CN115194761A - Cleaning robot zero position and hand-eye matrix calibration method and system - Google Patents
Cleaning robot zero position and hand-eye matrix calibration method and system Download PDFInfo
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- CN115194761A CN115194761A CN202210668969.0A CN202210668969A CN115194761A CN 115194761 A CN115194761 A CN 115194761A CN 202210668969 A CN202210668969 A CN 202210668969A CN 115194761 A CN115194761 A CN 115194761A
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- 239000011159 matrix material Substances 0.000 title claims abstract description 57
- 238000000034 method Methods 0.000 title claims abstract description 30
- 238000004140 cleaning Methods 0.000 title claims abstract description 25
- 230000000007 visual effect Effects 0.000 claims abstract description 32
- 239000003550 marker Substances 0.000 claims abstract description 10
- 238000005259 measurement Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 241000208340 Araliaceae Species 0.000 description 1
- 235000005035 Panax pseudoginseng ssp. pseudoginseng Nutrition 0.000 description 1
- 235000003140 Panax quinquefolius Nutrition 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
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- 230000000694 effects Effects 0.000 description 1
- 235000008434 ginseng Nutrition 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
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1692—Calibration of manipulator
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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
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
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Abstract
The invention provides a calibration method and a calibration system for a zero position matrix and a hand-eye matrix of a cleaning robot, wherein the calibration method comprises the following steps: step S1: the mechanical arm moves n point positions according to a preset program, a visual mark is photographed at each point position, and the current robot joint angle theta is recorded; step S2: calculating the pose of the visual mark relative to the camera coordinate system according to the visual mark image obtained by photographing
Pose of robot tip relative to base coordinate system
And pose of camera with respect to robot tip
And step S3: according to the pose of the visual marker relative to the camera coordinate system
Pose of robot tip relative to base coordinate system
And pose of camera with respect to robot tip
Solving by adopting a least square method to obtain a joint zero position deviation delta theta and a hand-eye matrix deviation delta; and step S4: and completing calibration of the robot zero position and the hand-eye matrix according to the joint zero position deviation delta theta and the hand-eye matrix deviation delta.
Description
Technical Field
The invention relates to the technical field of robot calibration, in particular to a calibration method and a calibration system for a zero position and a hand-eye matrix of a cleaning robot.
Background
The cleaning robot system mainly comprises a mobile chassis module, an arm module and a vision module. The arm is composed of joints with 6 degrees of freedom, and a depth camera is arranged at the tail end of the arm. After the robot is used for a certain time, due to the reasons of collision and the like, zero offset of the mechanical arm can be caused, or the camera deflects relative to the tail end of the mechanical arm, so that the arm cannot accurately reach a specified position, and the cleaning effect is influenced. A set of methods for quickly calibrating the zero position of the mechanical arm and the hand-eye matrix is needed.
Patent document CN111390901A (application number: 201910002044.0) discloses an automatic calibration method and a calibration device for a mechanical arm, wherein the calibration method comprises the following steps: establishing a pixel coordinate system generated based on a camera and establishing a geodetic coordinate system based on a mechanical arm base; correcting the geodetic coordinate system and the pixel coordinate system to obtain a proportional parameter for converting the geodetic coordinate system and the pixel coordinate system and a mechanical arm movement range capable of shooting the marker; acquiring point location information of a camera right above a marker under at least three different mechanical arm rotation angles; calculating relative position parameters of the center position of the camera and the position of the tail end of the shafting; acquiring point position information of marking points at different positions under the same mechanical arm rotation angle, wherein the marking points are fixed points on the marker; and calculating coordinate correction parameters according to the point location information.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a calibration method and a calibration system for a zero position and hand-eye matrix of a cleaning robot.
The invention provides a calibration method for a zero position and hand-eye matrix of a cleaning robot, which comprises the following steps:
step S1: the mechanical arm moves n point positions according to a preset program, a visual mark is photographed at each point position, and a current robot joint angle theta is recorded;
step S2: calculating the pose of the visual mark relative to the camera coordinate system according to the visual mark image obtained by photographing
Pose of robot tip relative to base coordinate system
And pose of camera with respect to robot tip
And step S3: according to the position and pose of the visual marker relative to the camera coordinate system
Pose of robot tip relative to base coordinate system
And pose of the camera relative to the robot tip
Solving by adopting a least square method to obtain a joint zero position deviation delta theta and a hand-eye matrix deviation delta;
and step S4: and calibrating the zero position and the hand-eye matrix of the robot according to the joint zero position deviation delta theta and the hand-eye matrix deviation delta.
Preferably, the step S2 employs:
wherein, theta represents a joint angle of the robot, and delta theta represents zero offset of the robot needing to be calibrated.
Preferably, the step S2 employs:
where, (x, y, z, α, β, γ) is a parameter before the camera moves, and Δ δ = (Δ x, Δ y, Δ z, Δ α, Δ β, Δ γ) is the hand-eye matrix deviation.
Preferably, the step S3 adopts:
where n represents the nth point of movement.
Preferably, the step S4 employs: θ + Δ θ, x + Δ x, y + Δ y, z + Δ z, α + Δ α, β + Δ β, γ + Δ γ.
The invention provides a calibration system for a zero position and hand-eye matrix of a cleaning robot, which comprises:
a module M1: the mechanical arm moves n point positions according to a preset program, a visual mark is photographed at each point position, and a current robot joint angle theta is recorded;
a module M2: calculating the position and pose of the visual marker relative to the camera coordinate system according to the visual marker image obtained by photographing
Pose of robot tip relative to base coordinate system
And pose of camera with respect to robot tip
A module M3: according to the pose of the visual marker relative to the camera coordinate system
Pose of robot tip relative to base coordinate system
And camera to robotPose of the end
Solving by adopting a least square method to obtain a joint zero position deviation delta theta and a hand-eye matrix deviation delta;
a module M4: and calibrating the zero position and the hand-eye matrix of the robot according to the joint zero position deviation delta theta and the hand-eye matrix deviation delta.
Preferably, the module M2 employs:
wherein, theta represents a joint angle of the robot, and delta theta represents zero offset of the robot needing to be calibrated.
Preferably, the module M2 employs:
where, (x, y, z, α, β, γ) are parameters before the camera moves, and Δ δ = (Δ x, Δ y, Δ z, Δ α, Δ β, Δ γ) is the hand-eye matrix deviation.
Preferably, the module M3 employs:
where n represents moving the nth point.
Preferably, the module M4 employs: θ + Δ θ, x + Δ x, y + Δ y, z + Δ z, α + Δ α, β + Δ β, γ + Δ γ.
Compared with the prior art, the invention has the following beneficial effects: the invention has low cost, does not depend on ginseng and operation, and the robot automatically runs a preset program to finish the calibration process.
Drawings
Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:
fig. 1 is a schematic diagram of calibration of a cleaning robot in zero position and hand-eye matrix.
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the invention, but are not intended to limit the invention in any way. It should be noted that it would be obvious to those skilled in the art that various changes and modifications can be made without departing from the spirit of the invention. All falling within the scope of the present invention.
Example 1
The invention provides a calibration method for a zero position matrix and a hand-eye matrix of a cleaning robot, which solves the problems that after the precision of the tail end of a mechanical arm is lost, the mechanical arm automatically runs to a plurality of preset point positions, and the zero position matrix and the hand-eye matrix are quickly retrieved through calculation.
The invention provides a calibration method for a zero position and hand-eye matrix of a cleaning robot, which comprises the following steps of:
step 1: the cleaning robot base is provided with a visual mark which is fixed with the robot base, so that the relative pose relationship between the visual mark and the robot base coordinate system is ensured
And is not changed.
Step 2: the relative relation between the visual mark and the base is unchanged, the mechanical arm moves to n point positions (n is more than or equal to 24) according to a preset program, each point position photographs the visual mark and records the current joint angle theta of the robot.
And step 3: calculating the pose of the mark relative to the camera coordinate system according to the image of the visual mark
Pose of robot tip relative to base coordinate system
Camera relative to robot endPosition and posture of the hand-eye matrix
Where (x, y, z, α, β, γ) is a parameter before the camera moves, and Δ δ = (Δ x, Δ y, Δ z, Δ α, Δ β, Δ γ) is the hand-eye matrix deviation. Wherein theta represents a joint angle of the robot, and delta theta represents zero offset of the robot to be calibrated;
and 4, step 4: position and posture relation of visual sign relative to robot base coordinate
Because of the position relation in the multiple measurement process
Invariably, it can be obtained from two sets of data
For n sets of data, n/2 sets of the above equations can be obtained
And 5: and solving the joint zero position deviation delta theta and the hand-eye matrix deviation delta by adopting a least square method.
Step 6: and adding the joint zero position deviation into the joint angle of the robot, and adding the hand-eye matrix deviation into the hand-eye matrix parameters to finish the calibration of the robot zero position and the hand-eye matrix.
The invention provides a calibration system for a zero position and hand-eye matrix of a cleaning robot, which comprises the following components as shown in figure 1:
module 1: the cleaning robot base is provided with a visual mark which is fixed with the robot base, so that the relative position relationship between the visual mark and the robot base coordinate system is ensured
And is not changed.
And (3) module 2: the relative relation between the visual mark and the base is unchanged, the mechanical arm moves to n point positions (n is more than or equal to 24) according to a preset program, each point position photographs the visual mark and records the current joint angle theta of the robot.
And a module 3: calculating the pose of the mark relative to the camera coordinate system according to the image of the visual mark
Pose of robot tip relative to base coordinate system
Pose of camera relative to robot end is hand-eye matrix
Where (x, y, z, α, β, γ) are parameters before the camera moves, and Δ δ = (Δ x, Δ y, Δ z, Δ α, Δ β, Δ γ) is the hand-eye matrix deviation. Wherein theta represents a joint angle of the robot, and delta theta represents zero offset of the robot to be calibrated;
and (4) module: visual sign is for robot base coordinate position appearance relation
Because of the position relation in the multiple measurement processes
Invariably, it can be obtained from two sets of data
For n sets of data, n/2 sets of the above equations can be obtained
And a module 5: and solving the joint zero position deviation delta theta and the hand-eye matrix deviation delta by adopting a least square method.
And a module 6: and adding the joint zero position deviation into the joint angle of the robot, and adding the hand-eye matrix deviation into the hand-eye matrix parameters to finish the calibration of the robot zero position and the hand-eye matrix.
In the description of the present application, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience in describing the present application and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present application.
Those skilled in the art will appreciate that, in addition to implementing the systems, apparatus, and various modules thereof provided by the present invention in purely computer readable program code, the same procedures can be implemented entirely by logically programming method steps such that the systems, apparatus, and various modules thereof are provided in the form of logic gates, switches, application specific integrated circuits, programmable logic controllers, embedded microcontrollers and the like. Therefore, the system, the device and the modules thereof provided by the present invention can be considered as a hardware component, and the modules included in the system, the device and the modules thereof for implementing various programs can also be considered as structures in the hardware component; modules for performing various functions may also be considered to be both software programs for performing the methods and structures within hardware components.
The foregoing description has described specific embodiments of the present invention. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes or modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention. The embodiments and features of the embodiments of the present application may be combined with each other arbitrarily without conflict.
Claims (10)
1. A calibration method for a zero position and hand-eye matrix of a cleaning robot is characterized by comprising the following steps:
step S1: the mechanical arm moves n point positions according to a preset program, a visual mark is photographed at each point position, and a current robot joint angle theta is recorded;
step S2: calculating the pose of the visual mark relative to the camera coordinate system according to the visual mark image obtained by photographing
Pose of robot tip relative to base coordinate system
And pose of camera with respect to robot tip
And step S3: according to the position and pose of the visual marker relative to the camera coordinate system
Pose of robot tip relative to base coordinate system
And pose of camera with respect to robot tip
Solving by adopting a least square method to obtain a joint zero position deviation delta theta and a hand-eye matrix deviation delta;
and step S4: and completing calibration of the robot zero position and the hand-eye matrix according to the joint zero position deviation delta theta and the hand-eye matrix deviation delta.
2. The method for calibrating a zero position and hand-eye matrix of a cleaning robot as claimed in claim 1, wherein the step S2 comprises:
wherein theta represents a joint angle of the robot, and delta theta represents zero offset of the robot needing to be calibrated.
3. The method for calibrating a zero position and hand-eye matrix of a cleaning robot as claimed in claim 1, wherein the step S2 comprises:
where, (x, y, z, α, β, γ) are parameters before the camera moves, and Δ δ = (Δ x, Δ y, Δ z, Δ α, Δ β, Δ γ) is the hand-eye matrix deviation.
4. The calibration method for the zero position and hand-eye matrix of the cleaning robot as claimed in claim 1, wherein the step S3 comprises the following steps:
where n represents the nth point of movement.
5. The method for calibrating a zero position and hand-eye matrix of a cleaning robot as claimed in claim 3, wherein the step S4 comprises the following steps: θ + Δ θ, x + Δ x, y + Δ y, z + Δ z, α + Δ α, β + Δ β, γ + Δ γ.
6. A cleaning robot zero position and hand-eye matrix calibration system is characterized by comprising:
a module M1: the mechanical arm moves n point positions according to a preset program, a visual mark is photographed at each point position, and a current robot joint angle theta is recorded;
a module M2: calculating the pose of the visual mark relative to the camera coordinate system according to the visual mark image obtained by photographing
Pose of robot tip relative to base coordinate system
And pose of camera with respect to robot tip
A module M3: according to the position and pose of the visual marker relative to the camera coordinate system
Pose of robot tip relative to base coordinate system
And pose of camera with respect to robot tip
Solving by adopting a least square method to obtain a joint zero position deviation delta theta and a hand-eye matrix deviation delta;
a module M4: and calibrating the zero position and the hand-eye matrix of the robot according to the joint zero position deviation delta theta and the hand-eye matrix deviation delta.
7. The cleaning robot zero and hand-eye matrix calibration system of claim 6, wherein the module M2 employs:
wherein theta represents a joint angle of the robot, and delta theta represents zero offset of the robot needing to be calibrated.
8. The cleaning robot zero and hand-eye matrix calibration system of claim 6, wherein the module M2 employs:
where, (x, y, z, α, β, γ) are parameters before the camera moves, and Δ δ = (Δ x, Δ y, Δ z, Δ α, Δ β, Δ γ) is the hand-eye matrix deviation.
9. The cleaning robot zero and hand-eye matrix calibration system as claimed in claim 6, wherein the module M3 employs:
where n represents the nth point of movement.
10. The cleaning robot zero and hand-eye matrix calibration system of claim 8, wherein the module M4 employs: θ + Δ θ, x + Δ x, y + Δ y, z + Δ z, α + Δ α, β + Δ β, γ + Δ γ.
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Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109658460A (en) * | 2018-12-11 | 2019-04-19 | 北京无线电测量研究所 | A kind of mechanical arm tail end camera hand and eye calibrating method and system |
| CN112589787A (en) * | 2020-12-02 | 2021-04-02 | 上海纽钛测控技术有限公司 | Visual positioning and hand-eye calibration method for loading and unloading samples of mechanical arm of feeding turntable |
| CN112792814A (en) * | 2021-01-21 | 2021-05-14 | 珞石（北京）科技有限公司 | Mechanical arm zero calibration method based on visual marks |
| WO2022061673A1 (en) * | 2020-09-24 | 2022-03-31 | 西门子（中国）有限公司 | Calibration method and device for robot |
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- 2022-06-14 CN CN202210668969.0A patent/CN115194761A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109658460A (en) * | 2018-12-11 | 2019-04-19 | 北京无线电测量研究所 | A kind of mechanical arm tail end camera hand and eye calibrating method and system |
| WO2022061673A1 (en) * | 2020-09-24 | 2022-03-31 | 西门子（中国）有限公司 | Calibration method and device for robot |
| CN112589787A (en) * | 2020-12-02 | 2021-04-02 | 上海纽钛测控技术有限公司 | Visual positioning and hand-eye calibration method for loading and unloading samples of mechanical arm of feeding turntable |
| CN112792814A (en) * | 2021-01-21 | 2021-05-14 | 珞石（北京）科技有限公司 | Mechanical arm zero calibration method based on visual marks |
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