CN114310881B - Calibration method and system of mechanical arm quick-change device and electronic equipment - Google Patents
Calibration method and system of mechanical arm quick-change device and electronic equipment Download PDFInfo
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Abstract
The invention provides a calibration method and system for a quick change device of a mechanical arm and electronic equipment, wherein the method comprises the following steps: obtaining a conversion relation between a visual sensor coordinate system and a mechanical arm coordinate system based on a marker arranged on the robot side of the quick-change device; based on the positioning mark points on the tray, obtaining a conversion relation between a visual sensor coordinate system and a tray coordinate system established based on the positioning mark points; obtaining a conversion relation between the coordinate system of the tray and the coordinate system of the mechanical arm according to the conversion relation between the coordinate system of the visual sensor and the coordinate system of the mechanical arm and the coordinate system of the tray respectively; and obtaining the position of the center position under the mechanical arm coordinate system according to the pose of the center position of the tool side of the quick-change device in the tray coordinate system and the conversion relation between the tray coordinate system and the mechanical arm coordinate system. The automatic calibration device is used for solving the defects that in the prior art, the mechanical arm quick-change device is calibrated in a manual teaching mode, so that labor is wasted and time is consumed, the automatic calibration of the mechanical arm quick-change device is realized, and labor and time are saved.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a calibration method and system of a mechanical arm quick-change device and electronic equipment.
Background
With the popularization of the automation degree, the mechanical arm is widely applied to various fields, and the main application mode is to install different tools on the end flange of the mechanical arm so as to complete corresponding procedures. For different procedures, different tools are required to be installed at the tail end of the mechanical arm, and the quick-change device is used for conveniently and quickly switching the different tools. The quick change device comprises a robot side mounted on the end flange of the mechanical arm and a tool side mounted on the end tool. In practical application, the mechanical arm can take and put different tools according to the needs by placing a plurality of end tools with tool sides on the quick-change bracket. Therefore, the quick-change device is accurately calibrated, and it is important to determine whether the mechanical arm can be quickly and accurately positioned to a required quick-change tool.
The currently commonly used calibration method of the quick-change device adopts a manual teaching mode, namely the quick-change device is installed at the tail end of the mechanical arm, the tool side of the quick-change device is placed on a tray of the quick-change bracket in the manual teaching mode, and then the pose of the mechanical arm is recorded. Therefore, if the quick-change bracket needs to move in position, manual teaching is needed again, so that waste of manpower and time is caused, but if the quick-change bracket is fixed in position, the position of the quick-change device cannot be flexibly placed according to a working scene, and the working process of the mechanical arm is influenced.
Disclosure of Invention
The invention provides a calibration method, a calibration system and electronic equipment for a quick-change device of a mechanical arm, which are used for solving the defects that labor is wasted and time is consumed when the quick-change device of the mechanical arm is calibrated in a manual teaching mode in the prior art, realizing the automatic calibration of the quick-change device of the mechanical arm and saving the labor and time.
The invention provides a calibration method of a mechanical arm quick-change device, which comprises the following steps:
obtaining a conversion relation between a visual sensor coordinate system and a mechanical arm coordinate system based on a marker arranged at the robot side of the quick-change device at the tail end of the mechanical arm;
Based on a plurality of positioning mark points which are arranged on the tray at the tool side of the quick-change device and at least distributed on two planes of the tray, obtaining the conversion relation between the visual sensor coordinate system and the tray coordinate system; the tray coordinate system is a three-dimensional rectangular coordinate system established based on three coplanar and connected rectangular positioning mark points;
Obtaining the conversion relation between the tray coordinate system and the mechanical arm coordinate system according to the conversion relation between the visual sensor coordinate system and the mechanical arm coordinate system and the conversion relation between the visual sensor coordinate system and the tray coordinate system;
Collecting the pose of the center position of the tool side of the quick change device in the tray coordinate system;
and obtaining the position of the central position under the mechanical arm coordinate system according to the transformation relation between the pose and the tray coordinate system and between the tray coordinate system and the mechanical arm coordinate system.
According to the calibration method of the quick-change device of the mechanical arm, the conversion relation between the coordinate system of the visual sensor and the coordinate system of the mechanical arm is obtained based on the marker arranged at the robot side of the quick-change device at the tail end of the mechanical arm, and the calibration method comprises the following steps:
respectively acquiring coordinates of the marker under a visual sensor coordinate system and a mechanical arm coordinate system;
and obtaining the conversion relation between the visual sensor coordinate system and the mechanical arm coordinate system according to the coordinates of the marker under the visual sensor coordinate system and the mechanical arm coordinate system.
According to the calibration method of the quick-change device of the mechanical arm, the conversion relation between the coordinate system of the visual sensor and the coordinate system of the mechanical arm is obtained based on the marker arranged at the robot side of the quick-change device at the tail end of the mechanical arm, and the method further comprises the following steps:
Acquiring coordinates of the marker in a visual sensor coordinate system and a mechanical arm coordinate system respectively and simultaneously based on a plurality of non-coplanar position points, which are moved to by the marker, in the visual field range of the visual sensor;
And obtaining the conversion relation between the visual sensor coordinate system and the mechanical arm coordinate system through spatial registration according to the coordinates of the marker under the visual sensor coordinate system and the mechanical arm coordinate system.
According to the calibration method of the mechanical arm quick-change device of the invention, after the conversion relation between the visual sensor coordinate system and the mechanical arm coordinate system is obtained, the method further comprises the following steps:
Calculating to obtain calibration coordinates of the marker under the visual sensor coordinate system at each position point according to the conversion relation between the visual sensor coordinate system and the mechanical arm coordinate system and the acquired coordinates of the marker under the mechanical arm coordinate system;
Obtaining a marker calibration error of the marker under the visual sensor coordinate system according to the calibration coordinates of the marker under the visual sensor coordinate system of each position point and the acquired coordinates of the marker under the visual sensor coordinate system of the corresponding position point;
Comparing the marker calibration error with a preset first error threshold, and re-acquiring coordinates of the marker under a visual sensor coordinate system and a mechanical arm coordinate system when the marker calibration error exceeds the first error threshold.
According to the calibration method of the mechanical arm quick-change device, the conversion relation between the vision sensor coordinate system and the tray coordinate system is obtained based on a plurality of positioning mark points which are arranged on the tray at the tool side of the quick-change device and are at least distributed on two planes of the tray, and the method comprises the following steps:
Collecting coordinates of a plurality of positioning mark points under a visual sensor coordinate system;
Based on the position relation among the positioning mark points, coordinates of a plurality of positioning mark points under the tray coordinate system are respectively obtained;
And obtaining the conversion relation between the visual sensor coordinate system and the tray coordinate system through spatial registration according to the coordinates of the positioning mark points under the visual sensor coordinate system and the coordinates of the positioning mark points under the tray coordinate system.
According to the calibration method of the mechanical arm quick-change device, after the conversion relation between the visual sensor coordinate system and the tray coordinate system is obtained based on the plurality of positioning mark points which are arranged on the tray at the tool side of the quick-change device and are at least distributed on two planes of the tray, the calibration method further comprises the following steps:
Calculating to obtain calibration coordinates of each positioning mark point under the visual sensor coordinate system according to the conversion relation between the visual sensor coordinate system and the tray coordinate system and the acquired coordinates of the positioning mark point under the tray coordinate system;
obtaining positioning mark point calibration errors of the positioning mark points under the visual sensor coordinate system according to the calibration coordinates of the positioning mark points under the visual sensor coordinate system and the acquired coordinates of the corresponding positioning mark points under the visual sensor coordinate system;
comparing the calibration error of the positioning mark point with a preset second error threshold value, and collecting the coordinates of each positioning mark point under the vision sensor coordinate system again when the calibration error of the positioning mark point exceeds the second error threshold value.
According to the calibration method of the quick-change device for the mechanical arm, after the position of the center position under the mechanical arm coordinate system is obtained according to the transformation relation between the pose, the tray coordinate system and the mechanical arm coordinate system, the calibration method further comprises the following steps:
acquiring the pose of a tracking and positioning marker on a quick-change bracket arranged on the tool side of the quick-change device in real time under a visual sensor coordinate system;
According to the pose of the tracking and positioning marker under the visual sensor coordinate system at the previous moment and the current moment, the pose change of the tracking and positioning marker under the visual sensor coordinate system at the current moment is obtained compared with the pose change of the tracking and positioning marker under the visual sensor coordinate system at the previous moment;
And obtaining the pose of the central position under the mechanical arm coordinate system at the current moment according to the pose change of the tracking and positioning marker under the visual sensor coordinate system and the position of the central position under the mechanical arm coordinate system.
According to the calibration method of the quick-change device of the mechanical arm, according to the pose change of the tracking and positioning marker under the coordinate system of the vision sensor and the position of the central position under the coordinate system of the mechanical arm, the pose of the central position under the coordinate system of the mechanical arm at the current moment is obtained, and the calibration method comprises the following steps:
Obtaining a conversion relation between the tracking and positioning marker coordinate system and the tray coordinate system according to the pose of the tracking and positioning marker under the vision sensor coordinate system at the last moment and the conversion relation between the vision sensor coordinate system and the tray coordinate system;
Obtaining the pose change of the tray at the current moment according to the conversion relation between the tracking and positioning marker coordinate system and the tray coordinate system and the pose change of the tracking and positioning marker under the vision sensor coordinate system;
Obtaining the conversion relation between the tray coordinate system and the vision sensor coordinate system at the current moment according to the pose change of the tray and the conversion relation between the vision sensor coordinate system and the tray coordinate system;
Obtaining the conversion relation between the coordinate system of the mechanical arm and the coordinate system of the tray at the current moment according to the conversion relation between the coordinate system of the tray and the coordinate system of the visual sensor at the current moment and the conversion relation between the coordinate system of the visual sensor and the coordinate system of the mechanical arm;
And obtaining the pose of the central position under the mechanical arm coordinate system at the current moment according to the conversion relation between the mechanical arm coordinate system and the tray coordinate system at the current moment and the position of the central position under the mechanical arm coordinate system.
The invention also provides a calibration system of the mechanical arm quick-change device, which comprises:
the first acquisition module is used for acquiring a conversion relation between a visual sensor coordinate system and a mechanical arm coordinate system based on a marker arranged at the robot side of the quick-change device at the tail end of the mechanical arm;
The second acquisition module is used for acquiring the conversion relation between the visual sensor coordinate system and the tray coordinate system based on a plurality of positioning mark points which are arranged on the tray at the tool side of the quick-change device and are at least distributed on two planes of the tray; the tray coordinate system is a three-dimensional rectangular coordinate system established based on three coplanar and connected rectangular positioning mark points;
the third acquisition module is used for acquiring the conversion relation between the tray coordinate system and the mechanical arm coordinate system according to the conversion relation between the visual sensor coordinate system and the mechanical arm coordinate system and the conversion relation between the visual sensor coordinate system and the tray coordinate system;
The fourth acquisition module is used for acquiring the pose of the center position of the tool side of the quick-change device in the tray coordinate system;
And the processing module is used for obtaining the position of the central position under the mechanical arm coordinate system according to the pose and the conversion relation between the tray coordinate system and the mechanical arm coordinate system.
The invention also provides an electronic device, which comprises a memory, a processor and a computer program stored in the memory and capable of running on the processor, wherein the processor realizes the steps of the calibration method of the mechanical arm quick-change device according to any one of the above when executing the program.
According to the calibration method, the calibration system and the electronic equipment of the mechanical arm quick-change device, through the plurality of positioning mark points arranged on the tray of the tool side of the quick-change device, the conversion relation between the visual sensor coordinate system and the tray coordinate system constructed through the positioning mark points arranged on the tray is obtained, then the conversion relation between the tray coordinate system and the mechanical arm coordinate system is obtained based on the conversion relation between the visual sensor coordinate system and the mechanical arm coordinate system and the conversion relation between the visual sensor coordinate system and the tray coordinate system, finally the position of the center position of the tool side of the quick-change device in the tray coordinate system and the conversion relation between the tray coordinate system and the mechanical arm coordinate system can be obtained, the automatic calibration of the mechanical arm quick-change device is realized, and the labor and time cost are saved.
Drawings
In order to more clearly illustrate the invention or the technical solutions of the prior art, the following description will briefly explain the drawings used in the embodiments or the description of the prior art, and it is obvious that the drawings in the following description are some embodiments of the invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic flow chart of a calibration method of a quick change device of a mechanical arm;
FIG. 2 is a schematic view of an exemplary tray structure provided by the present invention;
FIG. 3 is a schematic view of an exemplary robotic arm according to the present invention;
FIG. 4 is a schematic diagram of a structure for obtaining coordinates of a positioning marker point on an example of a tray using a probe according to the present invention;
FIG. 5 is a schematic view of an exemplary quick-change bracket according to the present invention;
FIG. 6 is a schematic structural diagram of a calibration system of a quick-change device of a mechanical arm according to the present invention;
fig. 7 is a schematic structural diagram of an electronic device provided by the present invention.
Reference numerals:
1: a tray; 2: positioning a mark point; 3: a mechanical arm;
4: a marker; 5: positioning the marking component; 6: a probe;
7: a bracket is quickly replaced; 8: tracking the localization markers.
Detailed Description
For the purpose of making 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 the accompanying drawings, and it is apparent that the described embodiments are some embodiments of the present invention, not all embodiments. 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.
The following describes a calibration method of a quick-change device for a mechanical arm according to the present invention with reference to fig. 1 to 5, which is executed based on a computer or a combination of software and/or hardware therein; as shown in fig. 1, the method comprises the steps of:
101. And obtaining the conversion relation between the visual sensor coordinate system and the mechanical arm coordinate system based on the marker arranged at the robot side of the quick-change device at the tail end of the mechanical arm.
Specifically, by respectively acquiring the coordinates of the marker on the robot side of the quick-change device arranged at the tail end of the mechanical arm under the mechanical arm coordinate system and the coordinates under the visual sensor coordinate system, the relative relationship between the visual sensor coordinate system and the mechanical arm coordinate system can be obtained through the relationship between the two coordinates, specifically, the relationship matrix of the visual sensor coordinate system and the mechanical arm coordinate system
102. Based on a plurality of positioning mark points which are arranged on the tray at the tool side of the quick-change device and at least distributed on two planes of the tray, obtaining the conversion relation between the visual sensor coordinate system and the tray coordinate system; the tray coordinate system is a three-dimensional rectangular coordinate system established based on three coplanar and connected rectangular positioning mark points.
Specifically, the pallet coordinate system is constructed based on three coplanar and rectangular locating marker points arranged on the pallet surface. The positioning mark points may be holes, or the like in the tray, or may be a plurality of position points marked on the tray, for example: digging a plurality of spherical pits with different depths on the tray, and taking the sphere center of the spherical pits as a positioning mark point. Taking the tray 1 shown in fig. 2 as an example, a three-dimensional rectangular coordinate system is established by taking a point on a rectangular inflection point as an origin, connecting lines of the origin and other two points as an x axis and a y axis, and taking a direction vertical to the surface as a z axis, wherein each hole existing on the tray 1 can be used as a positioning mark point 2.
Further, when the calibration is performed, the mutual position of the positioning mark points on the tray and the coordinates of the center position of the tool side of the quick-change device under the tray coordinate system can be measured on the three-dimensional design model after the tray is fixed at a certain position in the visual range of the visual sensor, the coordinates of the positioning mark points under the visual sensor coordinate system can be obtained through the identification of the visual sensor, and the conversion relation between the visual sensor coordinate system and the tray coordinate system, namely the conversion matrix of the visual sensor coordinate system and the tray coordinate system can be obtained through the same coordinates of the positioning mark points under the visual sensor coordinate system and the coordinates under the tray coordinate system
103. And obtaining the conversion relation between the tray coordinate system and the mechanical arm coordinate system according to the conversion relation between the visual sensor coordinate system and the mechanical arm coordinate system and the conversion relation between the visual sensor coordinate system and the tray coordinate system.
In particular according toThe transformation matrix of the tray coordinate system and the mechanical arm coordinate system can be obtained according to
104. And acquiring the pose of the center position of the tool side of the quick-change device in the tray coordinate system.
Specifically, as described above, the coordinates of the center position of the tool side of the quick-change device in the tray coordinate system can be measured on the three-dimensional design model, and thus, the pose of the center position of the tool side of the quick-change device in the tray coordinate systemIt is also known that it can be obtained by direct acquisition.
105. And obtaining the position of the central position under the mechanical arm coordinate system according to the transformation relation between the pose and the tray coordinate system and between the tray coordinate system and the mechanical arm coordinate system.
In particular according toThe position of the center position under the mechanical arm coordinate system can be obtainedThe method comprises the steps of obtaining a conversion relation between a vision sensor coordinate system and a tray coordinate system through a plurality of positioning mark points arranged on a tray at the tool side of the quick-change device, obtaining a conversion relation between the tray coordinate system and the robot coordinate system based on the conversion relation between the vision sensor coordinate system and the robot coordinate system and the conversion relation between the vision sensor coordinate system and the tray coordinate system, and finally obtaining the position of the center position in the robot coordinate system based on the pose of the center position of the tool side of the quick-change device in the tray coordinate system and the conversion relation between the tray coordinate system and the robot coordinate system, so that the automatic calibration of the robot quick-change device is realized, and the labor and time cost are saved.
In an embodiment of the present invention, the obtaining the conversion relationship between the vision sensor coordinate system and the mechanical arm coordinate system based on the marker on the robot side of the quick-change device disposed at the end of the mechanical arm includes:
respectively acquiring coordinates of the marker under a visual sensor coordinate system and a mechanical arm coordinate system;
and obtaining the conversion relation between the visual sensor coordinate system and the mechanical arm coordinate system according to the coordinates of the marker under the visual sensor coordinate system and the mechanical arm coordinate system.
According to the calibration method of the quick-change device of the mechanical arm, the conversion relation between the coordinate system of the visual sensor and the coordinate system of the mechanical arm is obtained based on the marker arranged at the robot side of the quick-change device at the tail end of the mechanical arm, and the method further comprises the following steps:
Acquiring coordinates of the marker in a visual sensor coordinate system and a mechanical arm coordinate system respectively and simultaneously based on a plurality of non-coplanar position points, which are moved to by the marker, in the visual field range of the visual sensor;
And obtaining the conversion relation between the visual sensor coordinate system and the mechanical arm coordinate system through spatial registration according to the coordinates of the marker under the visual sensor coordinate system and the mechanical arm coordinate system.
It will be appreciated that the marker on the robot side of the quick-assembly device disposed at the distal end of the mechanical arm should be a marker that can be recognized by the vision sensor, and when the marker is within the visual range of the vision sensor, for example, the marker 4 disposed on the distal tool side of the mechanical arm 3 as shown in fig. 3, the vision sensor can recognize the marker, so that the coordinate P Cam of the marker in the coordinate system of the vision sensor can be acquired by the vision sensor side. Meanwhile, when the TCP calibration is performed on the tool tail end of the mechanical arm, the TCP calibration is performed on the marker arranged on the robot side of the quick-mounting device at the tail end of the mechanical arm, so that the coordinate P Rbt of the marker under the coordinate system of the mechanical arm can be directly acquired.
Specifically, the spatial registration needs to reflect a point set of the three-dimensional spatial position relationship, based on this, coordinates of a plurality of non-coplanar position points that are moved to by dragging the tail end of the mechanical arm in the visual field of the visual sensor need to be acquired respectively, and then according to P Cam and P Rbt, the conversion relationship between the visual sensor coordinate system and the mechanical arm coordinate system can be obtained through the spatial registration.
More specifically, taking the SVD algorithm as an example, the number of positions to which the marker is moved is not less than 4, and at least 1 position point is not on the same plane as the other three position points, that is, a three-dimensional spatial position relationship, namely, a conversion matrix, can be obtained
In an embodiment of the present invention, after the obtaining the conversion relation between the vision sensor coordinate system and the mechanical arm coordinate system, the method further includes:
Calculating to obtain calibration coordinates of the marker under the visual sensor coordinate system at each position point according to the conversion relation between the visual sensor coordinate system and the mechanical arm coordinate system and the acquired coordinates of the marker under the mechanical arm coordinate system;
Obtaining a marker calibration error of the marker under the visual sensor coordinate system according to the calibration coordinates of the marker under the visual sensor coordinate system of each position point and the acquired coordinates of the marker under the visual sensor coordinate system of the corresponding position point;
Comparing the marker calibration error with a preset first error threshold, and re-acquiring coordinates of the marker under a visual sensor coordinate system and a mechanical arm coordinate system when the marker calibration error exceeds the first error threshold.
Specifically, by acquiring the marker calibration error, the accuracy of calibrating the mechanical arm quick-change device can be further ensured.
More specifically, byAnd the coordinates of the marker in the mechanical arm coordinate system can be calculated to obtain the calibration coordinates of the marker in the visual sensor coordinate system, and the actual coordinates of the marker in the visual sensor coordinate system can be obtained by collecting the coordinates of the marker in the mechanical arm coordinate system, ifThe ideal precision can be achieved, the calibration coordinates and the actual coordinates should be the same, but in the actual calibration, even if the calibration precision is high, the two coordinates cannot be completely the same, so that the calibration method can be verified whether to be feasible or not and whether the calibration precision meets the use requirement or not through the verification of the calibration error.
Further, the method for calculating the marker calibration error can be obtained by calculating the Euclidean distance between the calibration coordinates and the actual coordinates and then calculating the root mean square error of the marker.
Namely: first, according toAnd obtaining a calibration coordinate P cam_new of the marker in the visual sensor coordinate system at each position point, obtaining an European distance err i between the calibration coordinate of the position point i and the actual coordinate according to err i＝|Pcam_newi-Pcami I, and finally obtaining a marker calibration error rmse1 according to the following formula 1.
Where n is the total number of location points.
In one example, the transformation matrices of the five sets of robot arm coordinate systems and the vision sensor coordinate systems are calculated, resulting in five sets of marker calibration errors, respectively, as shown in table 1 below:
table 1 marker calibration error
| Sequence number | Marker calibration error (mm) |
| 1 | 0.144463 |
| 2 | 0.206364 |
| 3 | 0.193419 |
| 4 | 0.182575 |
| 5 | 0.134940 |
| Average of | 0.1723522 |
As can be seen from table 1, the calibration errors of the conversion matrices of the vision sensor coordinate system and the mechanical arm coordinate system obtained by the method according to the embodiment of the present invention are small, and do not exceed the set first error threshold (typically set to 0.5 mm), which also reflects the stability and accuracy of the method according to the embodiment of the present invention from the side.
In an embodiment of the present invention, the obtaining the conversion relationship between the vision sensor coordinate system and the tray coordinate system based on a plurality of positioning mark points disposed on the tool side tray of the quick-change device and at least distributed on two planes of the tray includes:
Collecting coordinates of a plurality of positioning mark points under a visual sensor coordinate system;
Based on the position relation among the positioning mark points, coordinates of a plurality of positioning mark points under the tray coordinate system are respectively obtained;
And obtaining the conversion relation between the visual sensor coordinate system and the tray coordinate system through spatial registration according to the coordinates of the positioning mark points under the visual sensor coordinate system and the coordinates of the positioning mark points under the tray coordinate system.
Specifically, according to the above embodiment of the present invention, as shown in fig. 4, the probe 6 with the positioning mark member 5 capable of being recognized by the vision sensor to the tip position is used to collect the coordinates P Cam2 of the positioning mark points 2 on the tray 1 under the vision sensor space, then the coordinates P Tray of the positioning mark points 2 under the tray coordinate system can be obtained according to the positional relationship between the positioning mark points 2 on the tray 1, and finally the spatial registration is performed, for example: SVD algorithm, can obtain
In one embodiment of the invention, the tool-side tray is based on a tool-side tray provided on the quick-change device, and a plurality of positioning mark points distributed on at least two planes of the tray, after obtaining the conversion relation between the vision sensor coordinate system and the tray coordinate system, the method further comprises:
Calculating to obtain calibration coordinates of each positioning mark point under the visual sensor coordinate system according to the conversion relation between the visual sensor coordinate system and the tray coordinate system and the acquired coordinates of the positioning mark point under the tray coordinate system;
obtaining positioning mark point calibration errors of the positioning mark points under the visual sensor coordinate system according to the calibration coordinates of the positioning mark points under the visual sensor coordinate system and the acquired coordinates of the corresponding positioning mark points under the visual sensor coordinate system;
comparing the calibration error of the positioning mark point with a preset second error threshold value, and collecting the coordinates of each positioning mark point under the vision sensor coordinate system again when the calibration error of the positioning mark point exceeds the second error threshold value.
Specifically, by acquiring the calibration error of the positioning mark point, the accuracy of calibrating the mechanical arm quick-change device can be further ensured.
More specifically, byAnd P Tray can calculate and obtain the calibration coordinates of each positioning mark point under the coordinate system of the tray, and the actual coordinates of the positioning mark point under the coordinate system of the vision sensor can be obtained by collecting the calibration coordinates per se, ifThe ideal precision can be achieved, the calibration coordinates and the actual coordinates should be the same, but in the actual calibration, even if the calibration precision is high, the two coordinates cannot be completely the same, so that the calibration method can be verified whether to be feasible or not and whether the calibration precision meets the use requirement or not through the verification of the calibration error.
Further, the method for calculating the calibration error of the positioning mark point can be obtained by calculating the Euclidean distance between the calibration coordinate and the actual coordinate and then calculating the root mean square error of the positioning mark point.
Namely: first, according toAnd obtaining a calibration coordinate P Tray_new of each positioning mark point under the visual sensor coordinate system, obtaining the Euclidean distance err j between the calibration coordinate of the positioning mark point j and the actual coordinate according to err j＝|PTray_newj-Pcam2j I, and finally obtaining the positioning mark point calibration error rmse according to the following formula 2.
Wherein k is the total number of the positioning mark points.
In one example, the transformation matrices of the five sets of tray coordinate systems and the visual sensor coordinate systems are calculated, resulting in five sets of positioning mark point calibration errors, respectively, as shown in table 2 below:
table 2 error in calibration of the location marker points
| Sequence number | Calibration error (mm) of positioning mark point |
| 1 | 0.170593 |
| 2 | 0.244145 |
| 3 | 0.249262 |
| 4 | 0.240043 |
| 5 | 0.299055 |
| Average of | 0.2406196 |
As can be seen from table 2, the calibration errors of the transformation matrices of the tray coordinate system and the vision sensor coordinate system obtained by the method according to the embodiment of the present invention are small, and do not exceed the set second error threshold (generally set to 0.5 mm), which also reflects the stability and accuracy of the method according to the embodiment of the present invention from the side, and further, the accuracy of the transformation relationship of the mechanical arm coordinate system and the vision sensor coordinate system obtained by the embodiment of the present invention by using the transformation relationship of the mechanical arm coordinate system and the vision sensor coordinate system and the transformation relationship of the tray coordinate system and the vision sensor coordinate system is ensured.
In an embodiment of the present invention, after obtaining the position of the center position under the mechanical arm coordinate system according to the transformation relation between the pose and the tray coordinate system and the mechanical arm coordinate system, the method further includes:
acquiring the pose of a tracking and positioning marker on a quick-change bracket arranged on the tool side of the quick-change device in real time under a visual sensor coordinate system;
According to the pose of the tracking and positioning marker under the visual sensor coordinate system at the previous moment and the current moment, the pose change of the tracking and positioning marker under the visual sensor coordinate system at the current moment is obtained compared with the pose change of the tracking and positioning marker under the visual sensor coordinate system at the previous moment;
And obtaining the pose of the central position under the mechanical arm coordinate system at the current moment according to the pose change of the tracking and positioning marker under the visual sensor coordinate system and the position of the central position under the mechanical arm coordinate system.
Specifically, when the mechanical arm quick-change device is in practical application, because of factors such as fine vibration of the ground and taking and placing of the mechanical arm on the quick-mounting bracket, fine change of the position of the quick-change bracket is likely to occur, fine displacement is likely to cause deviation of the position of the mechanical arm taking and placing tool, and further, the taking and placing failure of the tool is likely to occur. Therefore, in the above embodiment of the present invention, as shown in fig. 5, by collecting the pose of the tracking and positioning marker 8 disposed on the quick-change bracket 7 under the coordinate system of the vision sensor in real time, and comparing the pose at the current time with the pose at the previous time, the pose of the center position under the coordinate system of the mechanical arm at the current time is obtained by using the determined pose change and the position of the center position under the coordinate system of the mechanical arm, that is, the pose of the tool side of the quick-change device under the space of the mechanical arm after the motion compensation of the mechanical arm is obtained, so as to improve the real-time calibration accuracy of the mechanical arm and the quick-change bracket.
It will be appreciated that the tracking markers should be located on the quick change holder in a position that is within the field of view of the vision sensor and that does not affect the proper operation of the quick change device.
In one embodiment of the present invention, the obtaining, according to the pose change of the tracking and positioning marker under the vision sensor coordinate system and the position of the center position under the mechanical arm coordinate system, the pose of the center position under the mechanical arm coordinate system at the current moment includes:
Obtaining a conversion relation between the tracking and positioning marker coordinate system and the tray coordinate system according to the pose of the tracking and positioning marker under the vision sensor coordinate system at the last moment and the conversion relation between the vision sensor coordinate system and the tray coordinate system;
Obtaining the pose change of the tray at the current moment according to the conversion relation between the tracking and positioning marker coordinate system and the tray coordinate system and the pose change of the tracking and positioning marker under the vision sensor coordinate system;
Obtaining the conversion relation between the tray coordinate system and the vision sensor coordinate system at the current moment according to the pose change of the tray and the conversion relation between the vision sensor coordinate system and the tray coordinate system;
Obtaining the conversion relation between the coordinate system of the mechanical arm and the coordinate system of the tray at the current moment according to the conversion relation between the coordinate system of the tray and the coordinate system of the visual sensor at the current moment and the conversion relation between the coordinate system of the visual sensor and the coordinate system of the mechanical arm;
And obtaining the pose of the central position under the mechanical arm coordinate system at the current moment according to the conversion relation between the mechanical arm coordinate system and the tray coordinate system at the current moment and the position of the central position under the mechanical arm coordinate system.
Specifically, according to the following formula 3, the pose change of the tracking and positioning marker in the visual sensor coordinate system at the current moment compared with the last moment is calculated
Wherein, AndAnd the positions of the tracking and positioning markers at the current moment and the last moment are respectively in a visual sensor coordinate system.
Obtaining the conversion relation between the tracking and positioning marker coordinate system and the tray coordinate system according to the following formula 4
Obtaining the position change of the tray at the current moment according to the following formula 5
Obtaining the conversion relation between the tray coordinate system and the vision sensor coordinate system at the current moment according to the following formula 6
Obtaining the conversion relation between the mechanical arm coordinate system and the tray coordinate system at the current moment according to the following formula 7
Obtaining the pose of the center position in the mechanical arm coordinate system at the current moment according to the following formula 8
According to the calibration method of the mechanical arm quick-change device, a tray coordinate system is established through the tray with the positioning mark points, the conversion relation between the space of the visual sensor and the space of the mechanical arm is established through the tracking positioning mark on the robot side of the quick-change device, and then the conversion relation between the space of the visual sensor and the space of the tray is established through the positioning mark point coordinates on the quick-change bracket tray, so that the conversion relation between the space of the tray and the space of the mechanical arm can be obtained. Meanwhile, through the tracking and positioning markers arranged on the quick-change bracket, the vision sensor can detect the position of the quick-change bracket in real time, and the position of the tool side of the quick-change device can be obtained by the mechanical arm in real time through feeding back the position of the quick-change bracket to the mechanical arm in real time according to the space conversion relation. Compared with the prior art, the invention saves labor and time cost, improves the flexibility of placing the quick-change device, and can lead the mechanical arm to work in more working scenes.
The calibration system of the quick-change device for the mechanical arm provided by the invention is described below with reference to fig. 6, and the calibration system of the quick-change device for the mechanical arm described below and the calibration method of the quick-change device for the mechanical arm described above can be referred to correspondingly.
As shown in fig. 6, the system includes a first acquisition module 610, a second acquisition module 620, a third acquisition module 630, a fourth acquisition module 640, and a processing module 650; wherein,
The first obtaining module 610 is configured to obtain a conversion relationship between a vision sensor coordinate system and a mechanical arm coordinate system based on a marker on a robot side of a quick-change device disposed at a distal end of the mechanical arm;
The second obtaining module 620 is configured to obtain a conversion relationship between the vision sensor coordinate system and the tray coordinate system based on a plurality of positioning mark points that are disposed on the tool side tray of the quick-change device and are at least distributed on two planes of the tray; the tray coordinate system is a three-dimensional rectangular coordinate system established based on three coplanar and connected rectangular positioning mark points;
The third obtaining module 630 is configured to obtain a conversion relationship between the tray coordinate system and the mechanical arm coordinate system according to the conversion relationship between the vision sensor coordinate system and the mechanical arm coordinate system and the conversion relationship between the vision sensor coordinate system and the tray coordinate system;
the fourth obtaining module 640 is configured to collect a pose of a center position of the tool side of the quick-change device in the tray coordinate system;
the processing module 650 is configured to obtain a position of the center position under the mechanical arm coordinate system according to the pose and the transformation relationship between the tray coordinate system and the mechanical arm coordinate system.
The calibration system of the mechanical arm quick-change device provided by the invention obtains the conversion relation between the visual sensor coordinate system and the tray coordinate system through the plurality of positioning mark points arranged on the tool side tray of the quick-change device, then obtains the conversion relation between the tray coordinate system and the mechanical arm coordinate system based on the conversion relation between the visual sensor coordinate system and the mechanical arm coordinate system and the conversion relation between the visual sensor coordinate system and the tray coordinate system, and finally obtains the position of the center position under the mechanical arm coordinate system based on the pose of the center position of the tool side of the quick-change device in the tray coordinate system and the conversion relation between the tray coordinate system and the mechanical arm coordinate system, thereby realizing automatic calibration of the mechanical arm quick-change device and saving manpower and time cost.
The calibration system of the mechanical arm quick-change device provided by the embodiment of the invention is used for signing the calibration method of the mechanical arm quick-change device of each embodiment. The specific method and flow for implementing the corresponding functions by each module included in the calibration system of the mechanical arm quick-change device are detailed in the embodiment of the calibration method of the mechanical arm quick-change device, and are not repeated herein.
The calibration system of the mechanical arm quick-change device is used for calibrating the mechanical arm quick-change device in the previous embodiments. Therefore, the description and definition in the calibration method of the mechanical arm quick-change device in the foregoing embodiments may be used for understanding each execution module in the embodiments of the present invention.
Fig. 7 illustrates a physical schematic diagram of an electronic device, as shown in fig. 7, which may include: processor 710, communication interface (Communications Interface) 720, memory 730, and communication bus 740, wherein processor 710, communication interface 720, memory 730 communicate with each other via communication bus 740. The processor 710 may invoke logic instructions in the memory 730 to perform a method for calibrating a robotic quick-change device, the method comprising: obtaining a conversion relation between a visual sensor coordinate system and a mechanical arm coordinate system based on a marker arranged on the robot side of the quick-change device; based on a plurality of positioning mark points which are arranged on the tray at the tool side of the quick-change device and at least distributed on two planes of the tray, obtaining the conversion relation between the visual sensor coordinate system and the tray coordinate system; the tray coordinate system is a three-dimensional rectangular coordinate system established based on three coplanar and connected rectangular positioning mark points; obtaining the conversion relation between the tray coordinate system and the mechanical arm coordinate system according to the conversion relation between the visual sensor coordinate system and the mechanical arm coordinate system and the conversion relation between the visual sensor coordinate system and the tray coordinate system; collecting the pose of the center position of the tool side of the quick change device in the tray coordinate system; and obtaining the position of the central position under the mechanical arm coordinate system according to the transformation relation between the pose and the tray coordinate system and between the tray coordinate system and the mechanical arm coordinate system.
Further, the logic instructions in the memory 730 described above may be implemented in the form of software functional units and may be stored in a computer readable storage medium when sold or used as a stand alone product. Based on this understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a personal computer, a server, a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a usb disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
In another aspect, the present invention also provides a computer program product comprising a computer program stored on a non-transitory computer readable storage medium, the computer program comprising program instructions which, when executed by a computer, enable the computer to perform a method for calibrating a robotic quick-change device provided by the above methods, the method comprising: obtaining a conversion relation between a visual sensor coordinate system and a mechanical arm coordinate system based on a marker arranged on the robot side of the quick-change device; based on a plurality of positioning mark points which are arranged on the tray at the tool side of the quick-change device and at least distributed on two planes of the tray, obtaining the conversion relation between the visual sensor coordinate system and the tray coordinate system; the tray coordinate system is a three-dimensional rectangular coordinate system established based on three coplanar and connected rectangular positioning mark points; obtaining the conversion relation between the tray coordinate system and the mechanical arm coordinate system according to the conversion relation between the visual sensor coordinate system and the mechanical arm coordinate system and the conversion relation between the visual sensor coordinate system and the tray coordinate system; collecting the pose of the center position of the tool side of the quick change device in the tray coordinate system; and obtaining the position of the central position under the mechanical arm coordinate system according to the transformation relation between the pose and the tray coordinate system and between the tray coordinate system and the mechanical arm coordinate system.
In still another aspect, the present invention further provides a non-transitory computer readable storage medium, on which a computer program is stored, the computer program, when executed by a processor, implementing a calibration method for a quick-change device for a mechanical arm provided by the above methods, where the method includes: obtaining a conversion relation between a visual sensor coordinate system and a mechanical arm coordinate system based on a marker arranged on the robot side of the quick-change device; based on a plurality of positioning mark points which are arranged on the tray at the tool side of the quick-change device and at least distributed on two planes of the tray, obtaining the conversion relation between the visual sensor coordinate system and the tray coordinate system; the tray coordinate system is a three-dimensional rectangular coordinate system established based on three coplanar and connected rectangular positioning mark points; obtaining the conversion relation between the tray coordinate system and the mechanical arm coordinate system according to the conversion relation between the visual sensor coordinate system and the mechanical arm coordinate system and the conversion relation between the visual sensor coordinate system and the tray coordinate system; collecting the pose of the center position of the tool side of the quick change device in the tray coordinate system; and obtaining the position of the central position under the mechanical arm coordinate system according to the transformation relation between the pose and the tray coordinate system and between the tray coordinate system and the mechanical arm coordinate system.
The apparatus embodiments described above are merely illustrative, wherein the elements illustrated as separate elements may or may not be physically separate, and the elements shown as elements may or may not be physical elements, may be located in one place, or may be distributed over a plurality of network elements. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art will understand and implement the present invention without undue burden.
From the above description of the embodiments, it will be apparent to those skilled in the art that the embodiments may be implemented by means of software plus necessary general hardware platforms, or of course may be implemented by means of hardware. Based on this understanding, the foregoing technical solution may be embodied essentially or in a part contributing to the prior art in the form of a software product, which may be stored in a computer readable storage medium, such as ROM/RAM, a magnetic disk, an optical disk, etc., including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the method described in the respective embodiments or some parts of the embodiments.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (5)
1. The calibration method of the mechanical arm quick-change device is characterized by comprising the following steps of:
obtaining a conversion relation between a visual sensor coordinate system and a mechanical arm coordinate system based on a marker arranged at the robot side of the quick-change device at the tail end of the mechanical arm;
Based on a plurality of positioning mark points which are arranged on the tray at the tool side of the quick-change device and at least distributed on two planes of the tray, obtaining the conversion relation between the visual sensor coordinate system and the tray coordinate system; the tray coordinate system is a three-dimensional rectangular coordinate system established based on three coplanar and connected rectangular positioning mark points;
Obtaining the conversion relation between the tray coordinate system and the mechanical arm coordinate system according to the conversion relation between the visual sensor coordinate system and the mechanical arm coordinate system and the conversion relation between the visual sensor coordinate system and the tray coordinate system;
Collecting the pose of the center position of the tool side of the quick change device in the tray coordinate system;
Obtaining the position of the center position under the mechanical arm coordinate system according to the transformation relation between the pose and the tray coordinate system and the mechanical arm coordinate system;
based on the marker arranged at the robot side of the quick-change device at the tail end of the mechanical arm, the conversion relation between the coordinate system of the visual sensor and the coordinate system of the mechanical arm is obtained, and the method comprises the following steps:
respectively acquiring coordinates of the marker under a visual sensor coordinate system and a mechanical arm coordinate system;
obtaining a conversion relation between the visual sensor coordinate system and the mechanical arm coordinate system according to the coordinates of the marker under the visual sensor coordinate system and the mechanical arm coordinate system;
based on the marker arranged at the robot side of the quick-change device at the tail end of the mechanical arm, the conversion relation between the coordinate system of the visual sensor and the coordinate system of the mechanical arm is obtained, and the method further comprises the following steps:
Acquiring coordinates of the marker in a visual sensor coordinate system and a mechanical arm coordinate system respectively and simultaneously based on a plurality of non-coplanar position points, which are moved to by the marker, in the visual field range of the visual sensor;
obtaining the conversion relation between the visual sensor coordinate system and the mechanical arm coordinate system through spatial registration according to the coordinates of the marker under the visual sensor coordinate system and the mechanical arm coordinate system;
After the conversion relation between the vision sensor coordinate system and the mechanical arm coordinate system is obtained, the method further comprises the following steps:
Calculating to obtain calibration coordinates of the marker under the visual sensor coordinate system at each position point according to the conversion relation between the visual sensor coordinate system and the mechanical arm coordinate system and the acquired coordinates of the marker under the mechanical arm coordinate system;
Obtaining a marker calibration error of the marker under the visual sensor coordinate system according to the calibration coordinates of the marker under the visual sensor coordinate system of each position point and the acquired coordinates of the marker under the visual sensor coordinate system of the corresponding position point;
Comparing the marker calibration error with a preset first error threshold, and re-acquiring coordinates of the marker under a visual sensor coordinate system and a mechanical arm coordinate system when the marker calibration error exceeds the first error threshold;
based on set up in quick change device instrument side tray, and at least distribute in a plurality of location marking points on two planes of tray, obtain the conversion relation of vision sensor coordinate system and tray coordinate system includes:
Collecting coordinates of a plurality of positioning mark points under a visual sensor coordinate system;
Based on the position relation among the positioning mark points, coordinates of a plurality of positioning mark points under the tray coordinate system are respectively obtained;
Obtaining a conversion relation between the visual sensor coordinate system and the tray coordinate system through spatial registration according to the coordinates of the positioning mark points under the visual sensor coordinate system and the coordinates of the positioning mark points under the tray coordinate system;
based on set up in quick change device instrument side tray, and at least distribute in a plurality of location marking points on two planes of tray, after obtaining the conversion relation of vision sensor coordinate system and tray coordinate system still includes:
Calculating to obtain calibration coordinates of each positioning mark point under the visual sensor coordinate system according to the conversion relation between the visual sensor coordinate system and the tray coordinate system and the acquired coordinates of the positioning mark point under the tray coordinate system;
obtaining positioning mark point calibration errors of the positioning mark points under the visual sensor coordinate system according to the calibration coordinates of the positioning mark points under the visual sensor coordinate system and the acquired coordinates of the corresponding positioning mark points under the visual sensor coordinate system;
comparing the calibration error of the positioning mark point with a preset second error threshold value, and collecting the coordinates of each positioning mark point under the vision sensor coordinate system again when the calibration error of the positioning mark point exceeds the second error threshold value.
2. The calibration method of the quick-change device for a mechanical arm according to claim 1, wherein the obtaining the position of the center position under the mechanical arm coordinate system according to the pose and the conversion relation between the tray coordinate system and the mechanical arm coordinate system further comprises:
acquiring the pose of a tracking and positioning marker on a quick-change bracket arranged on the tool side of the quick-change device in real time under a visual sensor coordinate system;
According to the pose of the tracking and positioning marker under the visual sensor coordinate system at the previous moment and the current moment, the pose change of the tracking and positioning marker under the visual sensor coordinate system at the current moment is obtained compared with the pose change of the tracking and positioning marker under the visual sensor coordinate system at the previous moment;
And obtaining the pose of the central position under the mechanical arm coordinate system at the current moment according to the pose change of the tracking and positioning marker under the visual sensor coordinate system and the position of the central position under the mechanical arm coordinate system.
3. The calibration method of the quick-change device for a mechanical arm according to claim 2, wherein the obtaining, according to the pose change of the tracking and positioning marker in the vision sensor coordinate system and the position of the center position in the mechanical arm coordinate system, the pose of the center position in the mechanical arm coordinate system at the current moment includes:
Obtaining a conversion relation between the tracking and positioning marker coordinate system and the tray coordinate system according to the pose of the tracking and positioning marker under the vision sensor coordinate system at the last moment and the conversion relation between the vision sensor coordinate system and the tray coordinate system;
Obtaining the pose change of the tray at the current moment according to the conversion relation between the tracking and positioning marker coordinate system and the tray coordinate system and the pose change of the tracking and positioning marker under the vision sensor coordinate system;
Obtaining the conversion relation between the tray coordinate system and the vision sensor coordinate system at the current moment according to the pose change of the tray and the conversion relation between the vision sensor coordinate system and the tray coordinate system;
Obtaining the conversion relation between the coordinate system of the mechanical arm and the coordinate system of the tray at the current moment according to the conversion relation between the coordinate system of the tray and the coordinate system of the visual sensor at the current moment and the conversion relation between the coordinate system of the visual sensor and the coordinate system of the mechanical arm;
And obtaining the pose of the central position under the mechanical arm coordinate system at the current moment according to the conversion relation between the mechanical arm coordinate system and the tray coordinate system at the current moment and the position of the central position under the mechanical arm coordinate system.
4. Calibration system of arm quick change device, characterized in that includes:
the first acquisition module is used for acquiring a conversion relation between a visual sensor coordinate system and a mechanical arm coordinate system based on a marker arranged at the robot side of the quick-change device at the tail end of the mechanical arm;
The second acquisition module is used for acquiring the conversion relation between the visual sensor coordinate system and the tray coordinate system based on a plurality of positioning mark points which are arranged on the tray at the tool side of the quick-change device and are at least distributed on two planes of the tray; the tray coordinate system is a three-dimensional rectangular coordinate system established based on three coplanar and connected rectangular positioning mark points;
the third acquisition module is used for acquiring the conversion relation between the tray coordinate system and the mechanical arm coordinate system according to the conversion relation between the visual sensor coordinate system and the mechanical arm coordinate system and the conversion relation between the visual sensor coordinate system and the tray coordinate system;
The fourth acquisition module is used for acquiring the pose of the center position of the tool side of the quick-change device in the tray coordinate system;
The processing module is used for obtaining the position of the central position under the mechanical arm coordinate system according to the pose and the conversion relation between the tray coordinate system and the mechanical arm coordinate system;
The first acquisition module is specifically configured to simultaneously acquire coordinates of the marker in a visual sensor coordinate system and a mechanical arm coordinate system based on a plurality of non-coplanar position points, which are moved to by the marker, in a visual field range of the visual sensor; obtaining the conversion relation between the visual sensor coordinate system and the mechanical arm coordinate system through spatial registration according to the coordinates of the marker under the visual sensor coordinate system and the mechanical arm coordinate system; calculating to obtain calibration coordinates of the marker under the visual sensor coordinate system at each position point according to the conversion relation between the visual sensor coordinate system and the mechanical arm coordinate system and the acquired coordinates of the marker under the mechanical arm coordinate system; obtaining a marker calibration error of the marker under the visual sensor coordinate system according to the calibration coordinates of the marker under the visual sensor coordinate system of each position point and the acquired coordinates of the marker under the visual sensor coordinate system of the corresponding position point; comparing the marker calibration error with a preset first error threshold, and re-acquiring coordinates of the marker under a visual sensor coordinate system and a mechanical arm coordinate system when the marker calibration error exceeds the first error threshold;
The second acquisition module is specifically used for acquiring coordinates of a plurality of positioning mark points under a visual sensor coordinate system; based on the position relation among the positioning mark points, coordinates of a plurality of positioning mark points under the tray coordinate system are respectively obtained; obtaining a conversion relation between the visual sensor coordinate system and the tray coordinate system through spatial registration according to the coordinates of the positioning mark points under the visual sensor coordinate system and the coordinates of the positioning mark points under the tray coordinate system; after the conversion relation between the visual sensor coordinate system and the tray coordinate system is obtained based on a plurality of positioning mark points which are arranged on the tray at the tool side of the quick-change device and at least distributed on two planes of the tray, calculating to obtain the calibration coordinates of each positioning mark point under the visual sensor coordinate system according to the conversion relation between the visual sensor coordinate system and the tray coordinate system and the acquired coordinates of the positioning mark point under the tray coordinate system; obtaining positioning mark point calibration errors of the positioning mark points under the visual sensor coordinate system according to the calibration coordinates of the positioning mark points under the visual sensor coordinate system and the acquired coordinates of the corresponding positioning mark points under the visual sensor coordinate system; comparing the calibration error of the positioning mark point with a preset second error threshold value, and collecting the coordinates of each positioning mark point under the vision sensor coordinate system again when the calibration error of the positioning mark point exceeds the second error threshold value.
5. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor, when executing the computer program, realizes the steps of the calibration method of the manipulator quick change device according to any one of claims 1 to 3.
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| CN109591007A (en) * | 2017-09-30 | 2019-04-09 | 北京柏惠维康科技有限公司 | A kind of robot space register method and device |
| CN110193849A (en) * | 2018-02-27 | 2019-09-03 | 北京猎户星空科技有限公司 | A kind of method and device of Robotic Hand-Eye Calibration |
| CN111360832A (en) * | 2020-03-18 | 2020-07-03 | 南华大学 | Method for improving remote butt joint precision of break-in robot tail end tool |
| CN113334393A (en) * | 2021-08-06 | 2021-09-03 | 成都博恩思医学机器人有限公司 | Mechanical arm control method and system, robot and storage medium |
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