自动上样系统的上样点自动标定方法

随着自动上样机器人在蛋白质晶体衍射实验线站的普及,对机器人上样位置的坐标标定成为线站日常维护不可避免的工作。该方法通过颜色提取和边缘检测,分别提取激光传感器光斑和测角头图像特征,并通过中值滤波进行噪点消除。通过霍夫圆检测及最小闭圆拟合算法定位圆心像素坐标后,利用相机内、外参矩阵和手眼关系矩阵得到对应的基坐标系下坐标。最后,根据激光光斑与测角头的视觉定位坐标偏差,对机械手进行位置补偿,提高定位精度,实现上样点的自动标定。

With the popularization of automounting robots in protein crystal diffraction experiment beamline stations, the coordinate calibration of the robot sample mounting position has become an inevitable task in the daily maintenance of the beamline station. In this method, the image features of the laser sensor spot and goniometer are extracted by color extraction and edge detection, respectively, and the noise is eliminated by median filtering. Then after locating the pixel coordinates of the center of the circle through the Hough circle detection and the minimum closed circle fitting algorithm, the coordinates in the base coordinate system are obtained using the camera internal and external parameter matrices and the hand-eye relationship matrix.Finally, according to the deviation of the laser spot and the visual positioning coordinate of the goniometer, the position of the robot is compensated to improve the positioning accuracy, and the automatic calibration of the sample point is realized.