respectively
Indicate the end effector of robot coordinate system at position 1 and position 2, OQ1、OQ2It is illustrated respectively at position 1 and position 2
Target spherical coordinate system；
The rotational translation matrix of camera coordinates system to robot basis coordinates system is MCB, at position 1 and position 2, target is sat
The transition matrix of mark system to visual coordinate system is respectively MQ1CAnd MQ2C, end effector of robot to robot base coordinate sys-tem turn
Changing matrix is respectively ME1BAnd ME2B, target co-ordinates system to end effector of robot Conversion Matrix of Coordinate MQEFor constant matrix,
It is the matrix for needing to demarcate.
It can be obtained according to the coordinate system and transition matrix definition:
From position 1, the transformation matrix to from position 2 is M for target co-ordinates systemQ1Q2, end effector of robot from position 1 in place
The transformation matrix for setting 2 is ME1E2, then have:
ME1E2MQE=MQEMQ1Q2 (9)
(5)-(8) are brought into (9), the matrix M for needing to demarcate can be solvedQE, specifically:
Technical solution provided by the invention has the following beneficial effects:
The present invention is at low cost, easy to operate, only spherical target need to be mounted on end effector of robot, then utilizes institute
The scaling method stated, it can solve robot end's pose, the present invention by the way of vision measurement, have high-precision,
The advantages of dynamic measures can complete the dynamically track and trueness error compensation of robot end's pose.
In addition, the stereo target that the present invention designs is generally spherical, have the characteristics that isotropism, ensure that in robot
It can be measured by vision system in rotational movement process, there is robustness, mark point used in the present invention has light-reflecting property,
It is capable of forming more obvious visual characteristic after being reflected by the light of light source projects, improves the accuracy of vision measurement.
Detailed description of the invention
Fig. 1 is a kind of structural schematic diagram of isotropism three-dimensional spherical target.
Fig. 2 is Sign module schematic diagram.
Fig. 3 is Sign module front view.
Fig. 4 is beaded support installation site distribution schematic diagram.
Fig. 5 is each schematic diagram of a Sign module.
Fig. 6 is Sign module feature recognition algorithms flow chart.
Fig. 7 is that a kind of isotropism three-dimensional spherical target and robot end demarcate mathematical model schematic diagram.
Fig. 8 is that a kind of isotropism three-dimensional spherical target is used for robot pose measurement schematic diagram.
Specific embodiment
In order to make those skilled in the art better understand the technical solutions in the application, below in conjunction with the application reality
The attached drawing in example is applied, the technical scheme in the embodiment of the application is clearly and completely described, it is clear that described implementation
Example is merely a part but not all of the embodiments of the present application.Based on the embodiment in the application, art technology
The model of the application protection all should belong in personnel's all other embodiment obtained without making creative work
It encloses.
The description of specific distinct unless the context otherwise, the present invention in element and component, the shape that quantity both can be single
Formula exists, and form that can also be multiple exists, and the present invention is defined not to this.Although step in the present invention with label into
It has gone arrangement, but is not used to limit the precedence of step, unless expressly stated the order of step or holding for certain step
Based on row needs other steps, otherwise the relative rank of step is adjustable.It is appreciated that used herein
Term "and/or" one of is related to and covers associated listed item or one or more of any and all possible groups
It closes.
Fig. 1 to Fig. 8 show structural schematic diagram of the invention:
Wherein appended drawing reference are as follows: Sign module 1, circle marker object 2, spheroid support 3, mounting flange 4, connecting rod 5, column
Shape structure 6, ball grid 7, binocular camera 8, end target ball 9, end flange 10, industrial robot 11.
As shown in Figure 1, 2, 3, a kind of isotropism visual sensing three-dimensional spherical target, including Sign module 1, circle marker
Object 2 and spheroid support 3, beaded support 3 are the hollow out target ball being interconnected to constitute by several connecting rods 5, on beaded support 3
Several column structures 6 are distributed with, Sign module 1 is several terrace with edge structures, and terrace with edge structure is fixed on column structure 6, often
A terrace with edge structure is made of several trapezoidal sides and a top surface, and the center of each trapezoidal side is equipped with round shallow slot, top surface
Center is there are round hole, and circle marker object 2 is placed in corresponding round shallow slot and round hole and fixes, all circle marker objects 2
The center of circle is on the same spherical surface, and the centre of sphere of the spherical surface is the centre of sphere of target ball, is located at the same trapezoidal side of terrace with edge structure
Circle marker object 2 center of circle distribution in one plane, and the distance between the center of circle of adjacent circular marker 2 is different,
The mounting flange 4 for connecting with robot end's ring flange 10 is fixed on beaded support 3.
In embodiment, the quantity of terrace with edge structure is 11, and correspondingly, the quantity of column structure 6 is also 11.
In embodiment, the quantity of trapezoidal side is eight.
In embodiment, trapezoidal side and top surface are working face, install translucent cover on the working face outer surface.
In embodiment, circle marker object 2 is reflective object, and the round shallow slot depth is 0.2mm, as circle marker object
2 thickness.
As shown in figure 4, all 6 tip circle centers of circle of column structure are distributed according to certain rule, that is, it is distributed in 7 intersection point of grid
Place.Such as in target spheroidal coordinate system O-xyz, an installation point A coordinate is represented byCorresponding rectangular coordinate system
Coordinate is x=Rsin θ cos φ, y=Rsin θ sin φ, z=Rcos θ.θ value is 90 °, 30 °, -15 °, and wherein θ takes 90 ° of mark
Will module has 1, at this timeValue is 0 °.θ value is that 30 ° of Sign module has 5,Take respectively 0 °, 72 °, 144 °, 216 °,
288°.θ value is that -15 ° of Sign module has 5,36 °, 108 °, 180 °, 252 °, 324 ° are taken respectively.According to this rule
Plan the position of Sign module 1, after Sign module 1 installs, position of all circle marker objects 2 under spherical coordinate system is fixed.
A kind of scaling method of isotropism visual sensing three-dimensional spherical target, includes the following steps:
S1: three-dimensional spherical target is connect with robot end's ring flange, robot includes binocular vision system, binocular vision
Feel system faces three-dimensional spherical target, for carrying out visual information acquisition to three-dimensional Spherical Target mark；
S2: to biocular systems calibration, Robotic Hand-Eye Calibration, the conversion of calibration end target co-ordinates system to robot end
Relationship establishes global measuring coordinate system；
S3: the theoretical end pose of robot motion is obtained according to robot motion model；
S4: Binocular vision photogrammetry robot end's target ball calculates measurement target drone spherical space point in the pose of spherical coordinates, and
Robot end is converted it to according to calibration result, acquires robot end's pose；
S5: control robot motion, according to route calculation theoretical pose and the measurement pose at this time of step S3, S4.
In embodiment, the biocular systems calibration of the step S2 utilizes plane reference method, and Robotic Hand-Eye Calibration utilizes
The robot theory pose of the method for solution matrix equation, the step S3 is calculated as the kinematics model side articulated robot DH
Method.
In embodiment, the step S4 is three-dimensional spherical target pose measuring method proposed by the present invention, specially described
The three-dimensional spherical target centre of sphere to the method for solving of end effector of robot transformation matrix, utilize the binocular of known inside and outside parameter
Camera measures the stereo target, and the three-dimensional point of measurement is carried out sphere surface fitting, solves the ball of the fit sphere
Heart coordinate, mobile robot end effector for several times, are obtained sphere centre coordinate and end effector coordinate, are turned using closed coordinate
Change relationship solve robot sphere centre coordinate to end working position transformational relation.In practical work process, it is only necessary to measure
The three-dimensional coordinate of end working portion can be found out to target three-dimensional coordinate, realize the dynamically track of end physical location.
Fig. 5 is each index point schematic diagram of a Sign module, there is the point in 8 expression index point centers of circle in figure, for 4,
In design, d43And d45It is known and unique.If biocular systems measure m circle marker object (wherein comprising 4), m is marked
Will point is calculated away from two nearest index points and corresponding distance, if nearest two distances and d43、d45Very little is differed,
It can then determine that index point is 4 index points of the module.As shown in fig. 6, further genralrlization, with minimum similarity distance algorithm,
In 8 points of one Sign module, for taking i index point, the designed distance with contiguous tokens point i-1, i+1 is di,i-1、
di,i+1, an index point is obtained using binocular measurement, if meeting
The point for then determining measurement is the i-th index point on Sign module；
D in above formulaij、dikThe three-dimensional distance of index point j, k and i are obtained for binocular measurement；
δ is Distance conformability degree threshold value；
For the uniqueness for guaranteeing index point, in all 11 Sign module 88 index points, each index point and phase
The distance of adjacent index point is all different, and this different mainly due in spheroidal coordinate system, distance is managed between index point adjacent coordinates
It is by value
Wherein α is the angle of index point and circle center line connecting in Z-direction, and variation range is 0~180 °；
β is the angle of consecutive points and the Sign module line of centres, and variation range is 0~180 °；R is radius of sphericity；
After the completion of the design of target ball, coordinate of each index point center of circle under spherical coordinate system isUtilize spherical coordinates
Relationship between system and rectangular coordinate system can obtain the rectangular co-ordinate (x, y, z) in the center of circle, i.e. x=Rsin θ cos φ, y=Rsin θ sin
φ, z=Rcos θ.If target ball moves in place 2 from position 1, coordinate of the target ball under binocular coordinate system is respectively P1(x1,y1,
z1)、P2(x2,y2,z2), the pose variation of target ball movement is P2=[R | t] P1.Wherein R is rotationally-varying, and t is translation transformation.
Index point coordinate under spherical coordinate system is determined using index point uniqueness, can acquire R, t by corresponding points.
In embodiment, according to target spherical space point is acquired in the pose of spherical coordinates in the S4 step, machine is converted it to
Device people acquires end robot end's pose, and the specific method is as follows:
If the point A of measurement puts coordinate on target ballThen
WhereinFor coordinate of the point A under robot basis coordinates system；
For coordinate of the point A under camera coordinates system；
For coordinate of the point A under target spherical coordinate system；
MQCFor camera coordinates system to the transition matrix of target spherical coordinate system；
MEQFor target spherical coordinate system to the transformational relation of ending coordinates system；
MBEFor robot end's pose；
Transformational relation M of the target spherical coordinate system to ending coordinates systemEQIt is obtained by calibration, the specific method is as follows:
As shown in fig. 7, camera coordinates system is OC, coordinate system, robot base coordinate sys-tem O are replaced with coordinate originB,
OE1、OE2The end effector of robot coordinate system being illustrated respectively at position 1 and position 2, OQ1、OQ2It is illustrated respectively in 1 He of position
Target spherical coordinate system at position 2；
The rotational translation matrix of camera coordinates system to robot basis coordinates system is MCB, at position 1 and position 2, target is sat
The transition matrix of mark system to visual coordinate system is respectively MQ1CAnd MQ2C, end effector of robot to robot base coordinate sys-tem turn
Changing matrix is respectively ME1BAnd ME2B, target co-ordinates system to end effector of robot Conversion Matrix of Coordinate MQEFor constant matrix,
It is the matrix for needing to demarcate.
It can be obtained according to the coordinate system and transition matrix definition:
From position 1, the transformation matrix to from position 2 is M for target co-ordinates systemQ1Q2, end effector of robot from position 1 in place
The transformation matrix for setting 2 is ME1E2.Then have:
ME1E2MQE=MQEMQ1Q2 (9)
(5)-(8) are brought into (9), the matrix M for needing to demarcate can be solvedQE, specifically:
As shown in figure 8, a kind of isotropism visual sensing three-dimensional spherical target is practical for robot end's pose measurement
Implementation process are as follows: the three-dimensional spherical target is fixedly installed on end effector of robot, binocular camera fixed placement
Guarantee that camera can collect stereo target image.The mobile multiple positions of robot are controlled, the method for Robotic Hand-Eye Calibration is utilized
Calibrate the transformational relation M of binocular camera opposed robots' pedestalCB.Locate at an arbitrary position, binocular acquires target image, extracts
The circular markers center of circle carries out target stereo reconstruction using binocular calibration result.The target point of measurement is subjected to sphere surface fitting, is asked
The centre of sphere of spherical surface out utilizes the M calibratedQEThe three-dimensional coordinate of end working portion can be found out.
It is obvious to a person skilled in the art that invention is not limited to the details of the above exemplary embodiments, Er Qie
In the case where without departing substantially from spirit or essential attributes of the invention, the present invention can be realized in other specific forms.Therefore, no matter
From the point of view of which point, the present embodiments are to be considered as illustrative and not restrictive, and the scope of the present invention is by appended power
Benefit requires rather than above description limits, it is intended that all by what is fallen within the meaning and scope of the equivalent elements of the claims
Variation is included within the present invention.Any reference signs in the claims should not be construed as limiting the involved claims.
In addition, it should be understood that although this specification is described in terms of embodiments, but not each embodiment is only wrapped
Containing an independent technical solution, this description of the specification is merely for the sake of clarity, and those skilled in the art should
It considers the specification as a whole, the technical solutions in the various embodiments may also be suitably combined, forms those skilled in the art
The other embodiments being understood that.
Claims (9)
1. kind of isotropism visual sensing three-dimensional spherical target, which is characterized in that including Sign module, circle marker object and sphere
Bracket, the beaded support are the hollow out target ball being interconnected to constitute by several connecting rods, on the beaded support
Several column structures are distributed with, the Sign module is several terrace with edge structures, and the terrace with edge structure is fixed on column knot
On structure, each terrace with edge structure is made of several trapezoidal sides and a top surface, and the center of each trapezoidal side is equipped with round shallow
Slot, for end face center there are round hole, the circle marker object is placed in fixed, Suo Youyuan in corresponding round shallow slot and round hole
The center of circle of shape marker is on the same spherical surface, and the centre of sphere of the spherical surface is the centre of sphere of target ball, is located at same terrace with edge knot
The center of circle of the circle marker object of the trapezoidal side of structure is distributed in one plane, and the distance between the center of circle of adjacent circular marker is each
It is not identical, the mounting flange for connecting with robot end's ring flange is fixed on the beaded support.
2. a kind of isotropism visual sensing three-dimensional spherical target according to claim 1, which is characterized in that the rib
The quantity of platform structure is 11, and correspondingly, the quantity of column structure is also 11.
3. a kind of isotropism visual sensing three-dimensional spherical target according to claim 2, which is characterized in that the ladder
The quantity of shape side is eight.
4. a kind of isotropism visual sensing three-dimensional spherical target according to claim 3, which is characterized in that the ladder
Shape side and top surface are working face, install translucent cover on the working face outer surface.
5. a kind of isotropism visual sensing three-dimensional spherical target according to claim 4, which is characterized in that the circle
Shape marker is reflective object, and the round shallow slot depth is 0.2mm, the as thickness of circle marker object.
6. a kind of scaling method of isotropism visual sensing three-dimensional spherical target as claimed in claim 2, which is characterized in that
Include the following steps:
S1: three-dimensional spherical target is connect with robot end's ring flange, and robot includes binocular vision system, binocular vision system
System faces three-dimensional spherical target, for carrying out visual information acquisition to three-dimensional Spherical Target mark；
S2: to biocular systems calibration, Robotic Hand-Eye Calibration, the conversion of calibration end target co-ordinates system to robot end is closed
System, establishes global measuring coordinate system；
S3: the theoretical end pose of robot motion is obtained according to robot motion model；
S4: Binocular vision photogrammetry robot end's target ball calculates measurement target drone spherical space point in the pose of spherical coordinates, and according to
Calibration result converts it to robot end, acquires robot end's pose；
S5: control robot motion, according to route calculation theoretical pose and the measurement pose at this time of step S3, S4.
7. the scaling method of isotropism visual sensing three-dimensional spherical target according to claim 6, which is characterized in that institute
The method that the biocular systems calibration of step S2 utilizes solution matrix equation using plane reference method, Robotic Hand-Eye Calibration is stated,
The robot theory pose of the step S3 is calculated as articulated robot DH kinematics model method.
8. the scaling method of isotropism visual sensing three-dimensional spherical target according to claim 7, which is characterized in that institute
Stating step S4 calculating measurement target drone spherical space point, the specific method is as follows in the pose of spherical coordinates:
S41: in the design of target ball, for all circle marker objects on a spherical surface, each circle marker object is an index point,
When detecting that putting and can use least square method for four or more fits a spherical surface, the centre of sphere of spherical surface is target ball ball
The heart；
Coordinate of the index point on target ball has uniqueness, by the way of distance discrimination, with minimum similarity distance algorithm, really
Determine index point number；
In 8 points of a Sign module, for taking i index point, the designed distance with contiguous tokens point i-1, i+1 is
di,i-1、di,i+1, an index point is obtained using binocular measurement, if meeting
The point for then determining measurement is the i-th index point on Sign module；
D in above formulaij、dikThe three-dimensional distance of index point j, k and i are obtained for binocular measurement；
δ is Distance conformability degree threshold value；
For the uniqueness for guaranteeing index point, in all 11 Sign module 88 index points, each index point and adjacent mark
The distance of will point is all different, this different mainly due in spheroidal coordinate system, Distance Theory value between index point adjacent coordinates
For
Wherein α is the angle of index point and circle center line connecting in Z-direction, and variation range is 0~180 °；
β is the angle of consecutive points and the Sign module line of centres, and variation range is 0~180 °；R is radius of sphericity；
S42: after the completion of the design of target ball, coordinate of each index point center of circle under spherical coordinate system isUtilize spherical coordinates
Relationship between system and rectangular coordinate system can obtain the rectangular co-ordinate (x, y, z) in the center of circle, i.e. x=Rsin θ cos φ, y=Rsin θ sin
φ, z=Rcos θ；If target ball moves in place 2 from position 1, coordinate of the target ball under binocular coordinate system is respectively P1(x1,y1,
z1)、P2(x2,y2,z2), the pose variation of target ball movement is P2=[R | t] P1, wherein R is rotationally-varying, and t is translation transformation,
Index point coordinate under spherical coordinate system is determined using index point uniqueness, can acquire R, t by corresponding points.
9. the scaling method of isotropism visual sensing three-dimensional spherical target according to claim 8, which is characterized in that institute
It states in S4 step according to target spherical space point is acquired in the pose of spherical coordinates, converts it to robot end and acquire robot end
Holding pose, the specific method is as follows:
If the point A of measurement puts coordinate on target ballThen
WhereinFor coordinate of the point A under robot basis coordinates system；
For coordinate of the point A under camera coordinates system；
For coordinate of the point A under target spherical coordinate system；
MQCFor camera coordinates system to the transition matrix of target spherical coordinate system；
MEQFor target spherical coordinate system to the transformational relation of ending coordinates system；
MBEFor robot end's pose；
Transformational relation M of the target spherical coordinate system to ending coordinates systemEQIt is obtained by calibration, the specific method is as follows:
Camera coordinates system is OC, coordinate system, robot base coordinate sys-tem O are replaced with coordinate originB, OE1、OE2It respectively indicates
End effector of robot coordinate system at position 1 and position 2, OQ1、OQ2The target being illustrated respectively at position 1 and position 2
Spherical coordinate system；
The rotational translation matrix of camera coordinates system to robot basis coordinates system is MCB, at position 1 and position 2, target co-ordinates system
Transition matrix to visual coordinate system is respectively MQ1CAnd MQ2C, end effector of robot to robot base coordinate sys-tem conversion square
Battle array is respectively ME1BAnd ME2B, target co-ordinates system to end effector of robot Conversion Matrix of Coordinate MQEFor constant matrix, it is
The matrix for needing to demarcate；
It can be obtained according to the coordinate system and transition matrix definition:
From position 1, the transformation matrix to from position 2 is M for target co-ordinates systemQ1Q2, end effector of robot is from position 1 to position 2
Transformation matrix is ME1E2, then have:
ME1E2MQE=MQEMQ1Q2 (9)
(5)-(8) are brought into (9), the matrix M for needing to demarcate can be solvedQE, specifically:
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