CN110861076A - Hand eye calibration device of mechanical arm - Google Patents
Hand eye calibration device of mechanical arm Download PDFInfo
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- CN110861076A CN110861076A CN201911265883.8A CN201911265883A CN110861076A CN 110861076 A CN110861076 A CN 110861076A CN 201911265883 A CN201911265883 A CN 201911265883A CN 110861076 A CN110861076 A CN 110861076A
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- 230000000007 visual effect Effects 0.000 claims abstract description 9
- 238000010586 diagram Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 4
- 238000003754 machining Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 238000012790 confirmation Methods 0.000 description 3
- 239000012636 effector Substances 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 238000013473 artificial intelligence Methods 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
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- 230000000750 progressive effect Effects 0.000 description 1
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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
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/04—Viewing devices
-
- 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
-
- 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
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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- Engineering & Computer Science (AREA)
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- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to a hand-eye calibration device of a mechanical arm, which comprises: the device comprises a controller, a working platform, a camera, a calibration block, a needle head and a mechanical arm; the automatic calibration device comprises a working platform, a controller, a mechanical arm, a calibration block, a needle head and a needle head, wherein the working platform is provided with a working area, the working area is arranged in the visual field of a camera, the controller is respectively connected with the camera and the mechanical arm, the controller is used for controlling the movement of the mechanical arm according to a set movement track, the mechanical arm is used for sequentially placing the calibration block at different positions of the working area, the camera is used for collecting XY coordinates of all the positions under a camera coordinate system, the mechanical arm is further used for sequentially aligning the needle head at all the positions, and the camera is further used for collecting Z coordinates of all the positions in. The accuracy of the hand-eye calibration is improved by the device.
Description
Technical Field
The invention relates to the technical field of mechanical arm calibration, in particular to a hand-eye calibration device of a mechanical arm.
Background
With the development of related technologies such as artificial intelligence technology, computer technology and the like, the application of mechanical arms and machine vision in industrial production is more and more extensive, the technology of guiding the mechanical arms to perform precision machining by visual positioning instead of traditional artificial precision machining becomes a trend, and the machining efficiency of products can be greatly improved.
In industrial applications, a robot arm usually needs to perform machining and installation tasks by means of an eye-hand system, wherein the eye-hand system is a robot arm vision system composed of a camera and a robot arm, the camera in the robot arm vision system corresponds to human eyes, and the end effector in the robot arm corresponds to human hands. In the field of machine vision, the mechanical arm needs to perform operations such as corresponding path planning according to signals given by a vision system, and a mechanical arm coordinate system and a vision coordinate system are two independent modules, so that coordinates of the vision system and coordinates of the mechanical arm need to be calibrated, the coordinates of vision positioning are converted into mechanical arm coordinates to complete visual guidance, wherein hand-eye calibration is used as a key of the vision guiding mechanical arm.
Disclosure of Invention
Based on this, the invention aims to provide a hand-eye calibration device for a mechanical arm, so as to improve the accuracy of hand-eye calibration.
In order to achieve the purpose, the invention provides the following scheme:
a hand-eye calibration apparatus for a robotic arm, the apparatus comprising:
the device comprises a controller, a working platform, a camera, a calibration block, a needle head and a mechanical arm;
the automatic calibration device comprises a working platform, a controller, a mechanical arm, a calibration block, a needle head and a needle head, wherein the working platform is provided with a working area, the working area is arranged in the visual field of a camera, the controller is respectively connected with the camera and the mechanical arm, the controller is used for controlling the movement of the mechanical arm according to a set movement track, the mechanical arm is used for sequentially placing the calibration block at different positions of the working area, the camera is used for collecting XY coordinates of all the positions under a camera coordinate system, the mechanical arm is further used for sequentially aligning the needle head at all the positions, and the camera is further used for collecting Z coordinates of all the positions in.
Optionally, the calibration block is in a cuboid shape, a circular groove is formed in the cuboid, a geometric pattern is arranged in the circular groove, the center of the geometric pattern is the center of the calibration block, and the camera collects the center of the geometric pattern as the coordinate of the camera under a coordinate system.
Optionally, the plane of the geometric pattern is parallel to the plane of the XY coordinates.
Optionally, the number of cameras is at least one.
Optionally, the number of the working areas is equal to the number of the cameras, and each working area corresponds to one of the cameras.
Optionally, each of the work areas is disjoint.
Optionally, each of the working areas is rectangular in shape.
According to the specific embodiment provided by the invention, the invention discloses the following technical effects:
the invention relates to a hand-eye calibration device of a mechanical arm, which comprises: the device comprises a controller, a working platform, a camera, a calibration block, a needle head and a mechanical arm; the working platform is provided with a working area, the working area is arranged in the visual field of the camera, the controller is respectively connected with the camera and the mechanical arm, the controller is used for controlling the movement of the mechanical arm according to a set movement track, the mechanical arm is used for sequentially placing the calibration blocks at different positions of the working area, the camera is used for collecting XY coordinates of each position under a camera coordinate system, the mechanical arm is further used for sequentially aligning the needle head at each position, and the camera is further used for collecting Z coordinates of each position in the camera coordinate system. Compared with the traditional hand-eye calibration method which requires manual intervention, the device provided by the invention can improve the accuracy of the hand-eye calibration.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without inventive exercise.
Fig. 1 is a schematic structural diagram of a hand-eye calibration device of a robot arm according to an embodiment of the present invention;
fig. 2 is a schematic diagram of a calibration block structure according to an embodiment of the present invention.
Description of the symbols:
1. working platform, 2, camera, 21, lens, 3, calibration block, 4, needle, 5, mechanical arm, 51, X-axis, 52, Y-axis, 53, Z-axis, 6, MARK MARK.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention aims to provide a hand-eye calibration device of a mechanical arm so as to improve the accuracy of hand-eye calibration
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
Fig. 1 is a schematic structural diagram of a hand-eye calibration device for a robot arm according to an embodiment of the present invention, fig. 2 is a schematic structural diagram of a calibration block according to an embodiment of the present invention, and as shown in fig. 1 to fig. 2, the hand-eye calibration device for a robot arm includes: controller, work platform 1, camera 2, calibration block 3, syringe needle 4 and arm 5.
The automatic calibration device is characterized in that a working area is arranged on the working platform 1, the working area is arranged in the visual field of the camera 2, the controller is respectively connected with the camera 2 and the mechanical arm 5, the controller is used for controlling the movement of the mechanical arm 5 according to a set motion track, the mechanical arm 5 is used for sequentially placing the calibration block 3 at different positions of the working area, the camera 2 collects XY coordinates of all the positions under a camera coordinate system, the mechanical arm 5 is further used for sequentially aligning the needle head 4 at all the positions, and the camera 2 is further used for collecting Z coordinates of all the positions in the camera coordinate system.
As an embodiment, the calibration block 3 of the present invention is rectangular, a circular groove is disposed in the rectangular, a geometric pattern is disposed in the circular groove, the center of the geometric pattern is the center of the calibration block 3, and the camera 2 collects the center of the geometric pattern as the coordinate of the camera coordinate system.
Specifically, the marking block 3 is shown in fig. 2, the geometric pattern is a nine-point bow tie pattern, and the pattern can facilitate recognition of a central point, improve recognition accuracy, and shorten recognition time.
The camera 2 is provided with a lens 21, and the needle 4 is aligned to the center of the geometric pattern by adjusting the lens 21 of the camera 2, so as to obtain the Z coordinate of each position under the camera coordinate system.
As an embodiment, the plane of the geometric pattern is parallel to the plane of the XY coordinates.
Specifically, an XYZ coordinate system is constructed using the robot 5 as a standard, the upper arm, which is two arms of the robot 5, is used as the X axis 51, the lower arm is used as the Y axis 52, and the end effector of the robot 5 is used as the Z axis.
As an embodiment, the number of the cameras 2 is at least one.
As an embodiment, the number of the working areas is equal to the number of the cameras 2, and each working area corresponds to one camera 2.
As one embodiment, each of the work areas of the present invention are disjoint.
As an embodiment, each of the working areas of the present invention is rectangular in shape.
Specifically, a MARK 6 is arranged on the working platform 1, and a working area is set by using the MARK 6. The cameras 2 are multiple, so that the cameras 2 can be calibrated in different working areas simultaneously, and the working efficiency is improved.
Installing a calibration block (L-shaped bowknot calibration block) on a Z axis, moving an XY axis mobile robot arm to select a working area, automatically forming rectangular conversion from a starting point to a diagonal end point, taking the value of a rectangular inner frame as an effective working range, and taking the working platform range of product processing as the working area; compared with the original manual image calibration and positioning, the original calibration can not be performed for several hours and for many times, the XYZ axes can not reach the precision required by a customer, the edge tolerance under the condition of a large working platform is reduced by 0.1mm error compared with the original calibration, the hand-eye calibration device only takes 2 minutes to complete, and the operation is simpler and easier to learn. The time and cost are greatly reduced, and the positioning precision of the equipment for processing the product is improved.
Moving the mechanical arm X, Y, Z in the axial direction, clicking to confirm the starting point according to the prompt of moving the calibration block to the starting point of the working area, then moving the mechanical arm X, Y, Z in the axial direction to prompt of moving the calibration block to the diagonal position of the starting point of the working area, then, clicking the confirmation button with the calibration block and the working table surface overlapped without any gap to finish the diagonal position confirmation of the working area.
The controller automatically calculates the actual working area size and the height of the calibration block subtracted by the Z-axis automatic rising. Popping up a calibration block confirmation window, clicking a right mouse button to pop up a shortcut toolbar according to a window prompt, selecting by using a left mouse button, then selecting and clicking a central point of a calibration block on an image, clicking the right button to pop up the shortcut toolbar after the central point of the calibration block is framed, selecting the calibration block by using a left mouse button to extract OK, automatically resetting the equipment and automatically calibrating 25-point hand-eye calibration on a working surface in a working range, and automatically resetting until the 25 th point of hand-eye calibration is finished, so that the automatic hand-eye calibration is finished. Closing the hand-eye calibration pop-up operation prompt to prompt whether the hand-eye calibration is closed or not, clicking to determine, clicking to store and quit.
Setting a needle alignment point MARK and correcting the needle alignment point, firstly selecting a calibrated camera on a main interface, and clicking a hand-eye calibration icon to enter camera calibration after the selected camera image is displayed normally. And calibrating according to the operation method. And after the automatic hand-eye calibration is finished, returning to the main interface, clicking the aiming icon, popping up a pointing point MARK window to determine whether to select the aiming point MARK window, popping up a pointing point MARK window, clicking a set aiming point button, popping up a coordinate updating window, and operating W, S, A, D, Q, E on the keyboard to determine that the XYZ moving needle head is aligned with the central point of the cross dot label. According to the window prompt, clicking a right mouse button to pop up a shortcut toolbar, selecting to confirm a pinpoint, clicking a central point of a cross dot label of the pinpoint MARK on an image, drawing a circle to enable the center of the circle to be aligned with the central point of the cross dot label, clicking a left mouse button to confirm in a blank position, clicking the right mouse button to pop up the shortcut toolbar, selecting to confirm OK of the pinpoint, and setting a correction pinhead for the pinhead MARK. The working track can be edited to process the product. The automatic calibration of 25 points hand eyes through XYZ axis arm is more scientific and accurate than manual work.
The invention is applied to a working range working platform of visual automation equipment and a needle head image automatic hand-eye calibration positioning device, the needle head of the visual automation equipment works on the surface of the working platform to accurately position XYZ coordinates of a product, and the problem of stroke offset error precision of XYZ axes on the edge of the working platform is solved.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
The principles and embodiments of the present invention have been described herein using specific examples, which are provided only to help understand the method and the core concept of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.
Claims (7)
1. A hand-eye calibration device of a mechanical arm is characterized by comprising:
the device comprises a controller, a working platform, a camera, a calibration block, a needle head and a mechanical arm;
the automatic calibration device comprises a working platform, a controller, a mechanical arm, a calibration block, a needle head and a needle head, wherein the working platform is provided with a working area, the working area is arranged in the visual field of a camera, the controller is respectively connected with the camera and the mechanical arm, the controller is used for controlling the movement of the mechanical arm according to a set movement track, the mechanical arm is used for sequentially placing the calibration block at different positions of the working area, the camera is used for collecting XY coordinates of all the positions under a camera coordinate system, the mechanical arm is further used for sequentially aligning the needle head at all the positions, and the camera is further used for collecting Z coordinates of all the positions in.
2. The hand-eye calibration device of a mechanical arm according to claim 1, wherein the calibration block is rectangular, a circular groove is arranged in the rectangular, a geometric pattern is arranged in the circular groove, the center of the geometric pattern is the center of the calibration block, and the camera collects the center of the geometric pattern as the coordinate of a camera coordinate system.
3. A hand-eye calibration arrangement for a robotic arm as claimed in claim 2, wherein the plane of the geometric pattern and the plane of the XY coordinates are parallel.
4. A hand-eye calibration arrangement for a robotic arm as claimed in claim 1, wherein the camera is at least one.
5. A hand-eye calibration device for a mechanical arm according to claim 4, wherein the number of the working areas is equal to the number of the cameras, and each working area corresponds to one of the cameras.
6. A hand-eye calibration arrangement for a robotic arm as claimed in claim 5, wherein each of the working areas do not intersect.
7. A hand-eye calibration arrangement for a robotic arm as claimed in claim 6, wherein each of the working areas is rectangular in shape.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911265883.8A CN110861076A (en) | 2019-12-11 | 2019-12-11 | Hand eye calibration device of mechanical arm |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911265883.8A CN110861076A (en) | 2019-12-11 | 2019-12-11 | Hand eye calibration device of mechanical arm |
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| CN110861076A true CN110861076A (en) | 2020-03-06 |
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| CN201911265883.8A Pending CN110861076A (en) | 2019-12-11 | 2019-12-11 | Hand eye calibration device of mechanical arm |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111590593A (en) * | 2020-06-19 | 2020-08-28 | 浙江大华技术股份有限公司 | Calibration method, device and system of mechanical arm and storage medium |
| CN114838659A (en) * | 2022-04-26 | 2022-08-02 | 深圳市商汤科技有限公司 | Manipulator testing device, testing method, calibration method and storage medium |
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2019
- 2019-12-11 CN CN201911265883.8A patent/CN110861076A/en active Pending
Patent Citations (7)
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111590593A (en) * | 2020-06-19 | 2020-08-28 | 浙江大华技术股份有限公司 | Calibration method, device and system of mechanical arm and storage medium |
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