Title:
HAND-EYE CALIBRATION METHOD AND SYSTEM FOR ROBOT VISION SYSTEM, AND TERMINAL AND MEDIUM
Document Type and Number:
WIPO Patent Application WO/2024/045274
Kind Code:
A1
Abstract:
A hand-eye calibration method and system for a robot vision system. The hand-eye calibration method for a robot vision system comprises: setting a workspace of a three-dimensional point cloud camera (S100); mounting a calibration sphere at the end of a robot, moving the calibration sphere into the workspace of the three-dimensional point cloud camera, controlling the position of the calibration sphere in the workspace, and calculating coordinates of the center of the calibration sphere in a robot coordinate system (S200); acquiring three-dimensional point cloud information of the calibration sphere in the workspace, and performing point cloud screening to obtain point cloud information of the calibration sphere (S300); extracting the calibration sphere according to the point cloud information of the calibration sphere, and acquiring coordinates of the center of the calibration sphere in a three-dimensional camera coordinate system (S400); and calculating a hand-eye calibration relationship between the camera and the robot according to the coordinates of the center of the calibration sphere in the camera coordinate system and the robot coordinate system each time, thus completing hand-eye calibration of a robot vision system (S500). The hand-eye calibration method for a robot vision system is easy to deploy, inexpensive, and widely used, and has significant implications for promoting the development of manufacturing industries, reducing production costs for enterprises and increasing the production efficiency.
More Like This:
Inventors:
ZHANG WENQING (CN)
FU AORAN (CN)
FU AORAN (CN)
Application Number:
PCT/CN2022/125016
Publication Date:
March 07, 2024
Filing Date:
October 13, 2022
Export Citation:
Assignee:
SHANGHAI PLATFORM FOR SMART MFG CO LTD (CN)
International Classes:
B25J9/16; B25J19/00
Foreign References:
| CN110116411A | 2019-08-13 | |||
| CN110355754A | 2019-10-22 | |||
| CN110355755A | 2019-10-22 | |||
| CN112091971A | 2020-12-18 | |||
| CN103925879A | 2014-07-16 | |||
| CN113362396A | 2021-09-07 | |||
| JP2022122648A | 2022-08-23 |
Attorney, Agent or Firm:
SHANGHAI HENGHUI INTELLECTUAL PROPERTY AGENCY (CN)
Download PDF: