一种机器人视觉系统非接触式手眼标定方法

Non-contact hand-eye calibration method for robot vision system

针对传统机器人视觉系统手眼标定方法存在人工定位特征点误差大和标定过程耗时长的问题,提出了一种机器人视觉系统非接触式手眼标定方法。采用圆锥体作为标定块,通过3D视觉传感器采集标定块图像,基于Halcon编写上位机程序对图像进行处理计算,自动获取3D视觉传感器坐标系下标定块特征点坐标,同时导入机器人基坐标系下的坐标,计算手眼关系变换矩阵,完成机器人视觉系统手眼关系标定。实验表明:此方法平均标定操作时间为6.47min,平面定位误差最大值为0.39mm,空间定位误差最大值为0.478mm,缩短了标定操作时间并提高了标定精度。

Aiming at the problem that the hand-eye calibration method of the traditional robot vision system has large error of manual positioning feature point and spends too much time,an non-contact hand-eye calibration method for robot vision system is proposed.The cone is used as the calibration block.The calibration block image is acquired by the 3D vision sensor.The image is processed and calculated by the program of the upper computer based on Halcon.The coordinate of the calibration block feature point in the coordinate of the 3D vision sensor is automatically acquired.As the same time,the coordinate of the base coordinate of the robot is also imported into.The hand-eye relationship transformation matrix is calculated,and the hand-eye relationship calibration of the robot vision system is completed.Experiments show that the average calibration operation time of this method is 6.47 min,the maximum plane positioning error is 0.39 mm,and the maximum spatial positioning error is 0.478 mm,which shortens the calibration operation time and improves the calibration accuracy.