CN110815201A - Method for correcting coordinates of robot arm - Google Patents
Method for correcting coordinates of robot arm Download PDFInfo
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- CN110815201A CN110815201A CN201810889737.1A CN201810889737A CN110815201A CN 110815201 A CN110815201 A CN 110815201A CN 201810889737 A CN201810889737 A CN 201810889737A CN 110815201 A CN110815201 A CN 110815201A
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- 238000000034 method Methods 0.000 title claims abstract description 34
- 238000001914 filtration Methods 0.000 claims abstract description 7
- 238000012937 correction Methods 0.000 claims description 15
- 239000011159 matrix material Substances 0.000 claims description 6
- 238000012545 processing Methods 0.000 claims description 6
- 238000004364 calculation method Methods 0.000 claims description 5
- 239000000284 extract Substances 0.000 abstract 1
- 230000036544 posture Effects 0.000 description 8
- 238000010586 diagram Methods 0.000 description 5
- 238000004519 manufacturing process Methods 0.000 description 3
- 238000000605 extraction Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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Classifications
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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
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1692—Calibration of manipulator
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Abstract
The invention relates to a method for correcting coordinates of a robot arm, which extracts an image of a calibration square block, rapidly identifies four corners of the calibration square block through color difference, calculates coordinates of a central point through intersection points of diagonal lines, and enables a central axis of a camera to be aligned with the central point. And filtering laser by using the dark calibration square to obtain bright end points of two edges of the calibration square, forming a laser line, guiding the laser line to coincide with the central point of the calibration square, and obtaining a TCP coordinate so as to automatically correct the coordinate.
Description
Technical Field
The invention relates to a robot arm, in particular to an industrial robot arm and a coordinate correction method of a tool center of the industrial robot arm.
Background
The robot arm has the characteristics of flexible movement, precise positioning and continuous operation, and is an optimal tool for manufacturing and assembling on a product production line. However, since the robot arm cannot be precisely positioned due to differences in control and actual movement coordinates caused by driving of the actuator via multiple axes, wear, and assembly errors in manufacturing of components, the correction of coordinates is an important issue for the robot arm.
In the prior art, when calibrating the coordinate of the robot arm, a Tool Center Point (TCP) of the robot arm is usually driven to directly contact a reference point with known coordinates, so as to calibrate the coordinate of the tool center point of the robot arm. However, when the movement error of the uncorrected robot arm is too large, the robot arm often collides with the reference point, which causes damage to the tool of the robot arm and the reference point instrument. Therefore, in the prior art, the coordinates of the center point of the measuring tool can be corrected in a non-contact manner by using a precision measuring instrument such as a laser range finder, but the laser range finder has high cost and requires a large installation space, which causes a limitation in use. Therefore, in another prior art, U.S. patent publication No. US20110320039, a calibration plate with a specific relationship between black and white is disposed at a position of the robot arm with a known coordinate, an image of the calibration plate with the black and white is extracted by a camera on the robot arm, and a relative relationship between the camera and the calibration plate with the known coordinate is calculated to calibrate the robot arm.
However, although the aforementioned prior art robot arm can perform the calibration automatically without contact, the calibration plates of various manufacturers are various, each type of calibration plate has its own unique mounting structure and relative relationship calculation method, and cannot be used interactively or compatibly, and it is not easy for a general operator using various types or brand name robot arms to use, maintain and manage. Therefore, there is still a need for a robot arm to correct the coordinates.
Disclosure of Invention
The invention aims to provide a method for correcting coordinates of a robot arm, which is characterized in that a camera on the robot arm is used for extracting an image of a calibration square block, four corners of the calibration square block are identified through the difference between the calibration square block and the environment, and coordinates of a central point are obtained so as to quickly align the central axis of the camera.
The invention also aims to provide a method for correcting the coordinate of the robot arm, which utilizes a dark calibration square block to filter laser to obtain a bright end point at the edge of the calibration square block to form a laser line, and then guides the laser line to coincide with the central point of the calibration square block along the central axis of a camera so as to automatically correct the coordinate of the TCP.
Another objective of the present invention is to provide a method for calibrating coordinates of a robot arm, wherein calibration blocks with various orientations are disposed on a calibration target, and calibration blocks of the calibration target are calibrated by using postures of different robot arms, so as to automatically calibrate coordinates of the robot arm.
In order to achieve the above-mentioned object, the method for calibrating coordinates of a robot arm of the present invention, a camera of the robot arm and a laser device have a fixed relative relationship, an intersection point of a central axis of the camera and a laser of the laser device is adjusted and set as a tool center point, a calibration block is placed, an image of the calibration block is extracted by the camera, distinguishing four corners of the calibration square through image processing, obtaining coordinates of a central point of the calibration square by using diagonal intersection, moving a central axis of a camera to align the central point of the calibration square, filtering laser projected to the calibration square, obtaining bright end points of two edges of the calibration square, establishing a laser line, and under the condition that the central axis of the camera is maintained to be aligned with the central point of the calibration square block, moving the camera to drive the laser line to coincide with the central point of the calibration square block, and setting the coordinate of the central point of the calibration square block at the time of coincidence as the coordinate of the central point of the control tool.
The calibration square block of the coordinate correcting method of the robot arm is a recognizable color or dark color or black square block and is used for absorbing the projected laser and generating bright endpoints with obvious brightness difference at two edges of the calibration square block so as to obtain the two bright endpoints. And when the calibration square is superposed, the coordinate of the central point of the calibration square falls on the laser line, and the relative fixed relation among the recording camera, the laser device and the central point of the calibration square is recorded when the calibration square is superposed. In addition, when the center point of the calibration block is placed, the actual measurement coordinate is used as the actual tool center point coordinate, and the control tool center point coordinate and the actual tool center point coordinate are compared to obtain an error so as to correct the coordinate of the robot arm tool center point.
The invention also discloses a method for calibrating coordinates of a robot arm, which comprises the steps of enabling a camera of the robot arm to have a fixed relative relation with a laser device, then arranging a calibration target with known coordinates and containing calibration blocks at a fixed position relative to the robot arm, wherein the calibration target is a cube and is provided with a plurality of calibration blocks on each azimuth plane respectively, driving the camera to extract an image of the calibration target by utilizing the posture of the robot arm, automatically selecting one calibration block on the calibration target, distinguishing four corners of the calibration block through image processing, obtaining the coordinates of the center point of the calibration block by utilizing the intersection of diagonals, moving the central axis of the camera to align the center point of the calibration block, filtering laser projected to the calibration block, obtaining the bright end points of two edges of the calibration block, establishing a laser line, keeping the central axis of the camera to align the center point of the calibration, the method comprises the steps that a mobile camera drives a laser line to coincide with the center point of a calibration square block, control coordinates of the center point of the calibration square block are recorded during coincidence, when the gesture quantity of a robot arm is detected to be smaller than a preset threshold value, the gesture of the robot arm is changed to drive the camera to repeat a correction step, when the gesture quantity of the robot arm is detected to be smaller than the preset threshold value, the obtained control coordinates of the center point of the calibration square block are subjected to matrix array calculation, correction parameters are obtained, and coordinates of the robot arm are corrected.
Drawings
FIG. 1 is a schematic diagram of a robot arm for calibrating coordinates according to the present invention;
FIG. 2 is a calibration block image captured by the camera according to the present invention;
FIG. 3 is a schematic view of a moving laser line according to the present invention;
FIG. 4 is an image of the center point of the laser line overlay calibration block according to the present invention;
FIG. 5 is a flowchart of a method for calibrating coordinates of a robot arm according to the present invention;
FIG. 6 is a schematic diagram of a robot arm with coordinate calibration according to another embodiment of the present invention;
fig. 7 is a flowchart illustrating a method for calibrating coordinates by a robot according to another embodiment of the present invention.
Description of the symbols
1 robot arm
2 axle arm
3 actuator
4 base
5 terminal device
6 Camera
7 laser device
8 work frame
9 calibration block
10 laser
11 central axis
12 images
13 four corners
14 center point
15 laser line
16 bright end point
17 calibration target
Center point of TCP tool
Detailed Description
The technical means and effects of the present invention for achieving the above objects will be described below with reference to the accompanying drawings.
Referring to fig. 1 and fig. 2, fig. 1 is a schematic diagram of a robot arm for calibrating TCP coordinates according to the present invention, and fig. 2 is a calibration block image captured by a camera according to the present invention. In fig. 1, a robot arm 1 according to the present invention is composed of a plurality of axial arms 2 connected in series with an actuator 3 at intervals, one end of each of the axial arms 2 is fixed to a base 4 to form a robot arm coordinate M, and the other end of each of the axial arms 2 is connected to a terminal 5, and the terminal 5 can calculate the coordinate at the robot arm coordinate M by recording the rotation of the actuator 3. The terminal 5 is provided with a camera 6 and a laser device 7, and the camera 5 and the terminal 5 have a fixed relative relationship, so that the coordinates of the robot arm coordinates M can be calculated. The robot arm 1 drives the extraction carriage 8 to take an image of a calibration block 9 (see fig. 2), and the laser device 7 is used to emit a planar scanning laser 10. The camera 6 and the laser device 7 have a fixed relative relationship, and the intersection point of the central axis 11 of the camera 6 and the scanning laser 10 of the laser device 7 is adjusted and set as a Tool Center Point (TCP).
Since the intersection TCP between the virtual central axis 11 of the camera 6 and the scanning laser beam 10 of the laser device 7 cannot be visually confirmed, the TCP of the robot arm cannot be visually determined either. In order to obtain the coordinates of the TCP of the robot arm, the calibration block 9 is disposed on the working frame 8, the calibration block 9 may be a black square block, although the calibration block 9 of the present embodiment is illustrated as a black square block, the calibration block includes but is not limited to a black square block, and any block that can easily identify a color or a dark color and easily determine a center point belongs to the scope of the present invention.
The robot arm 1 of the present invention drives the camera 6 to extract the image 12 of the calibration square 9 on the working frame 8, such as the image 12 of the calibration square 9 in fig. 2, and the camera 6 is used to extract the focal length of the image 12, the center and the pixels of the image 12, and the coordinates of each point of the image 12 can be calculated by the camera 6 with known coordinates. Because the black calibration block 9 in the image 12 is obviously different from the surrounding light-colored environment, the calibration block 9 can be rapidly distinguished through image processing, the coordinates of four corners 13 of the calibration block 9 are determined, the diagonal lines of the calibration block 9 are intersected to form a central point 14, and the coordinates of the central point 14 of the calibration block 9 are obtained. Then, the robot arm 1 is used to drive the camera 6, so that the central axis 11 of the camera 6 is aligned with the central point 14 of the calibration block 9.
In fig. 2, the laser device 7 emits the planar scanning laser 10 to form a laser line 15 crossing the calibration block 9 on the image 12, the laser line 15 of the laser is relatively bright, but the laser line 15 projected on the black calibration block 9 is absorbed by the black calibration block 9, and the brightness is relatively dim, so that a bright end point 16 with a significant brightness difference is generated at two edges of the calibration block 9, so as to obtain coordinates of the two bright end points 16, and the laser line 15 can be positioned by using a straight line formed by the two bright end points 16.
Referring to fig. 3 and fig. 4, fig. 3 is a schematic diagram of a moving laser line according to the present invention, and fig. 4 is an image of a center point of a calibration block where the laser line is overlapped. In fig. 3, while maintaining the central axis 11 of the camera 6 aligned with the central point 14 of the calibration block 9, the robot arm drives the camera 6 to move the laser device 7 along the central axis 11, so that the laser line 15 emitted by the laser device 7 moves to the central point 14 of the calibration block 9. When the coordinates of the center point 14 in fig. 4 fall on the laser line 15, it can be confirmed that the laser line 15 overlaps the center point 14. Then, the relative fixed relation between the camera 6, the laser device 7 and the central point 14 is recorded, the focal length of the image 12, the center of the image 12 and the pixels are extracted by the camera 6, the coordinate of the central point 14 is calculated, and the coordinate of the central point 14 is set as the coordinate of the TCP.
The coordinates of the TCP are the coordinates of the control TCP obtained by the control of the robot arm, and if the robot arm is corrected, the coordinates of the control TCP are the actual coordinates of the TCP. Otherwise, when the calibration block 9 is placed on the working frame 8, the coordinate of the central point 14 of the calibration block 9 can be actually measured, the coordinate of the central point 14 is taken as the actual TCP coordinate, the error between the control TCP coordinate and the actual TCP coordinate is obtained by comparing the control TCP coordinate and the coordinate of the actually measured central point 14, and the coordinate of the TCP of the robot arm is further corrected.
Fig. 5 is a flowchart illustrating a method for calibrating coordinates by a robot arm according to the present invention. Step S1, when starting to correct TCP, the camera and the laser device of the invention have a fixed relative relationship, and the intersection point of the central axis of the camera and the laser device scanning laser is adjusted and set as TCP; step S2, placing a calibration square block; step S3, extracting the image of the calibration square by using the camera; step S4, distinguishing the calibration square through image processing, obtaining the four corners of the calibration square, and obtaining the coordinates of the center point of the calibration square by using the intersection of the diagonal lines; step S5, the central axis of the mobile camera is aligned to the central point of the calibration square; step S6, filtering the laser emitted by the laser device in the calibration square, obtaining bright end points with bright edges at two edges of the calibration square, and establishing a laser line; step S7, moving the camera to drive the laser line under the condition of maintaining the central axis of the camera to be aligned with the central point of the calibration square, so that the laser line is superposed with the central point of the calibration square; step S8, recording the relative fixed relation of the camera, the laser device and the central point when overlapping, and setting the coordinate of the central point as the control TCP coordinate; step S9, comparing the control TCP coordinate with the known actual coordinate of the central point of the calibration square block, and performing correction compensation; then, in step S10, the TCP coordinate correction is ended.
Therefore, the method for correcting the coordinates of the robot arm can utilize the camera on the robot arm to extract the image of the calibration square block, quickly identify the coordinates of the four corners of the calibration square block through the obvious color difference between the calibration square block and the environment, calculate the coordinates of the central point through the intersection point of the diagonal lines, and enable the robot arm to automatically move the central axis of the camera to quickly align the central point. And then, filtering laser by using the dark color calibration square to obtain bright end points of two edges of the calibration square to form a laser line, guiding the laser line to coincide with the central point of the calibration square by using a camera along the central axis, acquiring a controlled TCP coordinate under the condition of non-physical contact and avoiding damage, and comparing the controlled TCP coordinate with the actually measured central point coordinate to further achieve the aim of automatically correcting the TCP coordinate.
Fig. 6 is a schematic diagram of a method for calibrating coordinates of a robot arm according to another embodiment of the invention. The present embodiment basically corrects the coordinates of the robot arm using the technique for correcting the coordinates of the TCP according to the foregoing embodiment. For simplicity, the same reference numerals are used for the same components as in the previous embodiment, and they will be described in advance. In the present embodiment, a plurality of calibration blocks 9 are respectively disposed on each orientation surface of the calibration target 17, and then the calibration target 17 is disposed at a fixed position relative to the base 4 of the robot arm 1 and has known robot arm coordinates. Although the calibration target 17 of the present embodiment is illustrated as a cube, the calibration target includes but is not limited to a cube, such as a polyhedron.
Then, the robot arm 1 is calibrated, the robot arm 1 drives the camera 6 to extract an image of the calibration target 17, a calibration block 9 on the calibration target 17 is automatically selected, the TCP calibration step of the previous embodiment is performed, that is, the image of the selected calibration block 9 is extracted, four corners of the calibration block 9 are identified, a central point of the calibration block 9 is determined by a diagonal line, the central axis 11 of the camera 6 is automatically moved to be aligned with the central point of the calibration block 9, then the laser device 7 is filtered to project laser to form a laser line, so that the camera 6 is moved along the central axis 11 to drive the laser line to coincide with the central point of the calibration block 9, and the TCP is considered to coincide with the central point, so as to obtain a controlled TCP coordinate as a control coordinate of the central point. Then, the posture of the robot arm 1 is changed, another calibration block 9 is selected, the TCP correction step is repeated until the number of changed postures of the robot arm 1 reaches a preset threshold, and then the control coordinates of the central point of the calibration block 9 obtained in the previous step are subjected to Matrix array calculation in the prior art, such as Jacobian Matrix, to obtain coordinate correction parameters, so as to complete the correction of the robot arm coordinates.
Fig. 7 is a flowchart illustrating a method for calibrating coordinates by a robot according to another embodiment of the present invention. The detailed steps of the method for calibrating the coordinates of the robot arm in the embodiment are described as follows, in step T1, the calibration of the coordinates of the robot arm is started; step T2, setting the calibration target with known coordinates and containing the calibration square block at a fixed position relative to the robot arm; step T3, automatically selecting a calibration square block on the calibration target to perform TCP calibration; step T4, recording and selecting the control coordinate of the central point of the calibration block; following step T5, it is checked whether the number of poses of the robot arm has reached a preset threshold? If the number of postures does not reach the preset threshold, the method goes to step T6, changes the posture of the robot arm, returns to step T3, and repeats the steps, and if the number of postures reaches the preset threshold, the method goes to step T7, obtains the control coordinate of the central point of the calibration block, performs matrix array calculation, obtains the correction parameter, and corrects the coordinate of the robot arm; then, at step T8, the coordinate correction is ended.
Therefore, the method for correcting the coordinates of the robot arm can set calibration blocks with various directions on the correction target, correct the coordinates of the TCP on the calibration blocks of the correction target by using the postures of different robot arms, and calculate the correction parameters by using the central point coordinates of the obtained calibration blocks and the matrix sequence, thereby achieving the purpose of automatically correcting the coordinates of the robot arm without contact.
The above description is only for the purpose of convenience of illustrating the preferred embodiments of the present invention, and the scope of the present invention is not limited to the preferred embodiments, and any modifications made according to the present invention will fall within the scope of the present invention without departing from the spirit of the present invention.
Claims (10)
1. A method for correcting coordinates of a robot arm is provided, which enables a camera of the robot arm and a laser device to have a fixed relative relationship, and adjusts and sets an intersection point of a central axis of the camera and a laser of the laser device as a tool central point, and the method comprises the following steps:
placing a calibration block;
extracting an image of the calibration square by using a camera;
distinguishing four corners of the calibration square block through image processing, and obtaining the coordinates of the central point of the calibration square block by utilizing diagonal intersection;
the central axis of the mobile camera is aligned with the central point of the calibration square;
filtering the laser projected to the calibration square block, obtaining bright end points of two edges of the calibration square block, and establishing a laser line;
moving the camera to drive the laser line to coincide with the central point of the calibration square under the condition that the central axis of the camera is aligned with the central point of the calibration square;
and setting the coordinate of the central point of the calibration block when the calibration block is superposed as the coordinate of the central point of the control tool.
2. The method of claim 1, wherein the calibration square is a black square.
3. The method of claim 1, wherein the calibration block absorbs the projected laser light to generate bright points with distinct brightness difference at two edges of the calibration block, so as to obtain two bright points.
4. The method of claim 1, wherein the coordinates of the center point of the calibration square that coincide with each other fall on a laser line.
5. The method of claim 4, wherein the center points of the camera, the laser device and the calibration block are fixed relative to each other when they are overlapped.
6. The method as claimed in claim 1, wherein the coordinates of the center point of the calibration block are measured as the coordinates of the center point of the actual tool, and the coordinates of the center point of the control tool are compared with the coordinates of the center point of the actual tool to obtain an error, so as to calibrate the coordinates of the center point of the tool of the robot.
7. A method for calibrating coordinates of a robot arm, wherein a camera of the robot arm and a laser device have a fixed relative relationship, the method comprising the steps of:
setting a calibration target having known coordinates and containing a calibration square in a fixed position relative to the robot arm;
driving a camera to extract an image of a calibration target by utilizing the posture of the robot arm, and automatically selecting a calibration square block on the calibration target;
distinguishing four corners of the calibration square block through image processing, and obtaining the coordinates of the central point of the calibration square block by utilizing diagonal intersection;
the central axis of the mobile camera is aligned with the central point of the calibration square;
filtering the laser projected to the calibration square block, obtaining bright end points of two edges of the calibration square block, and establishing a laser line;
moving the camera to drive the laser line to coincide with the central point of the calibration square under the condition of keeping the central axis of the camera aligned with the central point of the calibration square;
recording the control coordinate of the central point of the calibration square block when the calibration square block is superposed;
and when the gesture number of the robot arm reaches a preset threshold value, performing matrix array calculation on the acquired control coordinate of the central point of the calibration block to acquire a correction parameter so as to correct the coordinate of the robot arm.
8. The method for calibrating coordinates of a robot arm as claimed in claim 7, wherein the camera is driven to repeat the calibrating step by changing the pose of the robot arm when the number of poses of the robot arm is not less than the predetermined threshold.
9. The method of claim 7, wherein the calibration target is a cube.
10. The method of claim 9, wherein the calibration target has a plurality of calibration blocks on each orientation plane.
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| CN112549083A (en) * | 2020-12-24 | 2021-03-26 | 常州信息职业技术学院 | Industrial robot tool coordinate system calibration device and method |
| CN113284128A (en) * | 2021-06-11 | 2021-08-20 | 中国南方电网有限责任公司超高压输电公司天生桥局 | Image fusion display method and device based on power equipment and computer equipment |
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| CN110815201B (en) | 2022-04-19 |
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