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CN108326850B - A method and system for a robot to accurately move a manipulator to a designated position - Google Patents

A method and system for a robot to accurately move a manipulator to a designated position Download PDF

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CN108326850B
CN108326850B CN201810023432.2A CN201810023432A CN108326850B CN 108326850 B CN108326850 B CN 108326850B CN 201810023432 A CN201810023432 A CN 201810023432A CN 108326850 B CN108326850 B CN 108326850B
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CN108326850A (en
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吴自然
马丽雅
王银仲
吴桂初
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Wenzhou University
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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
    • B25J9/1612—Programme controls characterised by the hand, wrist, grip control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • 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
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/60—Analysis of geometric attributes
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras

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Abstract

本发明提供一种机器人准确移动机械臂到达指定位置的方法，包括获取机器人移动机械臂到达预设标定板上第一指定图像及第二指定图像的多个指定位置的坐标，计算出第一及第二指定图像的中心点的相关物理参数；获取固定相机拍摄有同时包括第一及第二指定图像的成像图片，并进行数据处理确定第一及第二指定图像的中心点的相关图像参数；根据第一及第二指定图像的中心点的相关物理参数与相关图像参数，建立机器人移动机械臂物理坐标与相机坐标的映射关系；指定固定相机的成像图片中某一像素点坐标并进行转换，得出机器人移动机械臂的物理坐标并驱动到达。实施本发明，通过建立相机坐标与物理坐标之间的联系，使机器人能精确移动机械臂到达指定位置。

Figure 201810023432

The invention provides a method for a robot to accurately move a mechanical arm to reach a designated position, which includes acquiring the coordinates of the multiple designated positions of the first designated image and the second designated image on the preset calibration board when the robot moves the mechanical arm, and calculating the first and second designated positions. The relevant physical parameters of the center point of the second designated image; obtain the imaging picture that the fixed camera captures including the first and second designated images at the same time, and perform data processing to determine the relevant image parameters of the center point of the first and second designated images; According to the relevant physical parameters and relevant image parameters of the center point of the first and second designated images, establish the mapping relationship between the physical coordinates of the robot moving arm and the camera coordinates; specify the coordinates of a pixel in the imaging image of the fixed camera and convert it, Obtain the physical coordinates of the robot's moving arm and drive it to reach it. By implementing the present invention, by establishing the connection between the camera coordinates and the physical coordinates, the robot can precisely move the mechanical arm to reach the designated position.

Figure 201810023432

Description

Method and system for robot to accurately move mechanical arm to reach specified position
Technical Field
The invention relates to the technical field of industrial robots, in particular to a method and a system for accurately moving a mechanical arm to a specified position by a robot.
Background
In the continuous development of modern industry, the automation and intellectualization of industrial production tend to be great, the application field of robots is wider and wider, a large amount of automatic equipment and assembly lines begin to be put into production, and the traditional production mode mainly based on manual manufacturing is gradually replaced. Industrial robots use a large number of machine vision techniques, requiring calibration of the coordinate systems of the robot and the industrial camera. Modern flexible manufacturing often requires that the relative position of the robot arm and the industrial camera change frequently, so that each change in relative position requires recalibration. The existing high-precision calibration method needs professional technicians to realize the calibration through complex steps, the efficiency is low, and common technicians cannot complete the calibration. Aiming at the current problem, the invention provides a calibration method which is high in accuracy, convenient and fast to operate, strong in robustness and low in cost, and is suitable for rapid and accurate calibration after the relative position of a robot arm and an industrial camera in an industrial field changes.
Disclosure of Invention
The technical problem to be solved by the embodiments of the present invention is to provide a method and a system for a robot to accurately move a mechanical arm to a specified position, so that the robot can accurately move the mechanical arm to the specified position by establishing a relationship between a camera coordinate and a physical coordinate.
In order to solve the above technical problem, an embodiment of the present invention provides a method for a robot to accurately move a robot arm to a specified position, where the method includes:
a, acquiring coordinates of a plurality of designated positions of a first designated image and a second designated image of a robot moving mechanical arm reaching a preset calibration plate, performing target calculation on the acquired coordinates of the first designated image and the second designated image, and determining related physical parameters of a center point of the first designated image and a center point of the second designated image;
b, acquiring an imaging picture which is shot by a fixed camera and simultaneously comprises the first designated image and the second designated image, performing data processing on the acquired imaging picture shot by the fixed camera, and determining related image parameters of a central point of the first designated image and a central point of the second designated image;
c, establishing a mapping relation between the physical coordinates of the mobile mechanical arm of the robot and the coordinates of the camera according to the relevant physical parameters of the central points of the first designated image and the second designated image and the relevant image parameters of the central points of the first designated image and the second designated image;
and d, appointing a certain pixel point coordinate in the imaging picture of the fixed camera, and converting the appointed pixel point coordinate according to the established mapping relation to obtain the physical coordinate of the robot corresponding to the movable mechanical arm on the preset calibration plate and drive the robot to move the mechanical arm to accurately arrive.
Wherein, the step a specifically comprises:
setting a first designated image and a second designated image having the same figure on the predetermined calibration plate; the first designated image and the second designated image respectively comprise a square and a circle which takes the center point of the square as the center of the circle and has a radius of half the length of the square;
acquiring four vertex physical coordinates of a square on the first instruction image and four vertex physical coordinates of a square on the second instruction image when the robot moving mechanical arm reaches the first instruction image, and calculating a physical coordinate of a circle center on the first instruction image and a physical coordinate of a circle center on the second instruction image according to the acquired four vertex physical coordinates of the quadrangles on the first instruction image and the second instruction image;
and fixing the physical coordinate of the center of the circle on the first instruction image, the physical coordinate of the center of the circle on the second instruction image and the radius of the circle to be half of the length of a quadrangle, and outputting the fixed physical coordinates and the radius of the circle as related physical parameters of the center point of the first appointed image and the center point of the second appointed image.
Wherein, the step b specifically comprises:
acquiring an imaging picture which is shot by a fixed camera and simultaneously comprises the first designated image and the second designated image, and performing data processing on the acquired imaging picture shot by the fixed camera to obtain a pixel coordinate of the center of a circle on the first instruction image and a radius corresponding to the pixel coordinate of the center of a circle on the second instruction image;
and outputting the pixel coordinate of the center of the circle on the first instruction image and the radius corresponding to the pixel coordinate of the center of the circle on the second instruction image and the radius corresponding to the pixel coordinate of the center of the circle on the first instruction image as the related image parameters of the center point of the first appointed image and the center point of the second appointed image.
The embodiment of the invention also provides a system for accurately moving the mechanical arm to the specified position by the robot, which comprises:
the physical parameter determining unit is used for acquiring coordinates of a plurality of designated positions of a first designated image and a second designated image on a preset calibration plate when a robot moving mechanical arm reaches the preset calibration plate, performing target calculation on the acquired coordinates of the first designated image and the second designated image, and determining related physical parameters of a central point of the first designated image and a central point of the second designated image;
the image parameter determining unit is used for acquiring an imaging picture which is shot by a fixed camera and simultaneously comprises the first designated image and the second designated image, performing data processing on the acquired imaging picture shot by the fixed camera, and determining related image parameters of a central point of the first designated image and a central point of the second designated image;
the coordinate mapping unit is used for establishing a mapping relation between the physical coordinates of the mobile mechanical arm of the robot and the camera coordinates according to the relevant physical parameters of the central points of the first designated image and the second designated image and the relevant image parameters of the central points of the first designated image and the second designated image;
and the conversion moving unit is used for appointing a certain pixel point coordinate in an imaging picture of the fixed camera, converting the appointed pixel point coordinate according to the established mapping relation, obtaining the physical coordinate of the robot corresponding to the moving mechanical arm on the preset calibration plate and driving the robot to move the mechanical arm to accurately arrive.
Wherein the physical parameter determination unit includes:
the image setting module is used for setting a first designated image and a second designated image with the same graph on the preset calibration plate; the first designated image and the second designated image respectively comprise a square and a circle which takes the center point of the square as the center of the circle and has a radius of half the length of the square;
the physical coordinate calculation module is used for acquiring the physical coordinates of four vertexes of a square on the first instruction image and the physical coordinates of four vertexes of a square on the second instruction image when the robot moving mechanical arm reaches the first instruction image, and calculating the physical coordinates of the center of a circle on the first instruction image and the physical coordinates of the center of a circle on the second instruction image according to the acquired physical coordinates of the four vertexes of the quadrangle on the first instruction image and the second instruction image;
and the physical parameter output module is used for fixing the physical coordinates of the circle center on the first instruction image, the physical coordinates of the circle center on the second instruction image and the circle radius to be half of the length of a quadrangle and outputting the fixed physical coordinates and the fixed physical parameters as the related physical parameters of the center point of the first appointed image and the center point of the second appointed image.
Wherein the image parameter determination unit includes:
the image shooting and calculating module is used for acquiring an imaging picture which is shot by a fixed camera and simultaneously comprises the first designated image and the second designated image, and performing data processing on the acquired imaging picture which is shot by the fixed camera to obtain a pixel coordinate of the circle center on the first instruction image and a radius corresponding to the pixel coordinate of the circle center on the second instruction image;
and the image parameter output module is used for outputting the pixel coordinate of the circle center on the first instruction image and the radius corresponding to the pixel coordinate of the circle center on the second instruction image and the radius corresponding to the pixel coordinate of the circle center on the first instruction image as the related image parameters of the center point of the first appointed image and the center point of the second appointed image.
The embodiment of the invention has the following beneficial effects:
in the embodiment of the invention, because the relation between the camera coordinate and the physical coordinate is established, the target point obtained by visual positioning is converted into the physical coordinate, and the mechanical arm is further driven to search the target point, the obtained final physical coordinate is accurate, the algorithm efficiency is high, the mechanical arm moves in the shortest path, and the finally moved coordinate meets the requirement; meanwhile, the embodiment of the invention has strong anti-interference performance on the interference of factors such as dust, particles, spots and the like in the camera image, and can accurately find the target point under the condition that a large number of interferents exist.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is within the scope of the present invention for those skilled in the art to obtain other drawings based on the drawings without inventive exercise.
Fig. 1 is a flowchart of a method for a robot to accurately move a mechanical arm to a specified position according to an embodiment of the present invention;
fig. 2 is a view of a corresponding scenario of the general coordinate transformation in step S3;
fig. 3 is a schematic structural diagram of a system for a robot to accurately move a mechanical arm to a specified position according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail with reference to the accompanying drawings.
As shown in fig. 1, in an embodiment of the present invention, a method for a robot to accurately move a robot arm to a specified position is provided, where the method includes:
step S1, acquiring coordinates of a plurality of designated positions of a first designated image and a second designated image when the robot moving mechanical arm reaches a preset calibration plate, performing target calculation on the acquired coordinates of the first designated image and the second designated image, and determining related physical parameters of a center point of the first designated image and a center point of the second designated image;
step S2, acquiring an imaging picture which is shot by a fixed camera and simultaneously comprises the first designated image and the second designated image, performing data processing on the acquired imaging picture shot by the fixed camera, and determining related image parameters of a central point of the first designated image and a central point of the second designated image;
step S3, establishing a mapping relation between the physical coordinates of the mobile mechanical arm of the robot and the coordinates of the camera according to the relevant physical parameters of the central point of the first specified image and the central point of the second specified image and the relevant image parameters of the central point of the first specified image and the central point of the second specified image;
step S4, appointing a certain pixel point coordinate in the imaging picture of the fixed camera, and converting the appointed pixel point coordinate according to the established mapping relation to obtain the physical coordinate of the robot corresponding to the mobile mechanical arm on the preset calibration plate and drive the robot to move the mechanical arm to accurately arrive.
Specifically, in step S1, a first specific image and a second specific image having the same pattern are set on a predetermined calibration sheet; the first designated image and the second designated image respectively comprise a square and a circle which takes the center point of the square as the center of the circle and has a radius of half the length of the square;
acquiring four vertex physical coordinates of a square on a first instruction image and four vertex physical coordinates of a square on a second instruction image when a robot moves a mechanical arm, and calculating a physical coordinate of a circle center on the first instruction image and a physical coordinate of a circle center on the second instruction image according to the acquired four vertex physical coordinates of respective quadrangles on the first instruction image and the second instruction image;
and fixing the physical coordinates of the center of the circle on the first instruction image, the physical coordinates of the center of the circle on the second instruction image and the radius of the circle to be half of the length of the quadrangle, and outputting the parameters as the relevant physical parameters of the center point of the first specified image and the center point of the second specified image.
As an example, the position of the arm of the industrial robot is moved multiple times and within the fixed camera field of view, so that all vertex parameters C of the square are obtained1～C8The position in the robot coordinate system and the physical coordinate M of the centers of two squares15And M16Radius R of the circle15. At this time, C1～C8The physical coordinates of (a) are: (61.249, 307.946), (61.149, 327.928), (41.323, 327.297), (41.323, 308.272), (41.215, 286.645), (40.707, 306.531), (21.298, 306.535), (21.015, 286.871). Circle center M15And M16The physical coordinates of (a) are: (51.261, 317.86075), (31.05875, 296.6455), radius of the circle R15＝5000um。
In step S2, acquiring an imaging picture taken by the fixed camera and including both the first designated image and the second designated image, and performing data processing on the acquired imaging picture taken by the fixed camera to obtain a pixel coordinate of a center of a circle on the first instruction image and a radius corresponding to the pixel coordinate of the center of a circle on the second instruction image;
and outputting the pixel coordinate of the center of the circle on the first instruction image and the radius corresponding to the pixel coordinate of the center of the circle on the second instruction image and the radius corresponding to the pixel coordinate of the center of the circle on the first instruction image as the related image parameters of the center point of the first appointed image and the center point of the second appointed image.
As an example, a fixed camera (the position and lens are not changed, but a panorama of a predetermined calibration board can be taken) is used to process the captured image. The circle in the calibration plate can be detected by using Hough transformation. The target point, namely the circle center parameter C can be obtained9、C10Pixel coordinates in the camera coordinate system and a radius parameter R11、R12. At this time, the center C9、C10The pixel coordinates are: (208, 1435), (1622, 498); radius of circle R11＝R12＝229。
In step S3, as shown in fig. 2, the general coordinates are converted to two coordinates of find OXY and O ' X ' Y '; the coordinate of O' in the OXY coordinate is (x)0,y0) The angle from the x-axis to x' is t, and therefore the coordinate conversion formula x ═ x is obtained0-(x′cost+y′sint),y＝y0+(x′sint+y′cost)。
In the conversion of the physical coordinate and the pixel coordinate, t is a deflection angle parameter theta, and a pixel ratio parameter lambda is required to be introduced, so that the physical coordinate and the pixel coordinate are obtainedStandard conversion formula x ═ x0-(x′cosθ+y′sinθ)* λ,y＝y0+(x′sinθ+y′cosθ)*λ。
The physical parameter M obtained in the step S1 is utilized15、M16And R15And the image parameter C obtained in step S29、C10And R11Can calculate and obtain a camera coordinate system deflection angle parameter theta13And a pixel ratio parameter λ14. At this time, the deflection angle parameter θ13＝arctan((yc9-yc10)/(xc9-xc10))-arctan((ym15-ym16)/(xm15-xm16) ); pixel ratio parameter lambda14＝R15/R11(ii) a Wherein x isc9And yc9Are respectively C9Pixel coordinate values on the X-axis and Y-axis; x is the number ofc10And yc10Are respectively C10Pixel coordinate values on the X-axis and Y-axis; x is the number ofm15And ym15Are respectively M15Physical coordinate values on the X-axis and Y-axis; x is the number ofm16And ym16Are respectively M16Physical coordinate values on the X-axis and Y-axis. Thus, θ is calculated130.224 radian, λ14＝21.834。
In step S4, coordinates of a certain pixel point in the imaging picture of the fixed camera are randomly designated and coordinate conversion is performed to obtain physical coordinates of the robot corresponding to the moving arm on the preset calibration board and to drive the robot to move the arm to accurately arrive.
As an example, specify C on a picture9(corresponding to M in physical coordinates15) The position on the preset calibration plate is the accurate arrival position of the robot mobile mechanical arm according to x0＝M16.x+(xc10*cosθ13+ yc10*sinθ13)*λ14，y0＝M16.y-(xc10*sin(-θ13)+yc10*cosθ13)*λ14，x＝x0-(xc9*cosθ13+ yc9*sinθ13)*λ14And y ═ y0+(xc9*sin(-θ13)+yc9*cosθ13)*λ14，C9The coordinate substitution calculation results in the coordinates of the robot coordinate system being (51.3535,317.8452). And M15The coordinate error is less than 0.1mm, and the actual use requirement is met.
As shown in fig. 3, in an embodiment of the present invention, a system for a robot to accurately move a robot arm to a specified position is provided, where the system includes:
a physical parameter determining unit 210, configured to obtain coordinates of a plurality of specified positions where a robot moving mechanical arm reaches a first specified image and a second specified image on a preset calibration plate, perform target calculation on the obtained coordinates of the first specified image and the second specified image, and determine a relevant physical parameter of a center point of the first specified image and a relevant physical parameter of a center point of the second specified image;
an image parameter determining unit 220, configured to acquire an imaging picture that is taken by a fixed camera and includes the first designated image and the second designated image at the same time, perform data processing on the acquired imaging picture that is taken by the fixed camera, and determine related image parameters of a center point of the first designated image and a center point of the second designated image;
a coordinate mapping unit 230, configured to establish a mapping relationship between physical coordinates of a robot moving arm and coordinates of a camera according to relevant physical parameters of a center point of the first specified image and a center point of the second specified image and relevant image parameters of the center point of the first specified image and the center point of the second specified image;
and the conversion moving unit 240 is used for designating a certain pixel point coordinate in the imaging picture of the fixed camera, and converting the designated pixel point coordinate according to the established mapping relation to obtain a physical coordinate of the robot corresponding to the moving mechanical arm on the preset calibration plate and drive the robot to move the mechanical arm to accurately arrive.
Wherein the physical parameter determination unit 210 includes:
an image setting module 2101 configured to set a first designated image and a second designated image having the same graphic on the predetermined calibration plate; the first designated image and the second designated image respectively comprise a square and a circle which takes the center point of the square as the center of the circle and has a radius of half the length of the square;
a physical coordinate calculation module 2102, configured to obtain physical coordinates of four vertices of a square on the first instruction image and physical coordinates of four vertices of a square on the second instruction image when the robot moves the mechanical arm to reach the first instruction image, and calculate, according to the obtained physical coordinates of the four vertices of each quadrilateral on the first instruction image and the second instruction image, a physical coordinate of a circle center on the first instruction image and a physical coordinate of a circle center on the second instruction image;
and the physical parameter output module 2103 is configured to fix the physical coordinate of the center of the circle on the first instruction image, the physical coordinate of the center of the circle on the second instruction image, and the radius of the circle to be half of the length of the quadrangle, and output the fixed physical coordinates as the related physical parameters of the center point of the first specified image and the center point of the second specified image.
Wherein the image parameter determination unit 220 includes:
an image capturing and calculating module 2201, configured to obtain an imaging picture captured by a fixed camera and including the first specified image and the second specified image at the same time, and perform data processing on the obtained imaging picture captured by the fixed camera to obtain a pixel coordinate of a center of a circle on the first instruction image and a radius corresponding to the pixel coordinate of the center of a circle on the second instruction image;
an image parameter output module 2202, configured to output, as related image parameters of a center point of the first specified image and a center point of the second specified image, the pixel coordinate of the center of the circle on the first instruction image and the radius corresponding to the pixel coordinate of the center of the circle on the second instruction image.
The embodiment of the invention has the following beneficial effects:
in the embodiment of the invention, because the relation between the camera coordinate and the physical coordinate is established, the target point obtained by visual positioning is converted into the physical coordinate, and the mechanical arm is further driven to search the target point, the obtained final physical coordinate is accurate, the algorithm efficiency is high, the mechanical arm moves in the shortest path, and the finally moved coordinate meets the requirement; meanwhile, the embodiment of the invention has strong anti-interference performance on the interference of factors such as dust, particles, spots and the like in the camera image, and can accurately find the target point under the condition that a large number of interferents exist.
It should be noted that, in the foregoing system embodiment, each included system unit is only divided according to functional logic, but is not limited to the above division as long as the corresponding function can be implemented; in addition, specific names of the functional units are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present invention.
It will be understood by those skilled in the art that all or part of the steps in the method for implementing the above embodiments may be implemented by relevant hardware instructed by a program, and the program may be stored in a computer-readable storage medium, such as ROM/RAM, magnetic disk, optical disk, etc.
The above disclosure is only for the purpose of illustrating the preferred embodiments of the present invention, and it is therefore to be understood that the invention is not limited by the scope of the appended claims.

Claims (2)

1.一种机器人准确移动机械臂到达指定位置的方法，其特征在于，所述方法包括：1. a method that a robot accurately moves a mechanical arm to reach a designated position, wherein the method comprises: 步骤a、获取机器人移动机械臂到达预设标定板上第一指定图像及第二指定图像的多个指定位置的坐标，并对所述获取到的第一指定图像及第二指定图像的坐标进行目标计算后，确定所述第一指定图像的中心点及所述第二指定图像的中心点的相关物理参数；Step a: Obtain the coordinates of the multiple designated positions of the first designated image and the second designated image on the preset calibration board when the robot moves the mechanical arm, and perform the obtained coordinates of the first designated image and the second designated image. After the target is calculated, determine the relevant physical parameters of the center point of the first designated image and the center point of the second designated image; 步骤b、获取固定相机拍摄有同时包括所述第一指定图像及所述第二指定图像的成像图片，并对所述获取到的固定相机拍摄的成像图片进行数据处理，确定所述第一指定图像的中心点及所述第二指定图像的中心点的相关图像参数；Step b: Obtaining an imaging picture captured by a fixed camera that includes both the first designated image and the second designated image, and performing data processing on the acquired imaging picture captured by the fixed camera to determine the first designated image The center point of the image and the relevant image parameters of the center point of the second designated image; 步骤c、根据所述第一指定图像的中心点及所述第二指定图像的中心点的相关物理参数与所述第一指定图像的中心点及所述第二指定图像的中心点的相关图像参数，建立机器人移动机械臂物理坐标与相机坐标的映射关系；Step c, according to the relevant physical parameters of the center point of the first designated image and the center point of the second designated image and the relevant image of the center point of the first designated image and the center point of the second designated image parameters to establish the mapping relationship between the physical coordinates of the robot's mobile arm and the camera coordinates; 步骤d、指定所述固定相机的成像图片中某一像素点坐标，且根据所述建立的映射关系对所述指定的像素点坐标进行转换，得出机器人对应在所述预设标定板上移动机械臂的物理坐标并驱动机器人移动机械臂准确到达；Step d, specify the coordinates of a pixel point in the imaging picture of the fixed camera, and convert the specified pixel point coordinates according to the established mapping relationship, so as to obtain that the robot moves on the preset calibration board correspondingly The physical coordinates of the robotic arm and drive the robot to move the robotic arm to arrive accurately; 坐标转换为设立OXY及O′X′Y′两个坐标系；O′在OXY坐标系中的坐标为(x0,y0)，由x轴到x′轴的角度为t，因此得到坐标转换公式x＝x0-(x′cost+y′sint),y＝y0+(x′sint+y′cost)；The coordinate conversion is to establish two coordinate systems, OXY and O'X'Y'; the coordinates of O' in the OXY coordinate system are (x 0 , y 0 ), and the angle from the x axis to the x' axis is t, so the coordinates are obtained. Conversion formula x=x 0 -(x'cost+y'sint), y=y 0 +(x'sint+y'cost); 在物理坐标与像素坐标的转换中，t为偏转角参数θ，并还需引入像素比参数λ，即得到物理坐标与像素坐标转换公式x＝x0-(x′cosθ+y′sinθ)*λ,y＝y0+(x′sinθ+y′cosθ)*λ；In the conversion between physical coordinates and pixel coordinates, t is the deflection angle parameter θ, and the pixel ratio parameter λ needs to be introduced, that is, the conversion formula between physical coordinates and pixel coordinates x=x 0 -(x'cosθ+y'sinθ)* λ,y=y 0 +(x'sinθ+y'cosθ)*λ; 所述步骤a具体包括：在所述预设标定板上设置具有相同图形的第一指定图像和第二指定图像；其中，所述第一指定图像和所述第二指定图像均包括一正方形以及以正方形中心点为圆心、半径为正方形长度一半形成的圆；The step a specifically includes: setting a first designated image and a second designated image with the same graphics on the preset calibration plate; wherein, the first designated image and the second designated image both include a square and A circle formed with the center point of the square as the center and the radius as half the length of the square; 获取机器人移动机械臂到达所述第一指定图像上正方形的四个顶点物理坐标以及所述第二指定图像上正方形的四个顶点物理坐标，并根据所述获取到的所述第一指定图像及所述第二指定图像上各自四边形的四个顶点物理坐标，计算出所述第一指定图像上圆心的物理坐标以及所述第二指定图像上圆心的物理坐标；Obtain the physical coordinates of the four vertices of the square on the first designated image and the physical coordinates of the four vertices of the square on the second designated image by moving the robot arm to the first designated image, and according to the obtained first designated image and The physical coordinates of the four vertices of the respective quadrilaterals on the second designated image, and the physical coordinates of the center of the circle on the first designated image and the physical coordinates of the center of the circle on the second designated image are calculated; 将所述第一指定图像上圆心的物理坐标、第二指定图像上圆心的物理坐标以及圆半径固定为四边形长度一半作为所述第一指定图像的中心点及所述第二指定图像的中心点的相关物理参数输出；Fixing the physical coordinates of the center of the circle on the first designated image, the physical coordinates of the center of the circle on the second designated image, and the radius of the circle to be half the length of the quadrilateral as the center point of the first designated image and the center point of the second designated image The relevant physical parameter output of ; 所述步骤b具体包括：The step b specifically includes: 获取固定相机拍摄有同时包括所述第一指定图像及所述第二指定图像的成像图片，并对所述获取到的固定相机拍摄的成像图片进行数据处理，得到所述第一指定图像上圆心的像素坐标及其对应的半径和所述第二指定图像上圆心的像素坐标及其对应的半径；Acquiring an imaging picture captured by a fixed camera that includes both the first specified image and the second specified image, and performing data processing on the acquired imaging picture captured by the stationary camera to obtain the center of the circle on the first specified image The pixel coordinates and their corresponding radii of and the pixel coordinates of the center of the circle on the second specified image and their corresponding radii; 将所述第一指定图像上圆心的像素坐标及其对应的半径和所述第二指定图像上圆心的像素坐标及其对应的半径作为所述第一指定图像的中心点及所述第二指定图像的中心点的相关图像参数输出；Taking the pixel coordinates of the center of the circle on the first designated image and its corresponding radius and the pixel coordinates of the center of the circle on the second designated image and its corresponding radius as the center point of the first designated image and the second designated image The relevant image parameter output of the center point of the image; 多次移动工业机器人手臂的位置，并且在固定相机视野范围内，从而获得正方形的所有顶点参数C1～C8在机器人坐标系中的位置，并计算出两个正方形圆心的物理坐标M15和M16，该圆的半径R15，采用固定相机拍摄出预设标定板的全景，将采集到的图像进行处理，利用Hough变换可以检测出标定板中的圆，获得目标点：圆心参数C9、C10在相机坐标系中的像素坐标以及半径参数R11、R12，利用步骤a所得物理参数M15、M16和R15的值，以及步骤b所得图像参数C9、C10和R11的值，计算获得相机坐标系偏转角参数θ13和像素比参数λ14，此时，偏转角参数θ13＝arctan((yc9-yc10)/(xc9-xc10))-arctan((ym15-ym16)/(xm15-xm16))；像素比参数λ14＝R15/R11；其中，xc9和yc9分别为C9在X轴和Y轴上的像素坐标值；xc10和yc10分别为C10在X轴和Y轴上的像素坐标值；xm15和ym15分别为M15在X轴和Y轴上的物理坐标值；xm16和ym16分别为M16在X轴和Y轴上的物理坐标值，指定图片上C9在预设标定板上的位置为机器人移动机械臂准确到达位置，根据x0＝M16.x+(xc10*cosθ13+yc10*sinθ13)*λ14，y0＝M16.y-(xc10*sin(-θ13)+yc10*cosθ13)*λ14，x＝x0-(xc9*cosθ13+yc9*sinθ13)*λ14以及y＝y0+(xc9*sin(-θ13)+yc9*cosθ13)*λ14，C9坐标代入计算得出其在机器人坐标系中的坐标。Move the position of the industrial robot arm multiple times, and within the fixed camera field of view, so as to obtain the position of all the vertex parameters C 1 ~ C 8 of the square in the robot coordinate system, and calculate the physical coordinates of the center of the two squares M 15 and M 16 , the radius of the circle R 15 , use a fixed camera to take a panoramic view of the preset calibration plate, process the collected image, and use Hough transform to detect the circle in the calibration plate, and obtain the target point: the circle center parameter C 9 , the pixel coordinates of C 10 in the camera coordinate system and the radius parameters R 11 , R 12 , use the values of physical parameters M 15 , M 16 and R 15 obtained in step a, and the image parameters C 9 , C 10 and R obtained in step b The value of 11 , the camera coordinate system deflection angle parameter θ 13 and the pixel ratio parameter λ 14 are obtained by calculation. At this time, the deflection angle parameter θ 13 =arctan((y c9 -y c10 )/(x c9 -x c10 ))-arctan ((y m15 -y m16 )/(x m15 -x m16 )); pixel ratio parameter λ 14 =R 15 /R 11 ; where x c9 and y c9 are the pixels of C 9 on the X and Y axes, respectively Coordinate values; x c10 and y c10 are the pixel coordinate values of C 10 on the X and Y axes, respectively; x m15 and y m15 are the physical coordinate values of M 15 on the X and Y axes, respectively; x m16 and y m16 They are the physical coordinate values of M 16 on the X-axis and Y-axis respectively, and the position of C 9 on the preset calibration board on the picture is designated as the exact position of the robot moving the mechanical arm. According to x 0 =M 16 .x+(x c10 * cosθ 13 +y c10 *sinθ 13 )*λ 14 , y 0 =M 16 .y-(x c10 *sin(-θ 13 )+y c10 *cosθ 13 )*λ 14 , x=x 0 -(x c9 *cosθ 13 +y c9 *sinθ 13 )*λ 14 and y=y 0 +(x c9 *sin(-θ 13 )+y c9 *cosθ 13 )*λ 14 , the C 9 coordinate is substituted to calculate its position in the robot The coordinates in the coordinate system. 2.一种机器人准确移动机械臂到达指定位置的系统，其特征在于，所述系统包括：2. A system for a robot to accurately move a mechanical arm to a designated position, wherein the system comprises: 物理参数确定单元，用于获取机器人移动机械臂到达预设标定板上第一指定图像及第二指定图像的多个指定位置的坐标，并对所述获取到的第一指定图像及第二指定图像的坐标进行目标计算后，确定所述第一指定图像的中心点及所述第二指定图像的中心点的相关物理参数；The physical parameter determination unit is used to obtain the coordinates of the multiple designated positions of the first designated image and the second designated image on the preset calibration board when the robot moves the mechanical arm, and determines the obtained first designated image and the second designated image. After the coordinates of the image are subjected to target calculation, determine the relevant physical parameters of the center point of the first designated image and the center point of the second designated image; 图像参数确定单元，用于获取固定相机拍摄有同时包括所述第一指定图像及所述第二指定图像的成像图片，并对所述获取到的固定相机拍摄的成像图片进行数据处理，确定所述第一指定图像的中心点及所述第二指定图像的中心点的相关图像参数；An image parameter determination unit, configured to acquire an imaging picture captured by a fixed camera that includes both the first specified image and the second specified image, and perform data processing on the acquired imaging picture captured by the stationary camera to determine the the relevant image parameters of the center point of the first designated image and the center point of the second designated image; 坐标映射单元，用于根据所述第一指定图像的中心点及所述第二指定图像的中心点的相关物理参数与所述第一指定图像的中心点及所述第二指定图像的中心点的相关图像参数，建立机器人移动机械臂物理坐标与相机坐标的映射关系；A coordinate mapping unit, configured to match the center point of the first designated image and the center point of the second designated image according to the relevant physical parameters of the center point of the first designated image and the center point of the second designated image The relevant image parameters of the robot, establish the mapping relationship between the physical coordinates of the robot mobile arm and the camera coordinates; 转换移动单元，用于指定所述固定相机的成像图片中某一像素点坐标，且根据所述建立的映射关系对所述指定的像素点坐标进行转换，得出机器人对应在所述预设标定板上移动机械臂的物理坐标并驱动机器人移动机械臂准确到达；A conversion moving unit is used to specify the coordinates of a certain pixel point in the imaging picture of the fixed camera, and convert the specified pixel point coordinates according to the established mapping relationship to obtain the robot corresponding to the preset calibration The physical coordinates of the moving manipulator on the board and drive the robot to move the manipulator to arrive accurately; 所述物理参数确定单元包括：The physical parameter determination unit includes: 图像设置模块，用于在所述预设标定板上设置具有相同图形的第一指定图像和第二指定图像；其中，所述第一指定图像和所述第二指定图像均包括一正方形以及以正方形中心点为圆心、半径为正方形长度一半形成的圆；The image setting module is used for setting the first designated image and the second designated image with the same graphics on the preset calibration board; wherein, the first designated image and the second designated image both include a square and a A circle with the center point of the square as the center and the radius as half the length of the square; 物理坐标计算模块，用于获取机器人移动机械臂到达所述第一指定图像上正方形的四个顶点物理坐标以及所述第二指定图像上正方形的四个顶点物理坐标，并根据所述获取到的所述第一指定图像及所述第二指定图像上各自四边形的四个顶点物理坐标，计算出所述第一指定图像上圆心的物理坐标以及所述第二指定图像上圆心的物理坐标；The physical coordinate calculation module is used to obtain the physical coordinates of the four vertices of the square on the first specified image and the physical coordinates of the four vertices of the square on the second specified image when the robot moves the mechanical arm, and according to the obtained the physical coordinates of the four vertices of the respective quadrilaterals on the first designated image and the second designated image, and calculate the physical coordinates of the center of the circle on the first designated image and the physical coordinates of the center of the circle on the second designated image; 物理参数输出模块，用于将所述第一指定图像上圆心的物理坐标、第二指定图像上圆心的物理坐标以及圆半径固定为四边形长度一半作为所述第一指定图像的中心点及所述第二指定图像的中心点的相关物理参数输出；The physical parameter output module is used to fix the physical coordinates of the center of the circle on the first designated image, the physical coordinates of the center of the circle on the second designated image, and the radius of the circle to be half the length of the quadrilateral as the center point of the first designated image and the The relevant physical parameter output of the center point of the second specified image; 所述图像参数确定单元包括：The image parameter determination unit includes: 图像拍摄及计算模块，用于获取固定相机拍摄有同时包括所述第一指定图像及所述第二指定图像的成像图片，并对所述获取到的固定相机拍摄的成像图片进行数据处理，得到所述第一指定图像上圆心的像素坐标及其对应的半径和所述第二指定图像上圆心的像素坐标及其对应的半径；An image capturing and computing module, configured to acquire an imaging picture captured by a fixed camera including the first specified image and the second specified image, and perform data processing on the acquired imaging picture captured by the stationary camera to obtain The pixel coordinates of the center of the circle on the first designated image and its corresponding radius and the pixel coordinates of the center of the circle on the second designated image and its corresponding radius; 图像参数输出模块，用于将所述第一指定图像上圆心的像素坐标及其对应的半径和所述第二指定图像上圆心的像素坐标及其对应的半径作为所述第一指定图像的中心点及所述第二指定图像的中心点的相关图像参数输出；The image parameter output module is used to take the pixel coordinates of the center of the circle on the first designated image and its corresponding radius and the pixel coordinates of the center of the circle on the second designated image and its corresponding radius as the center of the first designated image point and the relevant image parameter output of the center point of the second designated image; 坐标转换为设立OXY及O′X′Y′两个坐标系；O′在OXY坐标系中的坐标为(x0,y0)，由x轴到x′轴的角度为t，因此得到坐标转换公式x＝x0-(x′cost+y′sint),y＝y0+(x′sint+y′cost)；The coordinate conversion is to establish two coordinate systems, OXY and O'X'Y'; the coordinates of O' in the OXY coordinate system are (x 0 , y 0 ), and the angle from the x axis to the x' axis is t, so the coordinates are obtained. Conversion formula x=x 0 -(x'cost+y'sint), y=y 0 +(x'sint+y'cost); 在物理坐标与像素坐标的转换中，t为偏转角参数θ，并还需引入像素比参数λ，即得到物理坐标与像素坐标转换公式x＝x0-(x′cosθ+y′sinθ)*λ,y＝y0+(x′sinθ+y′cosθ)*λ；In the conversion between physical coordinates and pixel coordinates, t is the deflection angle parameter θ, and the pixel ratio parameter λ needs to be introduced, that is, the conversion formula between physical coordinates and pixel coordinates x=x 0 -(x'cosθ+y'sinθ)* λ,y=y 0 +(x'sinθ+y'cosθ)*λ; 多次移动工业机器人手臂的位置，并且在固定相机视野范围内，从而获得正方形的所有顶点参数C1～C8在机器人坐标系中的位置，并计算出两个正方形圆心的物理坐标M15和M16，该圆的半径R15，采用固定相机拍摄出预设标定板的全景，将采集到的图像进行处理，利用Hough变换可以检测出标定板中的圆，获得目标点：圆心参数C9、C10在相机坐标系中的像素坐标以及半径参数R11、R12，利用物理参数确定单元所得物理参数M15、M16和R15的值，以及图像参数确定单元所得图像参数C9、C10和R11的值，计算获得相机坐标系偏转角参数θ13和像素比参数λ14，此时，偏转角参数θ13＝arctan((yc9-yc10)/(xc9-xc10))-arctan((ym15-ym16)/(xm15-xm16))；像素比参数λ14＝R15/R11；其中，xc9和yc9分别为C9在X轴和Y轴上的像素坐标值；xc10和yc10分别为C10在X轴和Y轴上的像素坐标值；xm15和ym15分别为M15在X轴和Y轴上的物理坐标值；xm16和ym16分别为M16在X轴和Y轴上的物理坐标值，指定图片上C9在预设标定板上的位置为机器人移动机械臂准确到达位置，根据x0＝M16.x+(xc10*cosθ13+yc10*sinθ13)*λ14，y0＝M16.y-(xc10*sin(-θ13)+yc10*cosθ13)*λ14，x＝x0-(xc9*cosθ13+yc9*sinθ13)*λ14以及y＝y0+(xc9*sin(-θ13)+yc9*cosθ13)*λ14，C9坐标代入计算得出其在机器人坐标系中的坐标。Move the position of the industrial robot arm multiple times, and within the fixed camera field of view, so as to obtain the position of all the vertex parameters C 1 ~ C 8 of the square in the robot coordinate system, and calculate the physical coordinates of the center of the two squares M 15 and M 16 , the radius of the circle R 15 , use a fixed camera to take a panoramic view of the preset calibration plate, process the collected image, and use Hough transform to detect the circle in the calibration plate, and obtain the target point: the circle center parameter C 9 , the pixel coordinates of C 10 in the camera coordinate system and the radius parameters R 11 , R 12 , the values of physical parameters M 15 , M 16 and R 15 obtained by the physical parameter determination unit, and the image parameters C 9 , The values of C 10 and R 11 are calculated to obtain the camera coordinate system deflection angle parameter θ 13 and the pixel ratio parameter λ 14 . At this time, the deflection angle parameter θ 13 =arctan((y c9 -y c10 )/(x c9 -x c10 ))-arctan((y m15 -y m16 )/(x m15 -x m16 )); pixel ratio parameter λ 14 =R 15 /R 11 ; where x c9 and y c9 are C 9 on the X axis and Y respectively The pixel coordinate value on the axis; x c10 and y c10 are the pixel coordinate value of C 10 on the X axis and Y axis respectively; x m15 and y m15 are the physical coordinate value of M 15 on the X axis and Y axis respectively; x m16 and y m16 are the physical coordinate values of M 16 on the X-axis and Y-axis respectively, and the position of C 9 on the preset calibration board on the picture is designated as the exact position of the robot moving arm, according to x 0 =M 16 .x+ (x c10 *cosθ 13 +y c10 *sinθ 13 )*λ 14 , y 0 =M 16 .y-(x c10 *sin(-θ 13 )+y c10 *cosθ 13 )*λ 14 , x=x 0 -(x c9 *cosθ 13 +y c9 *sinθ 13 )*λ 14 and y=y 0 +(x c9 *sin(-θ 13 )+y c9 *cosθ 13 )*λ 14 , the C 9 coordinates are substituted and calculated out its coordinates in the robot coordinate system.
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