CN113681559A - Line laser scanning robot hand-eye calibration method based on standard cylinder - Google Patents
Line laser scanning robot hand-eye calibration method based on standard cylinder Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
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Abstract
The invention discloses a method for calibrating a hand and an eye of a linear laser scanning robot based on a standard cylinder, which comprises the following steps: carrying a line laser sensor at the tail end of a robot and placing a standard cylinder in a working space of the robot; the scanning data of the side surfaces of the cylinders of the line laser sensor under different robot poses are obtained by changing the pose of the tail end of the scanning robot; because the laser plane is intersected with the side surface of the cylinder to obtain an elliptical section, the RANSAC algorithm is utilized to obtain the coordinates of the center point of the elliptical section; establishing a constraint optimization equation by using the distance from the central point of the elliptical outline to the central axis of the cylinder; and solving a constraint optimization problem by using a fusion algorithm of a particle swarm algorithm and a generalized multiplier method, and simultaneously obtaining a rotation and translation matrix of the hand-eye calibration. The invention only needs one standard cylinder, the calibration process is simple and easy to operate, the calibration result is not influenced by the position of the calibration object and the initial value of the calibration parameter, the calibration precision is high, and the universality is strong.
Description
Technical Field
The invention mainly relates to the technical field of robot three-dimensional vision hand-eye calibration, in particular to a method for calibrating a hand-eye of a linear laser scanning robot based on a standard cylinder.
Background
As a non-contact measurement technology, the line laser sensor can quickly acquire the profile information of the surface of a measured object, has the characteristics of high efficiency, strong anti-interference capability, high precision and the like, and is widely applied to various engineering fields at present. However, the line laser sensor has a small measurement range, can only measure two-dimensional information at a laser line once, and can only acquire local surface data of a measured object by means of automatic equipment with a fixed track. The line laser sensor is carried on the joint robot platform with good flexibility and high precision, so that the whole measurement of a measured object can be realized, the flexibility of a measurement system is improved, and the line laser sensor has wide prospects in the fields of three-dimensional detection, target positioning, reverse engineering and the like.
In order to obtain three-dimensional data of a measured object under a robot base coordinate system, calibration needs to be performed on the relation between a robot end coordinate system and a linear laser sensor coordinate system, namely hand-eye calibration. At present, the hand-eye calibration method for the line laser scanning robot mainly comprises the following steps: the method has the advantages that the fixed point pose-changing method based on the calibration ball has requirements on the intersection positions of the line laser and the calibration ball, and due to the fact that the radiuses of the intersection circles at different positions of the standard ball are different, obtained data are limited, the fitting precision of the circles is affected, and calibration operation is difficult; the laser plane calibration method increases the calibration complexity and is unnecessary for the line laser sensor which is subjected to internal reference pre-calibration when leaving factory; the method for calibrating the hands and eyes of the line laser profile sensor and the robot by means of high-precision external equipment, such as a three-coordinate measuring instrument, a laser tracker and the like, has the defects of high cost, inconvenience in operation and the like. In order to solve the problems, a hand-eye calibration method which is simple in operation, strong in applicability, high in precision and high in solution success rate is needed.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a standard cylinder-based hand-eye calibration method for a line laser scanning robot, and solves the problems of complicated hand-eye calibration operation, low precision, poor applicability and solution of local optimization of the traditional line laser scanning robot.
In order to achieve the purpose, the invention is realized by the following technical scheme: a line laser scanning robot hand-eye calibration method based on a standard cylinder comprises the following steps:
s101: the linear laser sensor is carried at the tail end of the robot, and the standard cylinder is positioned at any position of the working space of the robot;
s102: changing the end pose of the scanning robot to obtain standard cylindrical side scanning data of the line laser sensor in different robot poses;
s103: because the laser plane is intersected with the side surface of the standard cylinder to obtain an elliptical section, the scanning data obtained in the step S102 is elliptical point cloud data, and coordinates of the center point of the elliptical section are obtained by using a RANSAC algorithm;
s104: establishing a constraint optimization equation by using the minimum distance from the central point of the elliptic section to the central axis of the standard cylinder obtained in the step S103 as an objective function;
s105: solving a constraint optimization equation by utilizing a fusion algorithm of a particle swarm algorithm and a generalized multiplier method, which specifically comprises the following steps: initializing parameters of the particle swarm algorithm, taking the initial value of the generalized multiplier method as the particles of the particle swarm algorithm, taking the value of the optimization function in the step S104 as the basis for updating the particles, and taking the global worst particles of each generation in the particle swarm algorithm as the optimal initial value of the generalized multiplier method for calculation to obtain the local optimal value of the optimization function. And when the local optimal value of the optimization function is smaller than the minimum value set by the particle swarm algorithm, stopping updating the particles, returning the solution of the optimization function at the moment, and simultaneously obtaining the rotation and translation matrix calibrated by the hands and the eyes.
Further, the diameter of the standard cylinder in step S101 should be selected according to the measurement range of the line laser sensor, and the diameter of the standard cylinder needs to be within the measurement range of the line laser sensor, and laser data meeting the requirement can be obtained.
Further, the step S102 specifically includes: and moving the robot, changing the pose of the line laser sensor under the robot base system, and enabling the laser plane of the line laser sensor to be intersected with the side surface of the cylinder to obtain the scanning data of the side surface of the cylinder under different poses of the line laser sensor.
Further, step S103 specifically includes:
s201: the laser plane and the side surface of the cylinder are intersected to obtain an elliptical section, namely scanning data obtained by the line laser sensor is elliptical point cloud data.
S202: since the RANSAC algorithm can estimate high-precision model parameters from data containing noise points, the RANSAC algorithm is used to perform data fitting on the cylindrical side scan data obtained in step S102; because the Y axis of the linear laser sensor coordinate system is vertical to the laser plane, the Y value of the point cloud data obtained by the linear laser sensor is 0, and the elliptic equation fitted according to the cylindrical side scanning data is as follows:
Ax2+Bxz+Cz2+Dx+Ez+1＝0
in the formula, A, B, C, D and E are parameters of an elliptic equation; and x and Z are coordinate values of the Y axis and the Z axis of the point cloud data obtained by the line laser sensor respectively.
The center point of the elliptical profile is
In the formula, xc、yc、zcRepresenting the spatial coordinates of the center point of the elliptical profile.
Further, the step S104 specifically includes:
s301: according to the coordinate homogeneous transformation, the central point O of the ellipse is transformedj(xc,0,zc) Converting to a robot base coordinate system to obtain a point Oj(xb,yb,zb) I.e. by
In the formula, TBEThe transformation matrix from the robot terminal coordinate system to the robot base coordinate system can be obtained by calculation according to the number of robot parameters; t isECThe transformation matrix from the sensor coordinate system to the robot terminal coordinate system, namely the hand-eye transformation matrix to be calibrated.
S302: assuming that under the robot base coordinate system, a point P (x) on the cylinder axis is known0,y0,z0) And the direction vector N (m, l, N) of the axis, then the cylinderThe equation of the axis is
S303: due to the center point O of the ellipsejThe Y-axis coordinate value in the sensor coordinate system is constantly 0, element a12,a22And a32The solution result is not influenced, and in addition, the equation of the cylindrical axis is introduced, and the parameter to be calibrated is
[a11,a21,a31,a13,a23,a33,t1,t2,t3,m,l,n]
In which there is a unit vector constraint
S304: and (3) establishing a constraint optimization equation by using the distance from the central point of the elliptical outline to the central axis of the cylinder:
in the formula (I), the compound is shown in the specification,
is point OjThe square of the distance to the cylinder axis; k is the number of elliptical contours; (x) is an optimization function; and x is an n-dimensional parameter vector to be solved.
The invention has the beneficial effects that: the invention provides a calibration method for a line laser scanning robot hand and eye based on a standard cylinder. The method has the following beneficial effects:
(1) compared with a standard ball, the hand-eye calibration of the line laser scanning robot is carried out by using the standard cylinder, so that a large amount of effective data can be conveniently obtained, and the calibration operation is simple.
(2) The calibration precision is high, the translation and rotation matrix of the hand-eye calibration can be solved at one time by utilizing the solution constraint optimization equation, and the calculation error introduced by step-by-step solution is avoided.
(3) The solution is free from being involved in local optimization, the constraint optimization problem is solved by utilizing the fusion algorithm of the particle swarm optimization and the generalized multiplier method, and the problem that the solution of the constraint optimization equation is involved in local optimization is avoided.
(4) The calibration device is suitable for on-site calibration, and is suitable for calibration on a robot working site due to the fact that the standard cylinder is low in price, small in size and convenient to carry.
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The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention;
FIG. 1 is a flow chart of a method according to the present invention;
fig. 2 is a schematic view of a hand-eye calibration according to the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying 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.
Referring to fig. 1 and fig. 2, an embodiment of the present invention provides a technical solution: a line laser scanning robot hand-eye calibration method based on a standard cylinder comprises the following steps:
s101: the linear laser sensor is carried at the tail end of the robot, and the standard cylinder is positioned at any position of the working space of the robot;
the data of the linear laser sensor and the position and attitude data of the robot are synchronized by threads, and the data can be sent in real time.
The diameter of the standard cylinder is selected according to the measuring range of the line laser sensor, the diameter of the standard cylinder needs to be within the measuring range of the line laser sensor, laser data meeting requirements can be obtained, and the laser data are too little due to the fact that the cylinder is too small; the cylinder which is too large is limited by the measuring range of the laser sensor and cannot reflect the elliptical shape well; the fitting accuracy of the ellipse is affected, and the calibration error is increased.
S102: changing the end pose of the scanning robot to obtain the scanning data of the side surface of the cylinder of the line laser sensor under different robot poses;
in order to reduce the influence of the positioning error of the robot on the calibration result, the robot is prevented from moving greatly, and the number of moving joints is reduced as much as possible; when the pose of the robot is recorded, it should be recorded simultaneously with the laser line profile data in the robot controller.
And moving the robot, changing the pose of the line laser sensor under the robot base system, and enabling the laser plane of the line laser sensor to be intersected with the side surface of the cylinder to obtain the scanning data of the side surface of the cylinder under different poses of the line laser sensor.
S103: the laser plane is intersected with the side surface of the cylinder to obtain an elliptical section, namely scanning data obtained by the line laser sensor is point cloud data in an elliptical shape, and coordinates of the center point of the elliptical section are obtained by utilizing a RANSAC algorithm;
since the RANSAC algorithm can estimate high-precision model parameters from data containing a large number of noise points, the RANSAC algorithm is used to perform data fitting on the cylindrical side scan data obtained in step S102; because the Y axis of the linear laser sensor coordinate system is vertical to the laser plane, the Y value of the point cloud data obtained by the linear laser sensor is 0, and the elliptic equation fitted according to the cylindrical side scanning data is as follows:
Ax2+Bxz+Cz2+Dx+Ez+1＝0
in the formula, A, B, C, D and E are parameters of an elliptic equation. And x and Z are coordinate values of the Y axis and the Z axis of the point cloud data obtained by the line laser sensor respectively.
The center point of the elliptical profile is
In the formula, xc、yc、zcRepresenting the spatial coordinates of the center point of the elliptical profile.
S104: establishing a constraint optimization equation by using the minimum distance from the central point of the elliptic section to the central axis of the standard cylinder obtained in the step S103 as an objective function;
according to the coordinate homogeneous transformation, the central point O of the ellipse is transformedj(xc,0,zc) Converting to a robot base coordinate system to obtain a point Oj(xb,yb,zb) I.e. by
In the formula, TBEThe transformation matrix from the robot terminal coordinate system to the robot base coordinate system can be obtained by calculation according to the number of robot parameters; t isECThe transformation matrix from the sensor coordinate system to the robot terminal coordinate system, namely the hand-eye transformation matrix to be calibrated.
Assuming that under the robot base coordinate system, a point P (x) on the cylinder axis is known0,y0,z0) And the direction vector N (m, l, N) of the axis, the equation of the cylinder axis is
Due to the center point O of the ellipsejThe Y-axis coordinate value in the sensor coordinate system is constantly 0, element a12,a22And a32The solution result is not influenced, and in addition, the equation of the cylindrical axis is introduced, and the parameter to be calibrated is
[a11,a21,a31,a13,a23,a33,t1,t2,t3,m,l,n]
In which there is a unit vector constraint
And (3) establishing a constraint optimization equation by using the distance from the central point of the elliptical outline to the central axis of the cylinder:
in the formula (I), the compound is shown in the specification,
is point OjThe square of the distance to the cylinder axis. k is the number of elliptical contours; (x) is an optimization function; and x is an n-dimensional parameter vector to be solved.
S105: and solving a constraint optimization problem by using a fusion algorithm of a particle swarm algorithm and a generalized multiplier method, and simultaneously obtaining a rotation and translation matrix of the hand-eye calibration.
Initializing particle swarm algorithm parameters, taking an augmented objective function of a generalized multiplier method as particles of the particle swarm algorithm, and taking the value of an optimization function as the basis for updating the particles. The global worst particles of each generation in the particle swarm optimization are used as the optimal initial values of the generalized multiplier method for iteration, so that the influence of the initial value estimation of the generalized multiplier method on the solution of the constraint optimization equation can be effectively avoided, and the success rate of hand-eye calibration is improved.
The specific flow of the algorithm is as follows:
(1) initializing particle swarm algorithm
Initial value x of the generalized nomenclature0∈RnThe ith particle X in the form of vector is taken as a particle swarm algorithmi(ii) a Augmented objective function by generalized denominator method
As the ith particle fitness function F (X)i) (ii) a The iteration number n is 1; global optimum particle gbest(ii) a Fitness f of optimal particlebest(ii) a Maximum number of iterations nm(ii) a The termination error psi.
(2) Calculating fitness of particles
Calculating the particle fitness of the nth iteration and searching the global optimal particle
And its fitness
And global worst particle
And its fitness
(3) Update gbest，fbest
If it is not
Then order
And jumping to the step (5), otherwise, carrying out the next step.
(4) Generalized multiplier method for solving constraint optimization problem
To be provided with
Solving the constraint optimization problem for the initial value of the generalized multiplier method. If it is not
The optimization result is substituted for gbestAnd correspond it to
Substitution fbest。
(5) Whether or not a termination condition is satisfied
If (n < n)m)&(fbest< psi), then g is outputbestOtherwise, the next step is carried out.
(6) Updating particles
The velocity and position information of the particles is updated according to equation (15).
(7) Iteration
And (3) making n equal to n +1, and jumping to the step (2).
Although the present invention has been described by way of example with reference to a line laser and a six-axis articulated robot, the present invention is directed to a method and is not limited to the application of the method. Obviously, the method is also suitable for the hand-eye calibration of line lasers and other robots. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (5)
1. A line laser scanning robot hand-eye calibration method based on a standard cylinder is characterized by comprising the following steps:
s101: the linear laser sensor is carried at the tail end of the scanning robot, and the standard cylinder is positioned at any position of the working space of the robot;
s102: changing the end pose of the scanning robot to obtain standard cylindrical side scanning data of the line laser sensor in different robot poses;
s103: because the laser plane is intersected with the side surface of the standard cylinder to obtain an elliptical section, the scanning data obtained in the step S102 is elliptical point cloud data, and coordinates of the center point of the elliptical section are obtained by using a RANSAC algorithm;
s104: establishing a constraint optimization equation by using the minimum distance from the central point of the elliptic section to the central axis of the standard cylinder obtained in the step S103 as an objective function;
s105: solving a constraint optimization equation by utilizing a fusion algorithm of a particle swarm algorithm and a generalized multiplier method, which specifically comprises the following steps: initializing parameters of the particle swarm algorithm, taking the initial value of the generalized multiplier method as the particles of the particle swarm algorithm, taking the value of the optimization function in the step S104 as the basis for updating the particles, and taking the global worst particles of each generation in the particle swarm algorithm as the optimal initial value of the generalized multiplier method for calculation to obtain the local optimal value of the optimization function; and when the local optimal value of the optimization function is smaller than the minimum value set by the particle swarm algorithm, stopping updating the particles, returning the solution of the optimization function at the moment, and simultaneously obtaining the rotation and translation matrix calibrated by the hands and the eyes.
2. The method for calibrating the eyes of the standard cylinder-based line laser scanning robot as claimed in claim 1, wherein: in the step S101, the diameter of the standard cylinder should be selected according to the measurement range of the line laser sensor, and the diameter of the standard cylinder needs to be within the measurement range of the line laser sensor, and laser data meeting the requirement can be obtained.
3. The method for calibrating the eyes of the standard cylinder-based line laser scanning robot as claimed in claim 1, wherein: the step S102 specifically includes: and moving the robot, changing the pose of the line laser sensor under the robot base system, and enabling the laser plane of the line laser sensor to be intersected with the side surface of the cylinder to obtain the scanning data of the side surface of the cylinder under different poses of the line laser sensor.
4. The method for calibrating the eyes of the standard cylinder-based line laser scanning robot as claimed in claim 1, wherein: the step S103 is specifically:
s201: the laser plane is intersected with the side surface of the cylinder to obtain an elliptical section, namely scanning data obtained by the line laser sensor is elliptical point cloud data;
s202: since the RANSAC algorithm can estimate high-precision model parameters from data containing noise points, the RANSAC algorithm is used to perform data fitting on the cylindrical side scan data obtained in step S102; because the Y axis of the linear laser sensor coordinate system is vertical to the laser plane, the Y value of the point cloud data obtained by the linear laser sensor is 0, and the elliptic equation fitted according to the cylindrical side scanning data is as follows:
Ax2+Bxz+Cz2+Dx+Ez+1＝0
in the formula, A, B, C, D and E are parameters of an elliptic equation; x and Z are coordinate values of a Y axis and a Z axis of point cloud data obtained by a line laser sensor respectively;
the center point of the elliptical profile is
In the formula, xc、yc、zcRepresenting the spatial coordinates of the center point of the elliptical profile.
5. The method for calibrating the eyes of the standard cylinder-based line laser scanning robot as claimed in claim 1, wherein: the step S104 specifically includes:
s301: according to the coordinate homogeneous transformation, the central point O of the ellipse is transformedj(xc,0,zc) Converting to a robot base coordinate system to obtain a point Oj(xb,yb,zb) I.e. by
In the formula, TBEThe transformation matrix from the robot terminal coordinate system to the robot base coordinate system can be obtained by calculation according to the number of robot parameters; t isECA transformation matrix from a sensor coordinate system to a robot terminal coordinate system, namely a hand-eye transformation matrix to be calibrated;
s302: assuming that under the robot base coordinate system, a point P (x) on the cylinder axis is known0,y0,z0) And the direction vector N (m, l, N) of the axis, the equation of the cylinder axis is
S303: due to the center point O of the ellipsejThe Y-axis coordinate value in the sensor coordinate system is constantly 0, element a12,a22And a32The solution result is not influenced, and an equation of the cylindrical axis is introduced, and the parameter to be calibrated is [ a ]11,a21,a31,a13,a23,a33,t1,t2,t3,m,l,n]
In which there is a unit vector constraint
S304: and (3) establishing a constraint optimization equation by using the distance from the central point of the elliptical outline to the central axis of the cylinder:
in the formula (I), the compound is shown in the specification,
is point OjThe square of the distance to the cylinder axis; k is the number of elliptical contours; (x) is an optimization function; and x is an n-dimensional parameter vector to be solved.
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