CN117484505A - Calibration method, device, robot and storage medium of robot tool coordinate system - Google Patents
Calibration method, device, robot and storage medium of robot tool coordinate system Download PDFInfo
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- CN117484505A CN117484505A CN202311622571.4A CN202311622571A CN117484505A CN 117484505 A CN117484505 A CN 117484505A CN 202311622571 A CN202311622571 A CN 202311622571A CN 117484505 A CN117484505 A CN 117484505A
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- coordinate system
- screw rod
- tail end
- tool coordinate
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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
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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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- Mechanical Engineering (AREA)
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Abstract
The invention discloses an automatic calibration method and device of a robot tool coordinate system, a robot and a storage medium, wherein the robot is provided with a screw rod and a vision module; a characteristic strip is arranged on one side of the tooling fixture at the tail end of the robot screw rod, which faces the vision module; the method comprises the following steps: controlling the tail end of the robot screw rod to move to a position corresponding to the center point of the photo shot by the vision module, and determining the point position of the tail end of the robot screw rod as the first point position under the tool coordinate system; the characteristic bar is used as a reference object, the movement and rotation of the tail end of the robot screw rod are controlled, and three point positions under a tool coordinate system are determined; and determining the tool coordinate system of the robot according to the first point position and the three point positions in the tool coordinate system. According to the scheme, the characteristic strips are arranged at the tool clamp at the tail end of the robot screw rod and serve as calibration reference objects, so that the robot can achieve automatic calibration of a tool coordinate system, the problem that large errors occur easily in manual calibration is solved, and the calibration accuracy is improved.
Description
Technical Field
The invention belongs to the technical field of robots, and particularly relates to an automatic calibration method and device for a robot tool coordinate system, a robot and a storage medium.
Background
With the continuous improvement of the industrial automation level, more and more production workshops use industrial robots. When the fixture is applied to a production line, the industrial robot is usually matched with a vision camera for production and application, and the fixture is also installed at the tail end of the industrial robot for production, so that the mode is very widely applied.
When the fixture is installed at the end of the industrial robot, the tool coordinate system is usually calibrated. When the jig works for a long time on the production line, the jig generates certain pose deviation, which causes errors with the tool coordinate system calibrated at the beginning, so that the stability and accuracy of the work of the jig can be directly affected, and the tool coordinate system calibration needs to be carried out again on the jig tool. However, most of the current calibration is manually operated, and the calibration precision depends on manual operation steps, operation proficiency and operation precision, so that larger errors are easy to occur, and the production precision of the industrial robot is reduced.
The foregoing is provided merely for the purpose of facilitating understanding of the technical solutions of the present invention and is not intended to represent an admission that the foregoing is prior art.
Disclosure of Invention
The invention aims to provide an automatic calibration method, device, robot and storage medium for a robot tool coordinate system, so as to solve the problems that when the tool coordinate system is manually calibrated in a related scheme, larger errors are easy to occur and the production precision of an industrial robot is reduced, and achieve the effects that a characteristic bar is arranged at the clamp position of the tail end of a robot screw rod to serve as a calibration reference object, the robot realizes the automatic calibration of the tool coordinate system, the problem that larger errors are easy to occur in manual calibration is solved, the calibration precision is improved, and the robot operates more stably.
The invention provides an automatic calibration method of a robot tool coordinate system, wherein the robot is provided with a screw rod and a vision module; the vision module is used for acquiring an image at the tail end of the screw rod of the robot; a tooling clamp can be installed at the tail end of a screw rod of the robot; a characteristic strip is arranged on one side of the tool clamp facing the vision module; the feature bar is used for marking the position of the fixture so that the fixture is identified by the vision module; the method comprises the following steps: acquiring a photo shot by the vision module; controlling the tail end of the screw rod of the robot to move to a position corresponding to the center point of the photo, and determining the point position of the tail end of the screw rod of the robot as the first point position under the tool coordinate system; the characteristic bar is used as a reference object, the movement and rotation of the tail end of the screw rod of the robot are controlled, and three points under the tool coordinate system are determined; and determining the tool coordinate system of the robot according to the first point position under the tool coordinate system and the three point positions under the tool coordinate system.
In some embodiments, using the feature bar as a reference, controlling movement and rotation of the screw end of the robot, and determining three points in the tool coordinate system, comprising: establishing a square template of the feature bar, wherein the square template is a virtual template established in control software of the robot, the square template is provided with four corners and a center point, and the center point is an intersection point of diagonal lines of the four corners; and taking any one angle of the square template of the characteristic bar as a rotation origin, controlling the square template of the characteristic bar to rotate according to a preset angle, and obtaining pixel coordinates of four angles of the square template of the characteristic bar after rotation, and marking the pixel coordinates as theoretical pixel coordinates; according to the theoretical pixel coordinates, determining robot coordinates of the tail end of the screw rod of the robot; controlling the tail end of the screw rod of the robot to move and rotate according to the coordinates of the tail end of the screw rod of the robot and the preset angle, and determining any point position under the tool coordinate system; and then, the square template of the feature bar is controlled again to rotate at the rotation origin and the preset angle, and the other two points in the tool coordinate system are determined.
In some embodiments, determining the robot coordinates of the screw end of the robot from the theoretical pixel coordinates comprises: calculating the pixel coordinates of the center point of the square template of the feature bar according to the theoretical pixel coordinates; determining the pixel coordinates of the tail end of the screw rod of the robot according to the preset corresponding relation between the pixel coordinates of the central point of the square template of the feature bar and the pixel coordinates of the tail end of the screw rod of the robot and the pixel coordinates of the central point of the square template of the feature bar; and converting the pixel coordinates of the tail end of the screw rod of the robot into the robot coordinates of the tail end of the screw rod of the robot.
In some embodiments, controlling the screw end of the robot to move and rotate according to the coordinates of the screw end of the robot and the preset angle, and determining any one point position in the tool coordinate system includes: controlling the tail end of the screw rod of the robot to move and rotate according to the coordinates of the tail end of the screw rod of the robot and the preset angle, then controlling the vision module to shoot a picture again, identifying the position of the characteristic bar from the shot picture, obtaining the pixel coordinates of the four corners of the square template of the new characteristic bar, and recording the pixel coordinates as actual pixel coordinates; judging whether the actual pixel coordinate and the theoretical pixel coordinate completely coincide; and if the actual pixel coordinate is completely overlapped with the theoretical pixel coordinate, taking the point position of the tail end of the screw rod of the current robot as one point position under the tool coordinate system.
In accordance with the method, the invention provides an automatic calibration device of a robot tool coordinate system, wherein the robot is provided with a screw rod and a vision module; the vision module is used for acquiring an image at the tail end of the screw rod of the robot; a tooling clamp can be installed at the tail end of a screw rod of the robot; a characteristic strip is arranged on one side of the tool clamp facing the vision module; the feature bar is used for marking the position of the fixture so that the fixture is identified by the vision module; the device comprises: an acquisition unit configured to acquire a photograph taken by the vision module; the control unit is configured to control the tail end of the screw rod of the robot to move to a position corresponding to the center point of the photo, and determine the point position of the tail end of the screw rod of the robot as the first point position under the tool coordinate system; the control unit is further configured to control the movement and rotation of the tail end of the screw rod of the robot by taking the characteristic bar as a reference object, and determine three points under the tool coordinate system; the control unit is further configured to determine a tool coordinate system of the robot based on the first point location in the tool coordinate system and the three point locations in the tool coordinate system.
In some embodiments, the control unit, with the feature bar as a reference, controls movement and rotation of the screw end of the robot, and determines three points in the tool coordinate system, including: establishing a square template of the feature bar, wherein the square template is a virtual template established in control software of the robot, the square template is provided with four corners and a center point, and the center point is an intersection point of diagonal lines of the four corners; and taking any one angle of the square template of the characteristic bar as a rotation origin, controlling the square template of the characteristic bar to rotate according to a preset angle, and obtaining pixel coordinates of four angles of the square template of the characteristic bar after rotation, and marking the pixel coordinates as theoretical pixel coordinates; according to the theoretical pixel coordinates, determining robot coordinates of the tail end of the screw rod of the robot; controlling the tail end of the screw rod of the robot to move and rotate according to the coordinates of the tail end of the screw rod of the robot and the preset angle, and determining any point position under the tool coordinate system; and then, the square template of the feature bar is controlled again to rotate at the rotation origin and the preset angle, and the other two points in the tool coordinate system are determined.
In some embodiments, the control unit determines robot coordinates of a screw end of the robot from the theoretical pixel coordinates, including: calculating the pixel coordinates of the center point of the square template of the feature bar according to the theoretical pixel coordinates; determining the pixel coordinates of the tail end of the screw rod of the robot according to the preset corresponding relation between the pixel coordinates of the central point of the square template of the feature bar and the pixel coordinates of the tail end of the screw rod of the robot and the pixel coordinates of the central point of the square template of the feature bar;
and converting the pixel coordinates of the tail end of the screw rod of the robot into the robot coordinates of the tail end of the screw rod of the robot.
In some embodiments, the control unit controls the screw rod end of the robot to move and rotate according to the coordinates of the screw rod end of the robot and the preset angle, and determines any point in the tool coordinate system, including: controlling the tail end of the screw rod of the robot to move and rotate according to the coordinates of the tail end of the screw rod of the robot and the preset angle, then controlling the vision module to shoot a picture again, identifying the position of the characteristic bar from the shot picture, obtaining the pixel coordinates of the four corners of the square template of the new characteristic bar, and recording the pixel coordinates as actual pixel coordinates; judging whether the actual pixel coordinate and the theoretical pixel coordinate completely coincide; and if the actual pixel coordinate is completely overlapped with the theoretical pixel coordinate, taking the point position of the tail end of the screw rod of the current robot as one point position under the tool coordinate system.
In accordance with another aspect of the present invention, there is provided a robot including: the automatic calibration device of the robot tool coordinate system is described above.
In accordance with the above method, the present invention further provides a storage medium, where the storage medium includes a stored program, and when the program runs, the device where the storage medium is controlled to execute the above method for automatically calibrating the robot tool coordinate system.
According to the scheme, the robot is provided with a vision module, and a characteristic bar is arranged at the position of the robot mounting clamp; when the robot starts to automatically calibrate a tool coordinate system, acquiring a picture shot by a vision module, controlling the tail end of a screw rod of the robot to move to a position corresponding to a center point of the picture, and taking the point position of the tail end of the screw rod of the robot as the first point position under the tool coordinate system; the characteristic bar is used as a reference object, the tail end of a screw rod of the robot is controlled to move and rotate, and three point positions under a tool coordinate system are determined; and determining a tool coordinate system of the robot according to the first point position under the tool coordinate system and the three point positions under the tool coordinate system. By setting the characteristic bar as a calibration reference object, the tail end of the robot screw rod is controlled to move and rotate, so that a tool coordinate system is automatically determined, the time consumption of calibration is shortened, the accuracy of calibration is improved, and the working efficiency of the robot is higher.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.
The technical scheme of the invention is further described in detail through the drawings and the embodiments.
Drawings
FIG. 1 is a flow chart of an embodiment of a method for automatic calibration of a robot tool coordinate system according to the present invention;
FIG. 2 is a flow chart of an embodiment of determining three points in a tool coordinate system in the method of the present invention;
FIG. 3 is a flow chart of one embodiment of a method of determining robot coordinates of a robot lead screw end according to the present invention;
FIG. 4 is a schematic view of an embodiment of an automatic calibration device for a robot tool coordinate system according to the present invention;
FIG. 5 is a schematic view of the overall structure of a robot according to an embodiment of the present invention;
fig. 6 is a schematic structural view of an embodiment of the robot in a photographing state;
FIG. 7 is a diagram of an embodiment of establishing a virtual rectangular coordinate system in the method of the present invention;
FIG. 8 is a schematic diagram of one embodiment of a method of the present invention for creating four feature bar box templates;
FIG. 9 is a flow chart of an embodiment of the method of the present invention for automatically calibrating a tool coordinate system.
In the embodiment of the present invention, reference numerals are as follows, in combination with the accompanying drawings:
1-an industrial robot; 2-a fixture; 3-camera; 4-a camera mount; 5-the center point of the tail end of the screw rod;
6-feature bars; 102-an acquisition unit; 104-a control unit.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to specific embodiments of the present invention and corresponding drawings. It will be apparent that the described embodiments are only some, but not all, embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
According to an embodiment of the invention, there is provided an automatic calibration method of a robot tool coordinate system, the robot having a screw and a vision module; the vision module is used for acquiring an image at the tail end of the screw rod of the robot; a tooling clamp can be installed at the tail end of a screw rod of the robot; a characteristic strip is arranged on one side of the tool clamp facing the vision module; the feature bar is used for marking the position of the fixture so that the fixture is identified by the vision module. As shown in fig. 5 and 6, the robot apparatus includes an industrial robot 1, a tool holder 2, a camera 3, and a camera mount 4, wherein the tool holder 2 is disposed at a screw end of the industrial robot 1, the screw end having a center point 5. A characteristic strip 6 is arranged at the bottom of the tool clamp 2. The shooting direction of the camera 3 is the direction of the fixture 2, namely, the camera 3 can shoot the characteristic strip 6. A schematic flow chart of an embodiment of the method of the present invention is shown in fig. 1. The automatic calibration method of the robot tool coordinate system can comprise the following steps: step S110 to step S140.
At step S110, a photograph taken by the vision module is acquired.
Specifically, before the photo shot by the vision module is acquired, the hand-eye calibration of the robot and the vision module is completed, so that a corresponding relation between a robot coordinate system of the robot and a vision coordinate system of the camera is established, namely, the robot coordinate and the pixel coordinate can be mutually converted. Meanwhile, a fixture clamp is arranged at the tail end of the robot screw rod, and a characteristic strip is attached to the fixture clamp.
At step S120, the end of the screw rod of the robot is controlled to move to a position corresponding to the center point of the photo, and the point location of the end of the screw rod of the robot is determined as the first point location in the tool coordinate system.
Specifically, after the photo taken by the vision module is acquired, the vision software determines the vision pixel coordinate P1 of the center point of the photo in the vision coordinate system, and converts the vision pixel coordinate P1 into the robot coordinate in the robot coordinate system. After the robot coordinates are sent to the robot, the robot moves the tail end of the screw rod to the position of the robot coordinates, so that the tail end of the screw rod is positioned at the position corresponding to the center point of the photo, and the point position of the tail end of the current screw rod is determined to be the first point position under the tool coordinate system.
At step S130, the movement and rotation of the screw end of the robot is controlled with the feature bar as a reference, and three points in the tool coordinate system are determined.
In some embodiments, in step S130, the specific process of using the feature bar as a reference, controlling the movement and rotation of the end of the screw rod of the robot, and determining three points in the tool coordinate system, as shown in fig. 2, includes: step S210 to step S230.
Step S210, a square template of the feature bar is established, wherein the square template is a virtual template established in control software of the robot, the square template is provided with four corners and a center point, and the center point is an intersection point of diagonal lines of the four corners; and taking any one angle of the square templates of the feature bars as a rotation origin, controlling the square templates of the feature bars to rotate according to a preset angle, and obtaining pixel coordinates of four angles of the square templates of the feature bars after rotation, and recording the pixel coordinates as theoretical pixel coordinates.
Specifically, after the tail end of the screw rod of the robot moves to a position corresponding to the center point of the photo, information is sent to vision software, then the vision software controls the camera to take a photo, and the vision software searches for a feature bar in the photo. After finding, the vision software establishes standard lines along two frames of the feature bar, and then connects two ends of the two standard frames by straight lines, so that a square frame is obtained in the vision image, and the square frame is regarded as a square template of the feature bar.
And then taking any angle of the square template as an origin of coordinates, and taking two sides of the origin of coordinates as endpoints as an X axis and a Y axis to establish a virtual rectangular coordinate system. In particular, as shown in fig. 7, the square template has four corners, and a coordinate system is established by taking (X0, Y0) as the origin of coordinates, so that two sides of the template fall on the X axis and the Y axis. Thus, the virtual coordinates of the other three corners of the square template are (X1, Y0), (X0, Y1), (X1, Y1). And then determining the intersection point of two diagonal lines in the template as a central point of the template, wherein the X coordinate of the central point is X= (X1-X0)/2, and the Y coordinate of the central point is Y= (Y1-Y0)/2, so as to obtain the coordinate (X, Y) of the central point.
In the current state, the tail end of the robot screw rod is positioned at the position of the photo center point, so that after the template center point coordinates (X, Y) are converted into the visual pixel coordinates P2, the visual pixel coordinates P2 and the visual pixel coordinates P1 have a corresponding relationship, wherein the corresponding relationship is P1=kP2, and k is a coefficient. Based on the correspondence, after the visual pixel coordinates P2 of the template center point are clarified, the visual pixel coordinates P1 of the corresponding photo center point can be obtained. That is, the visual pixel coordinates of the center point of the feature bar template can be P2 only if the lead screw end is at the position of the visual pixel coordinates P1, i.e., the lead screw end is at the position of the center point of the photograph.
Then, in the virtual rectangular coordinate system, the template is controlled to rotate. Because the foundation of the scheme is four-point method calibration, three points are needed to be determined, the method needs to be rotated three times, and the point position under the coordinate system of a calibration tool is determined after each rotation. As shown in fig. 8, the square template is rotated three times according to 90 °, 180 °, 270 ° with the origin as the rotation center, to obtain templates at three different positions. Since the procedure for determining a point location in the coordinate system of a calibration tool after each rotation is identical, only the procedure in which one point location is determined will be described here.
After the rotation of the template, since the virtual coordinates of the four corners of the template before the rotation are already clear, the virtual coordinates of the four corners of the template after the rotation can be calculated. The calculation formula is as follows: x '=x×cos θ—y×sin θ, Y' =x×sin θ+y×cos θ. Wherein X, Y is the virtual coordinates of the template point before rotation, X ', Y' are the virtual coordinates of the template point after rotation, and θ is the rotation angle. Through the formula, virtual coordinates of four corners of the rotated template can be obtained and converted into pixel coordinates, and the pixel coordinates of the four corners of the rotated feature bar template are obtained.
And step S220, determining the robot coordinates of the tail end of the screw rod of the robot according to the theoretical pixel coordinates.
In some embodiments, in step S220, a specific process of determining the robot coordinates of the screw end of the robot according to the theoretical pixel coordinates, as shown in fig. 3, includes: step S310 to step S330.
And step S310, calculating the pixel coordinates of the central point of the square template of the feature bar according to the theoretical pixel coordinates.
Step S320, determining the pixel coordinates of the end of the screw rod of the robot according to the preset correspondence between the pixel coordinates of the center point of the square template of the feature bar and the pixel coordinates of the end of the screw rod of the robot and the pixel coordinates of the center point of the square template of the feature bar.
And step S330, converting the pixel coordinates of the tail end of the screw rod of the robot into the robot coordinates of the tail end of the screw rod of the robot.
Specifically, from the obtained pixel coordinates of the four corners of the template after rotation, the pixel coordinates of the center point of the template can be calculated, and the X coordinate of the center point pixel coordinate is x= (X1-X0)/2, and the Y coordinate is y= (Y1-Y0)/2. According to the correspondence relationship p1=k×p2, the pixel coordinates of the end of the screw rod of the robot at this time can be obtained, and converted into the robot coordinates, thereby obtaining the robot coordinates of the end of the screw rod of the robot.
Step S230, controlling the tail end of the screw rod of the robot to move and rotate according to the coordinates of the tail end of the screw rod of the robot and the preset angle, and determining any point position under the tool coordinate system; and then, the square template of the feature bar is controlled again to rotate at the rotation origin and the preset angle, and the other two points in the tool coordinate system are determined.
In some embodiments, in step S230, the specific process of controlling the screw end of the robot to rotate according to the coordinates of the screw end of the robot and the preset angle, and determining any point in the tool coordinate system includes: step S410 to step S430.
And step S410, controlling the tail end of the screw rod of the robot to move and rotate according to the coordinates of the tail end of the screw rod of the robot and the preset angle, then controlling the vision module to shoot a photo again, identifying the position of the characteristic bar from the shot photo, and obtaining the pixel coordinates of the four corners of the square template of the new characteristic bar, and recording the pixel coordinates as actual pixel coordinates.
And controlling the tail end of the screw rod of the robot to move to the robot coordinate position of the tail end of the screw rod obtained in the previous process, and rotating according to the rotating angle and the rotating direction of the template. And then controlling the vision module to take the photo again, and obtaining the positions of the feature bars from the photo by the vision software and obtaining the pixel coordinates of the four corners of the feature bars.
Step S420, determining whether the actual pixel coordinates and the theoretical pixel coordinates completely coincide.
And step S430, if the actual pixel coordinate and the theoretical pixel coordinate completely coincide, taking the point position of the tail end of the screw rod of the current robot as one point position under the tool coordinate system.
And if the actual pixel coordinates are not completely overlapped with the theoretical pixel coordinates, clearing the point positions under the currently determined tool coordinate system, and recalibrating the tool coordinate system.
At step S140, a tool coordinate system of the robot is determined from the first point location in the tool coordinate system and the three point locations in the tool coordinate system.
According to the four points, a tool coordinate system of the robot can be obtained by using a four-point calibration algorithm.
According to the scheme, the characteristic bars are arranged at the positions of the tool clamps to serve as reference objects, the characteristic bars and the tail ends of the screw rods of the robot are controlled to move and rotate, coordinates after theoretical rotation are compared with coordinates after actual rotation, four points under a tool coordinate system are determined, and the tool coordinate system of the robot is obtained through calibration by a four-point method. The process does not need manual operation, so that the calibration accuracy is higher, the working state of the robot is more stable, the accuracy of an automatic production line is improved, the time spent in calibration is reduced, and the production efficiency is improved.
FIG. 9 is a flow chart of an embodiment of the method of the present invention for automatically calibrating a tool coordinate system, as shown in FIG. 9, the method comprising:
step 1, after the robot starts the function of an automatic calibration tool coordinate system, a camera is controlled to shoot a photo, a center point of the photo is determined, pixel coordinates of the center point are converted into robot coordinates and then sent to the robot, and the tail end of a robot screw rod is enabled to move to the robot coordinates, and the corresponding position is the center point of the photo.
And 2, controlling the camera to take the photo again, determining the feature bar in the photo, and establishing a square template and a virtual rectangular coordinate system according to the frame of the feature bar. And then the template is controlled to rotate three times at a fixed point, and three square templates are respectively built.
And 3, calculating the pixel coordinates of the center point of each template in the three established square templates, and obtaining the robot coordinates of the tail end of the robot screw rod according to the corresponding relation, so that the robot moves and rotates according to the coordinates and the corresponding rotation angle.
Step 4, after each movement and rotation of the robot, controlling the camera to take a picture again, determining the pixel coordinates of the feature bar from the picture, judging whether the pixel coordinates are matched with the pixel coordinates calculated in the step 3, if so, sending qualified information, confirming that the point is a point location under a calibration tool coordinate system, and then continuing to match the next point location from the step 3 until four point locations are matched; if the matching is not qualified, all the previous records are cleared, and the matching is restarted.
By adopting the technical scheme of the embodiment, the robot is provided with a vision module, and a characteristic bar is arranged at the position of the robot mounting clamp; when the robot starts to automatically calibrate a tool coordinate system, acquiring a picture shot by a vision module, controlling the tail end of a screw rod of the robot to move to a position corresponding to a center point of the picture, and taking the point position of the tail end of the screw rod of the robot as the first point position under the tool coordinate system; the characteristic bar is used as a reference object, the tail end of a screw rod of the robot is controlled to move and rotate, and three point positions under a tool coordinate system are determined; and determining a tool coordinate system of the robot according to the first point position under the tool coordinate system and the three point positions under the tool coordinate system. By setting the characteristic bar as a calibration reference object, the tail end of the robot screw rod is controlled to move and rotate, so that a tool coordinate system is automatically determined, the time consumption of calibration is shortened, the accuracy of calibration is improved, and the working efficiency of the robot is higher.
According to an embodiment of the present invention, there is also provided an automatic calibration device of a robot tool coordinate system corresponding to the automatic calibration method of the robot tool coordinate system. The robot is provided with a screw rod and a vision module; the vision module is used for acquiring an image at the tail end of the screw rod of the robot; a tooling clamp can be installed at the tail end of a screw rod of the robot; a characteristic strip is arranged on one side of the tool clamp facing the vision module; the feature bar is used for marking the position of the fixture so that the fixture is identified by the vision module. As shown in fig. 5 and 6, the robot apparatus includes an industrial robot 1, a tool holder 2, a camera 3, and a camera mount 4, wherein the tool holder 2 is disposed at a screw end of the industrial robot 1, the screw end having a center point 5. A characteristic strip 6 is arranged at the bottom of the tool clamp 2. The shooting direction of the camera 3 is the direction of the fixture 2, namely, the camera 3 can shoot the characteristic strip 6. Referring to fig. 4, a schematic diagram of an embodiment of the apparatus of the present invention is shown. The automatic calibration device of the robot tool coordinate system may include: an acquisition unit 102 and a control unit 104.
An acquisition unit 102 configured to acquire a photograph taken by the vision module. The specific function and process of the acquisition unit 102 refer to step S110.
Specifically, before the photo shot by the vision module is acquired, the hand-eye calibration of the robot and the vision module is completed, so that a corresponding relation between a robot coordinate system of the robot and a vision coordinate system of the camera is established, namely, the robot coordinate and the pixel coordinate can be mutually converted. Meanwhile, a fixture clamp is arranged at the tail end of the robot screw rod, and a characteristic strip is attached to the fixture clamp.
And the control unit 104 is configured to control the tail end of the screw rod of the robot to move to a position corresponding to the center point of the photo, and determine the point position of the tail end of the screw rod of the robot as the first point position under the tool coordinate system. The specific function and process of the control unit 104 refer to step S120.
Specifically, after the photo taken by the vision module is acquired, the vision software determines the vision pixel coordinate P1 of the center point of the photo in the vision coordinate system, and converts the vision pixel coordinate P1 into the robot coordinate in the robot coordinate system. After the robot coordinates are sent to the robot, the robot moves the tail end of the screw rod to the position of the robot coordinates, so that the tail end of the screw rod is positioned at the position corresponding to the center point of the photo, and the point position of the tail end of the current screw rod is determined to be the first point position under the tool coordinate system.
The control unit 104 is further configured to control the movement and rotation of the screw end of the robot with the feature bar as a reference, and to determine three points in the tool coordinate system. The specific function and process of the control unit 104 refer to step S130.
In some embodiments, the control unit 104, with the feature bar as a reference, controls the movement and rotation of the screw end of the robot, and determines three points under the tool coordinate system, including:
the control unit 104 is specifically configured to establish a square template of the feature bar, where the square template is a virtual template established in control software of the robot, and the square template has four corners and a center point, and the center point is an intersection point of diagonal lines of the four corners; and taking any one angle of the square templates of the feature bars as a rotation origin, controlling the square templates of the feature bars to rotate according to a preset angle, and obtaining pixel coordinates of four angles of the square templates of the feature bars after rotation, and recording the pixel coordinates as theoretical pixel coordinates. The specific function and process of the control unit 104 refer to step S210.
Specifically, after the tail end of the screw rod of the robot moves to a position corresponding to the center point of the photo, information is sent to vision software, then the vision software controls the camera to take a photo, and the vision software searches for a feature bar in the photo. After finding, the vision software establishes standard lines along two frames of the feature bar, and then connects two ends of the two standard frames by straight lines, so that a square frame is obtained in the vision image, and the square frame is regarded as a square template of the feature bar.
And then taking any angle of the square template as an origin of coordinates, and taking two sides of the origin of coordinates as endpoints as an X axis and a Y axis to establish a virtual rectangular coordinate system. In particular, as shown in fig. 7, the square template has four corners, and a coordinate system is established by taking (X0, Y0) as the origin of coordinates, so that two sides of the template fall on the X axis and the Y axis. Thus, the virtual coordinates of the other three corners of the square template are (X1, Y0), (X0, Y1), (X1, Y1). And then determining the intersection point of two diagonal lines in the template as a central point of the template, wherein the X coordinate of the central point is X= (X1-X0)/2, and the Y coordinate of the central point is Y= (Y1-Y0)/2, so as to obtain the coordinate (X, Y) of the central point.
In the current state, the tail end of the robot screw rod is positioned at the position of the photo center point, so that after the template center point coordinates (X, Y) are converted into the visual pixel coordinates P2, the visual pixel coordinates P2 and the visual pixel coordinates P1 have a corresponding relationship, wherein the corresponding relationship is P1=kP2, and k is a coefficient. Based on the correspondence, after the visual pixel coordinates P2 of the template center point are clarified, the visual pixel coordinates P1 of the corresponding photo center point can be obtained. That is, the visual pixel coordinates of the center point of the feature bar template can be P2 only if the lead screw end is at the position of the visual pixel coordinates P1, i.e., the lead screw end is at the position of the center point of the photograph.
Then, in the virtual rectangular coordinate system, the template is controlled to rotate. Because the foundation of the scheme is four-point method calibration, three points are needed to be determined, the method needs to be rotated three times, and the point position under the coordinate system of a calibration tool is determined after each rotation. As shown in fig. 8, the square template is rotated three times according to 90 °, 180 °, 270 ° with the origin as the rotation center, to obtain templates at three different positions. Since the procedure for determining a point location in the coordinate system of a calibration tool after each rotation is identical, only the procedure in which one point location is determined will be described here.
After the rotation of the template, since the virtual coordinates of the four corners of the template before the rotation are already clear, the virtual coordinates of the four corners of the template after the rotation can be calculated. The calculation formula is as follows: x '=x×cos θ—y×sin θ, Y' =x×sin θ+y×cos θ. Wherein X, Y is the virtual coordinates of the template point before rotation, X ', Y' are the virtual coordinates of the template point after rotation, and θ is the rotation angle. Through the formula, virtual coordinates of four corners of the rotated template can be obtained and converted into pixel coordinates, and the pixel coordinates of the four corners of the rotated feature bar template are obtained.
The control unit 104 is specifically further configured to determine robot coordinates of the screw end of the robot based on the theoretical pixel coordinates. The specific function and process of the control unit 104 refer to step S220.
In some embodiments, the control unit 104 determines the robot coordinates of the screw end of the robot from the theoretical pixel coordinates, including:
the control unit 104 is specifically further configured to calculate the pixel coordinates of the center point of the square template of the feature bar according to the theoretical pixel coordinates. The specific function and process of the control unit 104 refer to step S310.
The control unit 104 is specifically further configured to determine the pixel coordinates of the end of the screw rod of the robot according to a preset correspondence between the pixel coordinates of the center point of the square template of the feature bar and the pixel coordinates of the end of the screw rod of the robot and the pixel coordinates of the center point of the square template of the feature bar. The specific function and process of the control unit 104 refer to step S320.
The control unit 104 is specifically further configured to convert the pixel coordinates of the screw end of the robot into robot coordinates of the screw end of the robot. The specific function and process of the control unit 104 refer to step S330.
Specifically, from the obtained pixel coordinates of the four corners of the template after rotation, the pixel coordinates of the center point of the template can be calculated, and the X coordinate of the center point pixel coordinate is x= (X1-X0)/2, and the Y coordinate is y= (Y1-Y0)/2. According to the correspondence relationship p1=k×p2, the pixel coordinates of the end of the screw rod of the robot at this time can be obtained, and converted into the robot coordinates, thereby obtaining the robot coordinates of the end of the screw rod of the robot.
The control unit 104 is specifically further configured to control the end of the screw rod of the robot to move and rotate according to the coordinates of the end of the screw rod of the robot and the preset angle, and determine any point position in the tool coordinate system; and then, the square template of the feature bar is controlled again to rotate at the rotation origin and the preset angle, and the other two points in the tool coordinate system are determined. The specific function and process of the control unit 104 refer to step S230.
In some embodiments, the control unit 104 controls the screw end of the robot to move and rotate according to the coordinates of the screw end of the robot and the preset angle, and determines any one point in the tool coordinate system, including:
The control unit 104 is specifically further configured to control the end of the screw rod of the robot to move and rotate according to the coordinates of the end of the screw rod of the robot and the preset angle, then control the vision module to take a photograph again, identify the position of the feature bar from the taken photograph again, obtain the pixel coordinates of the four corners of the square template of the new feature bar, and record the pixel coordinates as actual pixel coordinates. The specific function and process of the control unit 104 refer to step S410.
And controlling the tail end of the screw rod of the robot, moving to the robot coordinate position of the tail end of the screw rod obtained in the previous process, and rotating according to the rotating angle and the rotating direction of the template. And then controlling the vision module to take the photo again, and obtaining the positions of the feature bars from the photo by the vision software and obtaining the pixel coordinates of the four corners of the feature bars.
The control unit 104 is specifically further configured to determine whether the actual pixel coordinates and the theoretical pixel coordinates completely coincide. The specific function and process of the control unit 104 refer to step S420.
The control unit 104 is specifically further configured to take the point location of the end of the screw of the current robot as a point location in the tool coordinate system if the actual pixel coordinate completely coincides with the theoretical pixel coordinate. The specific function and process of the control unit 104 refer to step S430.
The control unit 104 is specifically further configured to clear the point location under the currently determined tool coordinate system and recalibrate the tool coordinate system if the actual pixel coordinate does not completely coincide with the theoretical pixel coordinate.
The control unit 104 is further configured to determine a tool coordinate system of the robot based on the first point location in the tool coordinate system and the three point locations in the tool coordinate system. The specific function and process of the control unit 104 refer to step S140.
According to the four points, a tool coordinate system of the robot can be obtained by using a four-point calibration algorithm.
According to the scheme, the characteristic bars are arranged at the positions of the tool clamps to serve as reference objects, the characteristic bars and the tail ends of the screw rods of the robot are controlled to move and rotate, coordinates after theoretical rotation are compared with coordinates after actual rotation, four points under a tool coordinate system are determined, and the tool coordinate system of the robot is obtained through calibration by a four-point method. The process does not need manual operation, so that the calibration accuracy is higher, the working state of the robot is more stable, the accuracy of an automatic production line is improved, the time spent in calibration is reduced, and the production efficiency is improved.
FIG. 9 is a flow chart of an embodiment of the method of the present invention for automatically calibrating a tool coordinate system, as shown in FIG. 9, the method comprising:
step 1, after the robot starts the function of an automatic calibration tool coordinate system, a camera is controlled to shoot a photo, a center point of the photo is determined, pixel coordinates of the center point are converted into robot coordinates and then sent to the robot, and the tail end of a robot screw rod is enabled to move to the robot coordinates, and the corresponding position is the center point of the photo.
And 2, controlling the camera to take the photo again, determining the feature bar in the photo, and establishing a square template and a virtual rectangular coordinate system according to the frame of the feature bar. And then the template is controlled to rotate three times at a fixed point, and three square templates are respectively built.
And 3, calculating the pixel coordinates of the center point of each template in the three established square templates, and obtaining the robot coordinates of the tail end of the robot screw rod according to the corresponding relation, so that the robot moves and rotates according to the coordinates and the corresponding rotation angle.
Step 4, after each movement and rotation of the robot, controlling the camera to take a picture again, determining the pixel coordinates of the feature bar from the picture, judging whether the pixel coordinates are matched with the pixel coordinates calculated in the step 3, if so, sending qualified information, confirming that the point is a point location under a calibration tool coordinate system, and then continuing to match the next point location from the step 3 until four point locations are matched; if the matching is not qualified, all the previous records are cleared, and the matching is restarted.
Since the processes and functions implemented by the apparatus of the present embodiment substantially correspond to the embodiments, principles and examples of the foregoing methods, the descriptions of the embodiments are not exhaustive, and reference may be made to the descriptions of the foregoing embodiments and their descriptions are omitted herein.
By adopting the technical scheme, the robot is provided with a vision module, and a characteristic strip is arranged at the position of the robot mounting clamp; when the robot starts to automatically calibrate a tool coordinate system, acquiring a picture shot by a vision module, controlling the tail end of a screw rod of the robot to move to a position corresponding to a center point of the picture, and taking the point position of the tail end of the screw rod of the robot as the first point position under the tool coordinate system; the characteristic bar is used as a reference object, the tail end of a screw rod of the robot is controlled to move and rotate, and three point positions under a tool coordinate system are determined; and determining a tool coordinate system of the robot according to the first point position under the tool coordinate system and the three point positions under the tool coordinate system. By setting the characteristic bar as a calibration reference object, the tail end of the robot screw rod is controlled to move and rotate, so that a tool coordinate system is automatically determined, the time consumption of calibration is shortened, the accuracy of calibration is improved, and the working efficiency of the robot is higher.
According to an embodiment of the present invention, there is also provided a robot corresponding to an automatic calibration device of a robot tool coordinate system. The robot may include: the automatic calibration device of the robot tool coordinate system is described above.
Since the processes and functions implemented by the robot of the present embodiment basically correspond to the embodiments, principles and examples of the foregoing apparatus, the description of the present embodiment is not exhaustive, and reference may be made to the related descriptions of the foregoing embodiments, which are not repeated herein.
By adopting the technical scheme, the robot is provided with a vision module, and a characteristic strip is arranged at the position of the robot mounting clamp; when the robot starts to automatically calibrate a tool coordinate system, acquiring a picture shot by a vision module, controlling the tail end of a screw rod of the robot to move to a position corresponding to a center point of the picture, and taking the point position of the tail end of the screw rod of the robot as the first point position under the tool coordinate system; the characteristic bar is used as a reference object, the tail end of a screw rod of the robot is controlled to move and rotate, and three point positions under a tool coordinate system are determined; and determining a tool coordinate system of the robot according to the first point position under the tool coordinate system and the three point positions under the tool coordinate system. By setting the characteristic bar as a calibration reference object, the tail end of the robot screw rod is controlled to move and rotate, so that a tool coordinate system is automatically determined, the time consumption of calibration is shortened, the accuracy of calibration is improved, and the working efficiency of the robot is higher.
According to an embodiment of the present invention, there is further provided a storage medium corresponding to the automatic calibration method of the robot tool coordinate system, where the storage medium includes a stored program, and when the program runs, the device where the storage medium is controlled to execute the automatic calibration method of the robot tool coordinate system described above.
Since the processes and functions implemented by the storage medium of the present embodiment substantially correspond to the embodiments, principles and examples of the foregoing methods, the descriptions of the present embodiment are not exhaustive, and reference may be made to the related descriptions of the foregoing embodiments, which are not repeated herein.
By adopting the technical scheme, the robot is provided with a vision module, and a characteristic strip is arranged at the position of the robot mounting clamp; when the robot starts to automatically calibrate a tool coordinate system, acquiring a picture shot by a vision module, controlling the tail end of a screw rod of the robot to move to a position corresponding to a center point of the picture, and taking the point position of the tail end of the screw rod of the robot as the first point position under the tool coordinate system; the characteristic bar is used as a reference object, the tail end of a screw rod of the robot is controlled to move and rotate, and three point positions under a tool coordinate system are determined; and determining a tool coordinate system of the robot according to the first point position under the tool coordinate system and the three point positions under the tool coordinate system. By setting the characteristic bar as a calibration reference object, the tail end of the robot screw rod is controlled to move and rotate, so that a tool coordinate system is automatically determined, the time consumption of calibration is shortened, the accuracy of calibration is improved, and the working efficiency of the robot is higher.
In summary, it is readily understood by those skilled in the art that the above-described advantageous ways can be freely combined and superimposed without conflict.
The above description is only an example of the present invention and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the scope of the claims of the present invention.
Claims (10)
1. An automatic calibration method of a robot tool coordinate system is characterized in that the robot is provided with a screw rod and a vision module; the vision module is used for acquiring an image at the tail end of the screw rod of the robot; a tooling clamp can be installed at the tail end of a screw rod of the robot; a characteristic strip is arranged on one side of the tool clamp facing the vision module; the feature bar is used for marking the position of the fixture so that the fixture is identified by the vision module; the method comprises the following steps:
acquiring a photo shot by the vision module;
controlling the tail end of the screw rod of the robot to move to a position corresponding to the center point of the photo, and determining the point position of the tail end of the screw rod of the robot as the first point position under the tool coordinate system;
The characteristic bar is used as a reference object, the movement and rotation of the tail end of the screw rod of the robot are controlled, and three points under the tool coordinate system are determined;
and determining the tool coordinate system of the robot according to the first point position under the tool coordinate system and the three point positions under the tool coordinate system.
2. The automatic calibration method of a robot tool coordinate system according to claim 1, wherein the controlling the movement and rotation of the screw end of the robot with the feature bar as a reference, and determining three points under the tool coordinate system, comprises:
establishing a square template of the feature bar, wherein the square template is a virtual template established in control software of the robot, the square template is provided with four corners and a center point, and the center point is an intersection point of diagonal lines of the four corners; and taking any one angle of the square template of the characteristic bar as a rotation origin, controlling the square template of the characteristic bar to rotate according to a preset angle, and obtaining pixel coordinates of four angles of the square template of the characteristic bar after rotation, and marking the pixel coordinates as theoretical pixel coordinates;
according to the theoretical pixel coordinates, determining robot coordinates of the tail end of the screw rod of the robot;
Controlling the tail end of the screw rod of the robot to move and rotate according to the coordinates of the tail end of the screw rod of the robot and the preset angle, and determining any point position under the tool coordinate system; and then, the square template of the feature bar is controlled again to rotate at the rotation origin and the preset angle, and the other two points in the tool coordinate system are determined.
3. The automatic calibration method of a robot tool coordinate system according to claim 2, wherein determining the robot coordinates of the screw end of the robot based on the theoretical pixel coordinates comprises:
calculating the pixel coordinates of the center point of the square template of the feature bar according to the theoretical pixel coordinates;
determining the pixel coordinates of the tail end of the screw rod of the robot according to the preset corresponding relation between the pixel coordinates of the central point of the square template of the feature bar and the pixel coordinates of the tail end of the screw rod of the robot and the pixel coordinates of the central point of the square template of the feature bar;
and converting the pixel coordinates of the tail end of the screw rod of the robot into the robot coordinates of the tail end of the screw rod of the robot.
4. The automatic calibration method of a robot tool coordinate system according to claim 2, wherein controlling the screw end of the robot to rotate according to the coordinates of the screw end of the robot and the preset angle and determining any one point in the tool coordinate system comprises:
Controlling the tail end of the screw rod of the robot to move and rotate according to the coordinates of the tail end of the screw rod of the robot and the preset angle, then controlling the vision module to shoot a picture again, identifying the position of the characteristic bar from the shot picture, obtaining the pixel coordinates of the four corners of the square template of the new characteristic bar, and recording the pixel coordinates as actual pixel coordinates;
judging whether the actual pixel coordinate and the theoretical pixel coordinate completely coincide;
and if the actual pixel coordinate is completely overlapped with the theoretical pixel coordinate, taking the point position of the tail end of the screw rod of the current robot as one point position under the tool coordinate system.
5. An automatic calibration device of a robot tool coordinate system is characterized in that the robot is provided with a screw rod and a vision module; the vision module is used for acquiring an image at the tail end of the screw rod of the robot; a tooling clamp can be installed at the tail end of a screw rod of the robot; a characteristic strip is arranged on one side of the tool clamp facing the vision module; the feature bar is used for marking the position of the fixture so that the fixture is identified by the vision module; the device comprises:
An acquisition unit configured to acquire a photograph taken by the vision module;
the control unit is configured to control the tail end of the screw rod of the robot to move to a position corresponding to the center point of the photo, and determine the point position of the tail end of the screw rod of the robot as the first point position under the tool coordinate system;
the control unit is further configured to control the movement and rotation of the tail end of the screw rod of the robot by taking the characteristic bar as a reference object, and determine three points under the tool coordinate system;
the control unit is further configured to determine a tool coordinate system of the robot based on the first point location in the tool coordinate system and the three point locations in the tool coordinate system.
6. The automatic calibration device of a robot tool coordinate system according to claim 5, wherein the control unit, using the feature bar as a reference, controls movement and rotation of a screw end of the robot and determines three points in the tool coordinate system, includes:
establishing a square template of the feature bar, wherein the square template is a virtual template established in control software of the robot, the square template is provided with four corners and a center point, and the center point is an intersection point of diagonal lines of the four corners; and taking any one angle of the square template of the characteristic bar as a rotation origin, controlling the square template of the characteristic bar to rotate according to a preset angle, and obtaining pixel coordinates of four angles of the square template of the characteristic bar after rotation, and marking the pixel coordinates as theoretical pixel coordinates;
According to the theoretical pixel coordinates, determining robot coordinates of the tail end of the screw rod of the robot;
controlling the tail end of the screw rod of the robot to move and rotate according to the coordinates of the tail end of the screw rod of the robot and the preset angle, and determining any point position under the tool coordinate system; and then, the square template of the feature bar is controlled again to rotate at the rotation origin and the preset angle, and the other two points in the tool coordinate system are determined.
7. The automatic calibration device of a robot tool coordinate system according to claim 6, wherein the control unit determines robot coordinates of a screw end of the robot based on the theoretical pixel coordinates, comprising:
calculating the pixel coordinates of the center point of the square template of the feature bar according to the theoretical pixel coordinates;
determining the pixel coordinates of the tail end of the screw rod of the robot according to the preset corresponding relation between the pixel coordinates of the central point of the square template of the feature bar and the pixel coordinates of the tail end of the screw rod of the robot and the pixel coordinates of the central point of the square template of the feature bar;
and converting the pixel coordinates of the tail end of the screw rod of the robot into the robot coordinates of the tail end of the screw rod of the robot.
8. The automatic calibration device of a robot tool coordinate system according to claim 6, wherein the control unit controls the screw rod end of the robot to rotate according to the coordinates of the screw rod end of the robot and the preset angle, and determines any one point position under the tool coordinate system, comprising:
controlling the tail end of the screw rod of the robot to move and rotate according to the coordinates of the tail end of the screw rod of the robot and the preset angle, then controlling the vision module to shoot a picture again, identifying the position of the characteristic bar from the shot picture, obtaining the pixel coordinates of the four corners of the square template of the new characteristic bar, and recording the pixel coordinates as actual pixel coordinates;
judging whether the actual pixel coordinate and the theoretical pixel coordinate completely coincide;
and if the actual pixel coordinate is completely overlapped with the theoretical pixel coordinate, taking the point position of the tail end of the screw rod of the current robot as one point position under the tool coordinate system.
9. A robot, comprising: an automatic calibration device for a robot tool coordinate system according to any one of claims 5 to 8.
10. A storage medium comprising a stored program, wherein the program, when run, controls a device in which the storage medium is located to perform the method of automatic calibration of the robot tool coordinate system of any one of claims 1 to 4.
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| US20180161983A1 (en) * | 2016-12-09 | 2018-06-14 | Seiko Epson Corporation | Control device, robot, and robot system |
| EP3584533A1 (en) * | 2018-06-19 | 2019-12-25 | Apodius GmbH | Coordinate measurement system |
| CN114012730A (en) * | 2021-11-23 | 2022-02-08 | 深圳汇控智能技术有限公司 | SCARA robot body calibration and parameter identification method |
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