CN109900207A - The tool center point scaling method and system of robot vision tool - Google Patents
The tool center point scaling method and system of robot vision tool Download PDFInfo
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Abstract
The present invention relates to robot vision technical field of tools, the tool center point scaling method and system of a kind of robot vision tool are provided, wherein this method comprises: the visual position information architecture of the reference-calibrating plate according to vision system acquisition corresponds to the visual space coordinate system of the vision system, wherein the reference-calibrating plate can indicate target object coordinate system；Obtain calibration coordinate information of the reference-calibrating plate relative to robot base coordinate sys-tem；The visual coordinate information that the visual position information is corresponded to according to the calibration coordinate information and in the visual space coordinate system, demarcates the tool center point of the robot vision tool.It does not need to carry out the manual teaching of multi-pose to robot as a result, it is only necessary to can be realized as the automatic Calibration process to the tool center point of robot vision tool, accuracy easy to operate and with higher by reference-calibrating plate.
Description
Technical field
The present invention relates to robot vision technical field of tools, in particular to a kind of tool focus of robot vision tool
Point scaling method and system.
Background technique
As shown in Figure 1, industrial robot completes various job tasks by the tool being mounted on end flange, and
TCP (Tool center point, tool center point) is unknown mostly relative to the offset of terminal position, or not
Accurately, it is therefore desirable to robot tool TCP calibration is carried out, to calculate and recognize tool ends end relative to robot end's coordinate system
Position.
Method in presently relevant technology for carrying out robot tool TCP calibration mainly has externally measured method and multiple spot mark
Determine method.Wherein, it in external mensuration, is mainly completed by expensive high-acruracy survey equipment Additional Specialty software, it is existing
Field seldom uses；In addition, in multi-point calibration method, as shown in Fig. 2, allowing tool work point and permanent datum by manual teaching
It is repeatedly overlapped contact with different postures, then passes through Solving Linear.
But present inventor has found during practicing the application: traditional externally measured to be unable to complete TCP
Calibration, and multi-point calibration method needs manual teaching display-tool with sticking plastic to be in multiple postures, is easy to cause and generates partially during TCP calibration
Difference.
Summary of the invention
In view of this, the present invention is directed to propose a kind of tool center point scaling method of robot vision tool, at least
It solves the problems, such as present in presently relevant technology through deviation and cumbersome property caused by the manual teaching of multi-pose.
In order to achieve the above objectives, the technical scheme of the present invention is realized as follows:
A kind of tool center point scaling method of robot vision tool, the robot vision tool be configured with for pair
The vision system that target object is taken pictures, wherein the tool center point scaling method of the robot vision tool include: according to
It is sat according to the visual space that the visual position information architecture of the reference-calibrating plate of vision system acquisition corresponds to the vision system
Mark system, wherein the reference-calibrating plate can indicate target object coordinate system；The reference-calibrating plate is obtained relative to robot
The calibration coordinate information of base coordinate system；Described in being corresponded to according to the calibration coordinate information and in the visual space coordinate system
The visual coordinate information of visual position information demarcates the tool center point of the robot vision tool.
Further, described according to the empty in the vision of the calibration coordinate information and the corresponding visual position information
Between visual coordinate information on coordinate system, the tool center point for demarcating the robot vision tool includes: based on the calibration
Coordinate information and the visual coordinate information determine work of the robot vision tool in the robot base coordinate sys-tem
Has freedom degree information；The tool center point of the robot vision tool is demarcated according to the tool freedom degree information.
Further, described according to the empty in the vision of the calibration coordinate information and the corresponding visual position information
Between visual coordinate information on coordinate system, the tool center point for demarcating the robot vision tool includes: according to the calibration
Coordinate information and the visual coordinate information calculate the visual space coordinate system relative to the robot base coordinate sys-tem
Vector transformation relationship；Based on the vector transformation relationship, the tool center point of the robot vision tool is demarcated.
Further, the multiple characteristic points for being used to indicate target object coordinate system are provided on the reference-calibrating plate,
The wherein visual position information using vision system acquisition reference-calibrating plate, and it is based on the visual position information structure
It includes: right using the vision system acquisition reference-calibrating plate institute for building the visual space coordinate system of the corresponding vision system
The datum plate image answered, and determine multiple pixel positions corresponding with the multiple characteristic point difference in the datum plate image
It sets；Obtain the target object coordinate system as indicated by the multiple characteristic point；Match the multiple location of pixels and opposite
The multiple characteristic point answered, to construct the visual space coordinate system.
Further, the quantity of the multiple characteristic point is no less than 3, and the multiple characteristic point includes being located at the mesh
Mark the point in the different reference axis of object coordinates system.
Further, described to be based on the calibration coordinate information and the visual coordinate information, determine the robot view
The tool freedom degree information of feel tool includes: based on the visual coordinate information and the calibration for being directed to the reference-calibrating plate
Coordinate information determines association origin position of the origin of the visual space coordinate system in the robot base coordinate sys-tem,
And determine the association of respective coordinates axis of the reference axis of the visual space coordinate system relative to the robot base coordinate sys-tem
Directional information；Based on the association origin information and the relating heading information, the described of the robot vision tool is determined
Tool direction information and the tool location information.
Compared with the existing technology, the tool center point scaling method of robot vision tool of the present invention has following
Advantage:
In the tool center point scaling method of robot vision tool of the present invention, constructs and regard by reference-calibrating plate
The visual space coordinate system of feel system, and according to the visual position information and calibration for demarcating datum plate under the visual space coordinate system
Calibration coordinate information of the datum plate relative to robot base coordinate sys-tem, finds visual space coordinate system and robot base coordinate
Relationship between system, and demarcate with this tool center point of robot vision tool.It does not need to carry out robot as a result, colourful
The manual teaching of state eliminates the manual teaching error caused by the technology maturation difference because of professional, and only need by
Reference-calibrating plate can be realized as the automatic Calibration process to the tool center point of robot vision tool, easy to operate and have
Higher calibration accuracy.
Another object of the present invention is to propose a kind of tool center point calibration system of robot vision tool, at least
It solves the problems, such as in presently relevant technology through deviation and cumbersome property caused by the manual teaching of multi-pose.
In order to achieve the above objectives, the technical scheme of the present invention is realized as follows:
A kind of tool center point calibration system of robot vision tool, the robot vision tool be configured with for pair
The vision system that target object is taken pictures, wherein the tool center point calibration system of the robot vision tool includes: view
Feel space coordinates construction unit, the visual position information architecture pair of the reference-calibrating plate for acquiring according to the vision system
The visual space coordinate system of the vision system is answered, wherein the reference-calibrating plate can indicate target object coordinate system；Calibration
Coordinate information acquiring unit, for obtaining calibration coordinate information of the reference-calibrating plate relative to robot base coordinate sys-tem；
TCP demarcates unit, for corresponding to the visual position according to the calibration coordinate information and in the visual space coordinate system
The visual coordinate information of information demarcates the tool center point of the robot vision tool.
Further, the TCP calibration unit includes: freedom degree determining module, for being based on the calibration coordinate information
With the visual coordinate information, the tool freedom degree information of the robot vision tool is determined；Freedom degree demarcating module, is used for
The tool center point of the robot vision tool is demarcated according to the tool freedom degree information.
Further, the TCP calibration unit includes: vector relations computing module, for being believed according to the calibration coordinate
Breath and the visual coordinate information calculate the visual space coordinate system relative to the robot base coordinate sys-tem to quantitative change
Change relationship；Vector demarcating module demarcates the tool focus of the robot vision tool for being based on the vector transformation relationship
Point.
Further, the visual space coordinate system construction unit includes: location of pixels determining module, described in applying
Vision system acquires datum plate image corresponding to the reference-calibrating plate, and determine in the datum plate image with it is the multiple
Characteristic point distinguishes corresponding multiple location of pixels；Object coordinates system obtains module, for obtaining by the multiple characteristic point institute
The target object coordinate system indicated；Pixel matching module, for match the multiple location of pixels with it is corresponding described
Multiple characteristic points, to construct the visual space coordinate system.
The tool focus of the tool center point calibration system of the robot vision tool and above-mentioned robot vision tool
Possessed advantage is identical compared with the existing technology for point scaling method, and details are not described herein.
Other features and advantages of the present invention will the following detailed description will be given in the detailed implementation section.
Detailed description of the invention
The attached drawing for constituting a part of the invention is used to provide further understanding of the present invention, schematic reality of the invention
It applies mode and its explanation is used to explain the present invention, do not constitute improper limitations of the present invention.In the accompanying drawings:
Fig. 1 is the signal that industrial robot completes various job tasks by the vision aid being mounted on end flange
Figure；
Fig. 2 is to be in multiple postures by manual teaching robot in presently relevant technology to demarcate showing for TCP central point
It is intended to；
Fig. 3 is the example using the tool center point TCP scaling method of the robot vision tool of one embodiment of the invention
The schematic diagram of property framework；
Fig. 4 is the flow chart of the tool center point scaling method of the robot vision tool of one embodiment of the invention；
Fig. 5 is the illustrative principle of the tool center point scaling method of the robot vision tool of one embodiment of the invention
Flow chart；
Fig. 6 is example applied in the tool center point scaling method of the robot vision tool of one embodiment of the invention
The schematic diagram of reference-calibrating plate；
Fig. 7 is the flow chart of the tool center point scaling method of the robot vision tool of one embodiment of the invention；
Fig. 8 shows and calculates involved in the tool center point scaling method of the robot vision tool of the embodiment of the present invention
Process flow diagram,
Fig. 9 shows the principle in the user coordinate system of the position finding vision calibration datum plate by 3 characteristic points and shows
It is intended to；
Figure 10, which is shown, calculates TCP seat in the tool center point scaling method of the robot vision tool of the embodiment of the present invention
Mark the schematic illustration of system；
Figure 11 is the structural block diagram of the tool center point calibration system of the robot vision tool of one embodiment of the invention.
Description of symbols:
1101 visual space coordinate system construction units 1102 demarcate coordinate information acquiring unit
1103 TCP demarcate unit
The tool center point calibration system of 110 robot vision tools
Specific embodiment
It should be noted that in the absence of conflict, the feature in embodiment and embodiment in the present invention can
To be combined with each other.
The present invention will be described in detail below with reference to the accompanying drawings and in conjunction with embodiment.
As shown in figure 3, using the tool center point TCP scaling method of the robot vision tool of one embodiment of the invention
Exemplary architecture is wherein configured with vision system 20, passes through the vision system 20, the machine in the robot (or mechanical arm) 10
People can carry out Image Acquisition to target object, to operate target object；And it can also be that the application partly referring to Fig. 1 is shown
Example, wherein vision system can be mounted on the robot vision tool of the ring flange of mechanical arm one end.But in order to ensure
The precision and reliability of robot manipulation needs the calibration tool central point before robot operates target object,
So that the control of robotic end can match with the response of robotic end.In embodiments of the present invention, it can be and answer
It is demarcated with TCP central point of the reference-calibrating plate 30 to robot.
As shown in figure 4, the tool center point scaling method of the robot vision tool of one embodiment of the invention, comprising:
S41, the vision that vision system is corresponded to according to the visual position information architecture of the reference-calibrating plate of vision system acquisition
Space coordinates, wherein the reference-calibrating plate can indicate target object coordinate system.
About the executing subject of present invention method, can be by relevant to robot (or mechanical arm) system
Arbitrary controller or processor are realized；Illustratively, on the one hand it can be the controller intrinsic to robot system
Or processor marks the tool center point of robot vision tool to realize by the improvement on software or hardware
It is fixed；On the other hand, can also be to for controller attached by robot system or processor (such as with robot system institute
The industrial personal computer of connection) it improves, to demarcate TCP, and embodiment of above belongs in protection scope of the present invention.
It is installed in robot 10 by ring flange as illustrated in fig. 3 specifically, vision system 20 can be, robot
10 can be through the communication interaction with vision system 20 realize control and data transmission.In addition, target object coordinate system (or
User coordinate system) refer to coordinate system locating for object by robot manipulation, and reference-calibrating plate is used herein to replace
Target object is to carry out corresponding proving operation.Wherein, one side reference-calibrating plate can be through form and indicate object
Body coordinate system or datum plate coordinate system, such as reference-calibrating plate are inherently made into the stereochemical structure of reference axis, so that passing through
The form of image recognition reference-calibrating plate is just capable of determining that corresponding target object coordinate system；On the other hand, it can also be
Target object coordinate system is indicated by the mark characteristic point on reference-calibrating plate, such as multiple mark features on datum plate
Point is multiple points in the reference axis of target object coordinate system respectively.
In some embodiments, the multiple features for being used to indicate target object coordinate system are provided on reference-calibrating plate
Point, specifically, can be firstly, acquiring datum plate image corresponding to reference-calibrating plate using vision system, and determine benchmark
Multiple location of pixels corresponding with multiple characteristic point difference in plate image；Then, it obtains as indicated by multiple characteristic points
Target object coordinate system (such as multiple characteristic points can be on origin and X, Y and Z axis including target object coordinate system
Point)；Multiple location of pixels and corresponding multiple characteristic points are matched, can be and matched in each reference axis, with structure
Visual space coordinate system is built, such as can be visual space coordinate system and target object from the angle of robotic vision system
Coordinate system is overlapped, so that the building completed to visual space coordinate system operates.Wherein, characteristic point on reference-calibrating plate
Quantity is no less than 3, and multiple characteristic points include the point in the different reference axis of target object coordinate system, such as be can be
Thus three points being located in X-axis and Y-axis form planes and for determining the coordinate system uniquely to match at 3 points.
After the building of visual space coordinate system is completed, need to find the coordinate of visual space coordinate system and robot itself
It is the relationship between (or robot base coordinate sys-tem), to realize that TCP is demarcated, wherein robot base is used for stationary machines people
Ontology, and the coordinate system under its locating physical space can indicate base coordinate system.It is understood that robot vision tool
Be mounted on one end of mechanical arm, corresponding to vision system visual space coordinate system also with robot vision tool from
Corresponding variation can be generated by degree variation；In addition, as shown in figure 3, one end connection robot vision tool of mechanical arm, another
End is fixed by robot base, and is issued control instruction by the robot base and enabled in vision system or machine
Tool arm makes correct dynamic respond；Preferably, robot base, which can also be, is fixed on guide rail and with guide rail moving machine
Tool arm, to realize dynamic job.
S42, calibration coordinate information of the reference-calibrating plate relative to robot base coordinate sys-tem is obtained.
Wherein, on the one hand, the position of reference-calibrating plate can be pre-set fixed position, therefore demarcate coordinate information
It is invariable, therefore can be and calibration coordinate information is stored in robot local in advance；On the other hand, reference-calibrating
The position of plate also can also be by acquiring in real time, such as robot can be in advance and be unaware of calibration coordinate position and phase
The calibration coordinate information answered, and can be using such as image recognition technology, location technology or reception user input and determine mark
Determine benchmark Board position and corresponding calibration coordinate information, and belongs in protection scope of the present invention.
S43, the visual coordinate that visual position information is corresponded to according to calibration coordinate information and in visual space coordinate system are believed
Breath demarcates the tool center point of robot vision tool.
Wherein, demarcating corresponding to coordinate information and visual coordinate information is all same feature on reference-calibrating plate
Point, therefore by the comparison of calibration coordinate information and visual coordinate information, it can obtain the visual space coordinate system of vision system
Relationship between robot base coordinate sys-tem, to realize the proving operation to TCP central point.
Specifically, TCP calibration process may include the conversion of tool freedom degree or coordinate vector transformation.
On the one hand, tool freedom degree conversion process, which can be by including the following steps, realizes: firstly, be based on
Coordinate information and visual coordinate information are demarcated, determines the tool freedom degree information of robot vision tool, wherein tool freedom degree
Information can be directional information and location information including vision aid (or flange)；Then, according to tool freedom degree information mark
Determine the tool center point of robot vision tool, wherein vision system is mounted on vision aid or ring flange, therefore can
To be to be converted by the directional information and location information of tool to visual space coordinate system.Wherein it is possible to be based on needle
Determine the origin of visual space coordinate system in machine with calibration coordinate information the visual coordinate information of same reference-calibrating plate
Association origin position in people's base coordinate system, and visual space coordinate system and robot base coordinate sys-tem can be three-dimensional
Coordinate system, therefore the reference axis of determining visual space coordinate system can also be with coordinate information is demarcated by visual coordinate information
The relating heading information of (such as X-axis) relative to the respective coordinates axis (such as X-axis) of robot base coordinate sys-tem；Then, it is based on
It is associated with origin information and relating heading information, determines the tool direction information and tool location information of robot vision tool.
On the other hand, it can also be firstly, computation vision space is sat according to calibration coordinate information and visual coordinate information
Vector transformation relationship of the mark system relative to robot base coordinate sys-tem；Then, it is based on vector transformation relationship, demarcates robot vision
The tool center point of tool, such as combine and adjust by vector to obtain the TCP coordinate system of vision system tool.
As shown in figure 5, the principle stream of the tool center point scaling method of the robot vision tool of one embodiment of the invention
Journey, industrial robot is moved for fixing vision system with the track that vision system completes several positions, and and vision system
Communication, thus completes technical process.Specifically, the process includes:
1) vision system is calibrated.Fixed vision system calibration plate, vision system are calibrated based on reference-calibrating plate, can be and want
The zero point of reference frame for the vision system calibrated is asked temporarily to be overlapped with scaling board.As shown in fig. 6, there are three on reference-calibrating plate
Point minute table represent the origin of vision system coordinate system, X-direction point and Y-direction on point, three points represent vision at this time
System coordinates feature.Reference-calibrating plate is used to the optical parameter of vision system be converted into spatial parameter, i.e., pixel data school
In standard to bulk, the visual space coordinate system of vision system is thus established.
2) vision system coordinate system and robot base target relationship are measured.Three points are in machine on decomposition measurement scaling board
Coordinate value under people's basis coordinates system establishes another coordinate set occurrence (1) using three coordinate values, this coordinate system is based on robot base
Coordinate.Step 1) and two coordinate systems of step 2) measurement are overlapped on scaling board, but because reference frame is different, institute
It is also different with their value.Wherein, which can be the vision system of 2D or 3D, can be realized to target object
It takes pictures, and obtains the image data of target object, the geometry numbers such as target size, position are then calculated according to graphics software
According to.
3) calculating robot's current location information.Read machine people's original tool zero point is in the position of robot base mark system
Information extracts a coordinate set occurrence (2) in location information.That is, if robot there are when locomotive function, or
Robot location can change when robot can be mobile by sliding rail, cause can have coordinate set occurrence (2).
4) computation vision system tool coordinate system.The coordinate system of vision system is regarded as and is mounted on 6 shaft flange disk of robot
On tool, position and direction of the computation vision system coordinate system origin under robot tool coordinate system.Utilize coordinate set occurrence
(1) it is superimposed the principle being multiplied with coordinate set occurrence (2) vector, calculates visual coordinate origin based on robot original tool zero point
Coordinate set occurrence (3).
5) TCP and tool direction are extracted from coordinate set occurrence (3).
As shown in fig. 7, the tool center point scaling method of the robot vision tool of one embodiment of the invention is exemplary
Process, comprising: before staking-out work starts, first fix reference-calibrating plate, and characteristic point position on measuring basis plate；Then, when
When determining that vision aid TCP needs to demarcate, mobile robot can be to preset position, to mark to vision system
It is fixed；Later, robot calculates the user coordinate system of reference-calibrating plate, and detects current location, so that robot calculates
The center of vision system tool TCP.
In embodiments of the present invention, it can be to read by coordinate with coordinate system conversion and complete to vision system
The proving operation of TCP central point, such as Fig. 8, it illustrates the tool center point marks of the robot vision tool of the embodiment of the present invention
Determine calculation processes involved in method, first by the coordinate value of three characteristic points on identification reference-calibrating plate, and leads to
Cross line-of-sight course computation vision space coordinates.
1. it illustrates measuring vision calibration datum plate by the position (XYZ) of 3 characteristic points p1, p2 and p3 such as Fig. 9
User coordinate system, can be calculate this position target object coordinate system Frame1.
2. when vision system for the first time using or hardware components change, the benchmark of vision system be it is uncertain, need
It re-scales.By a reference-calibrating plate, the point coordinate on reference-calibrating plate and the corresponding pass between image pixel are found
System.Construct Frame2.
3. calculating robot current location: robot reads ring flange tool coordinates system in the location information of world coordinate system
POSE1.Location information content is extracted, Frame3 is constructed.
4. TCP is calculated: as shown in Figure 10, to Frame1, Frame2, Frame3 are combined, adjust vector, according to space
Coordinate system relationship calculates the TCP coordinate system of vision system tool.
In the tool center point scaling method of the robot vision tool of the embodiment of the present invention, at least have below
Advantage:
1. easy to operate: after robot and reference-calibrating plate install, operator only needs mobile robot to calibration
Position after vision system calibration is complete, runs the function program write, and vision aid TCP can be calculated.It does not need yet
Multi-pose transformation is carried out to robot, static state TCP can be carried out to robot and demarcated, not to the skill requirement of operator
Height can repeat to measure infinitely.
2. equipment investment is few: not needing additional high-acruracy survey equipment and other software for calculation, utilize robot body
The position control and Computing Principle of system, operation function program can calculate sightless tool TCP in space.
3. reproducibility: scheme theme is software program, can be applied after authorization with batch duplicating to similar machine people,
It is all generally applicable for transformation project and grassroot project.
In addition, verifying present invention method in robot by field experiment, surveyed with being demarcated TCP central point
On the basis of the tool coordinates system of calculating, in all directions lower mobile TCP fixed range (10mm), then with the survey in vision system
Distance is calculated, the two deviation coincide substantially, and can satisfy the application of subsequent robot's vision accurate operates (such as automatic operation work
Part) requirement.
As shown in figure 11, the tool center point calibration system of the robot vision tool of one embodiment of the invention, passes through
Position when position and the Robot calibration vision system of vision system calibration benchmark is measured, is calculated using robotic user program
Vision system reference coordinate ties up to the data under robot tool coordinate system out.On robot vision tool configured with for pair
The vision system that target object is taken pictures, wherein the tool center point calibration system 110 of robot vision tool includes: vision
Space coordinates construction unit 1101, the visual position information architecture of the reference-calibrating plate for being acquired according to the vision system
The visual space coordinate system of the corresponding vision system, wherein the reference-calibrating plate can indicate target object coordinate system；Mark
Position fixing information acquisition unit 1102, for obtaining calibration coordinate of the reference-calibrating plate relative to robot base coordinate sys-tem
Information；TCP demarcates unit 1103, described in corresponding to according to the calibration coordinate information and in the visual space coordinate system
The visual coordinate information of visual position information demarcates the tool center point of the robot vision tool.
In some embodiments, the TCP calibration unit 1103 includes: freedom degree determining module, for based on described
Coordinate information and the visual coordinate information are demarcated, determines the tool freedom degree information of the robot vision tool；Freedom degree
Demarcating module, for demarcating the tool center point of the robot vision tool according to the tool freedom degree information.
In some embodiments, the TCP calibration unit 1103 includes: vector relations computing module, for according to institute
Calibration coordinate information and the visual coordinate information are stated, the visual space coordinate system is calculated and is sat relative to the robot base
Mark the vector transformation relationship of system；Vector demarcating module demarcates the robot vision work for being based on the vector transformation relationship
The tool center point of tool.
In some embodiments, the visual space coordinate system construction unit 1101 includes: location of pixels determining module,
For acquiring datum plate image corresponding to the reference-calibrating plate using the vision system, and determine the datum plate image
In multiple location of pixels corresponding with the multiple characteristic point difference；Object coordinates system obtains module, for obtaining by described
The target object coordinate system indicated by multiple characteristic points；Pixel matching module, for match the multiple location of pixels with
Corresponding the multiple characteristic point, to construct the visual space coordinate system.
The more details of the tool center point calibration system of robot vision tool about the embodiment of the present invention, can be
Referring to the description of the tool center point scaling method above for robot vision tool, and can obtain and above-mentioned robot
The tool center point scaling method of vision aid is identical or corresponding technical effect, just repeats no more herein.
The foregoing is merely better embodiments of the invention, are not intended to limit the invention, all of the invention
Within spirit and principle, any modification, equivalent replacement, improvement and so on be should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of tool center point scaling method of robot vision tool, which is characterized in that the robot vision tool is matched
It is equipped with the vision system for taking pictures to target object, wherein the tool center point calibration side of the robot vision tool
Method includes:
The visual position information architecture of reference-calibrating plate according to vision system acquisition corresponds to the vision of the vision system
Space coordinates, wherein the reference-calibrating plate can indicate target object coordinate system；
Obtain calibration coordinate information of the reference-calibrating plate relative to robot base coordinate sys-tem；
The vision that the visual position information is corresponded to according to the calibration coordinate information and in the visual space coordinate system is sat
Information is marked, the tool center point of the robot vision tool is demarcated.
2. the tool center point scaling method of robot vision tool according to claim 1, which is characterized in that described
According to the visual coordinate letter on the visual space coordinate system of the calibration coordinate information and the corresponding visual position information
Breath, the tool center point for demarcating the robot vision tool include:
Based on the calibration coordinate information and the visual coordinate information, determine the robot vision tool in the robot
Tool freedom degree information in base coordinate system；
The tool center point of the robot vision tool is demarcated according to the tool freedom degree information.
3. the tool center point scaling method of robot vision tool according to claim 1, which is characterized in that described
According to the visual coordinate letter on the visual space coordinate system of the calibration coordinate information and the corresponding visual position information
Breath, the tool center point for demarcating the robot vision tool include:
According to the calibration coordinate information and the visual coordinate information, the visual space coordinate system is calculated relative to the machine
The vector transformation relationship of device people's base coordinate system；
Based on the vector transformation relationship, the tool center point of the robot vision tool is demarcated.
4. the tool center point scaling method of robot vision tool according to any one of claim 1-3, feature
It is, the multiple characteristic points for being used to indicate target object coordinate system is provided on the reference-calibrating plate, wherein the application
The visual position information of the vision system acquisition reference-calibrating plate, and the view is corresponded to based on the visual position information architecture
The visual space coordinate system of feel system includes:
Datum plate image corresponding to the reference-calibrating plate is acquired using the vision system, and determines the datum plate image
In multiple location of pixels corresponding with the multiple characteristic point difference；
Obtain the target object coordinate system as indicated by the multiple characteristic point；
The multiple location of pixels and corresponding the multiple characteristic point are matched, to construct the visual space coordinate system.
5. the tool center point scaling method of robot vision tool according to claim 4, which is characterized in that described more
The quantity of a characteristic point is no less than 3, and the multiple characteristic point includes the different coordinates positioned at the target object coordinate system
Point on axis.
6. the tool center point scaling method of robot vision tool according to claim 2, which is characterized in that the base
In the calibration coordinate information and the visual coordinate information, the tool freedom degree packet of the robot vision tool is determined
It includes:
Based on the visual coordinate information and the calibration coordinate information for being directed to the reference-calibrating plate, determine that the vision is empty
Between coordinate system association origin position of the origin in the robot base coordinate sys-tem, and determine the visual space coordinate system
Reference axis relative to the robot base coordinate sys-tem respective coordinates axis relating heading information；
Based on the association origin information and the relating heading information, the tool side of the robot vision tool is determined
To information and the tool location information.
7. a kind of tool center point calibration system of robot vision tool, which is characterized in that the robot vision tool is matched
It is equipped with the vision system for taking pictures to target object, wherein the tool center point of the robot vision tool demarcates system
System includes:
Visual space coordinate system construction unit, the visual position information of the reference-calibrating plate for being acquired according to the vision system
The visual space coordinate system of the corresponding vision system of building, wherein the reference-calibrating plate can indicate target object coordinate
System；
Coordinate information acquiring unit is demarcated, is sat for obtaining the reference-calibrating plate relative to the calibration of robot base coordinate sys-tem
Mark information；
TCP demarcates unit, for corresponding to the vision according to the calibration coordinate information and in the visual space coordinate system
The visual coordinate information of location information demarcates the tool center point of the robot vision tool.
8. the tool center point calibration system of robot vision tool according to claim 7, which is characterized in that described
TCP demarcates unit
Freedom degree determining module determines the robot for being based on the calibration coordinate information and the visual coordinate information
The tool freedom degree information of vision aid；
Freedom degree demarcating module, for demarcating the tool focus of the robot vision tool according to the tool freedom degree information
Point.
9. the tool center point calibration system of robot vision tool according to claim 7, which is characterized in that described
TCP demarcates unit
Vector relations computing module, for calculating the vision according to the calibration coordinate information and the visual coordinate information
Vector transformation relationship of the space coordinates relative to the robot base coordinate sys-tem；
Vector demarcating module demarcates the tool center point of the robot vision tool for being based on the vector transformation relationship.
10. the tool center point calibration system of robot vision tool according to claim 7, which is characterized in that described
Visual space coordinate system construction unit includes:
Location of pixels determining module, for acquiring datum plate figure corresponding to the reference-calibrating plate using the vision system
Picture, and determine multiple location of pixels corresponding with the multiple characteristic point difference in the datum plate image；
Object coordinates system obtains module, for obtaining the target object coordinate system as indicated by the multiple characteristic point；
Pixel matching module, for matching the multiple location of pixels and corresponding the multiple characteristic point, described in building
Visual space coordinate system.
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