CN109974584A - The calibration system and scaling method of a kind of auxiliary laser bone-culting operation robot - Google Patents
The calibration system and scaling method of a kind of auxiliary laser bone-culting operation robot Download PDFInfo
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Abstract
The invention discloses the calibration system and scaling method of a kind of auxiliary laser bone-culting operation robot, transfer matrix and tracking device coordinate system transfer matrix relative to camera coordinates system of the mechanical arm tail end coordinate system relative to robot basis coordinates system is obtained；Translation vector of the tool coordinates system relative to mechanical arm tail end coordinate system is solved, transfer matrix of the tool coordinates system relative to mechanical arm tail end coordinate system is established, obtains transfer matrix of the tool coordinates system relative to robot basis coordinates system, realize the tool calibration of robot；Translation vector of the tool coordinates system relative to tracking device coordinate system is solved, two groups of three-dimensional point sets of tool coordinates system origin are obtained, transfer matrix of the robot basis coordinates system relative to camera coordinates system is solved, realizes the hand and eye calibrating of robot.
Description
Technical field
This disclosure relates to Robot calibration field, and in particular to a kind of calibration system of auxiliary laser bone-culting operation robot
And scaling method.
Background technique
In recent years, operating robot technology clinically has been more and more widely used.Auxiliary laser bone-culting operation machine
Device people is a kind of Task Autonomous type operating robot that doctor can be helped to be automatically performed osteotomy according to preoperative planning during surgery.
It has many advantages, such as controllable precise, small to damaging surrounding tissue compared to traditional bone-culting operation instrument.Tool calibration and trick
Calibration is the important step assisted before the installation of bone-culting operation robot and operation, directly decides the positioning accuracy and hand of robot
Art effect.
Inventor has found that traditional scaling method relies on advanced measuring device more, and calibration process is multiple in R&D process
Miscellaneous, measuring device is expensive, and measurement accuracy relies heavily on the precision of measuring device, is difficult to it in practical operation
In effectively apply.And the existing scaling method by itself such as " four-point method ", " 6 methods " operating process complexity, stability
Difference is unable to satisfy clinical operation requirement.On the other hand, in auxiliary laser bone-culting operation robot system, for laser tool
Calibration, is the calibration to vacantly putting in this space of the effective ablation points of laser, belongs to contactless tool calibration, improve system
The difficulty of calibration.
Summary of the invention
In order to overcome the above-mentioned deficiencies of the prior art, present disclose provides a kind of marks of auxiliary laser bone-culting operation robot
Determine system and scaling method, can automatically and efficiently realize the tool and hand and eye calibrating of auxiliary laser bone-culting operation robot, mention
High stated accuracy.
Technical solution used by the disclosure is:
A kind of scaling method of auxiliary laser bone-culting operation robot, method includes the following steps:
Establish the coordinate system of robot, mechanical arm tail end, camera, tracking device and the tool positioned at mechanical arm tail end；
When acquisition tool emits center of the laser vertical irradiation to each plane of nominal volume and Jing Guo nominal volume, mechanical arm end
Coordinate system is held to turn relative to the transfer matrix and tracking device coordinate system of robot basis coordinates system relative to camera coordinates system
Move matrix；
Translation vector of the tool coordinates system relative to mechanical arm tail end coordinate system is solved, establishes tool coordinates system relative to machine
The transfer matrix of tool arm ending coordinates system；
By mechanical arm tail end coordinate system relative to robot basis coordinates system transfer matrix and tool coordinates system relative to machine
The transfer matrix of tool arm ending coordinates system is multiplied, and obtains transfer matrix of the tool coordinates system relative to robot basis coordinates system, real
The tool calibration of existing robot；
Translation vector of the tool coordinates system relative to tracking device coordinate system is solved, two groups of tool coordinates system origin are obtained
Three-dimensional point set solves transfer matrix of the robot basis coordinates system relative to camera coordinates system, realizes the hand and eye calibrating of robot.
As the further technical solution of the disclosure, the mechanical arm tail end coordinate system is relative to robot basis coordinates system
The acquisition methods of transfer matrix are as follows:
The tool that measurement is located at mechanical arm tail end emits laser vertical irradiation to the first plane of nominal volume and passes through nominal volume
Center when, distance of the tool to the nominal volume circumsphere centre of sphere；
When the distance measured be equal to laser ablation effective distance and nominal volume bounding polygon and when, obtain this opportunity
Position and posture information of the tool arm end-of-arm tooling central point relative to robot basis coordinates system form mechanical arm tail end coordinate system
First transfer matrix of { E } relative to robot basis coordinates system { B }
It repeats the above steps, until obtaining mechanical arm tail end coordinate system { E } second relative to robot basis coordinates system { B }
Transfer matrixThird transfer matrixWith the 4th transfer matrix
As the further technical solution of the disclosure, transfer square of the tracking device coordinate system relative to camera coordinates system
The acquisition methods of battle array are as follows:
The tool that measurement is located at mechanical arm tail end emits laser vertical irradiation to the first plane of nominal volume and passes through nominal volume
Center when, distance of the tool to the nominal volume circumsphere centre of sphere；
When the distance measured be equal to laser ablation effective distance and nominal volume bounding polygon and when, obtain tracking dress
Position and posture information of the coordinate system relative to camera coordinates system are set, forms tracking device coordinate system { D } relative to camera coordinates
It is first transfer matrix of { C }
It repeats the above steps, shifts square relative to the second of camera coordinates system { C } until obtaining tracking device coordinate system { D }
Battle arrayThird transfer matrixWith the 4th transfer matrix
As the further technical solution of the disclosure, translation of the tool coordinates system relative to mechanical arm tail end coordinate system
The method for solving of vector are as follows:
Establish the conversion relational expression of tool coordinates system { T }, mechanical arm tail end coordinate system { E }, robot basis coordinates system { B }；
Transfer matrix by mechanical arm tail end coordinate system { E } relative to robot basis coordinates system { B }Generation
Enter in conversion relational expression obtained above, obtains inconsistent linear equations；
The best least square solution that inconsistent linear equations are solved using singular value decomposition method, obtains tool coordinates system { T } phase
For the translation vector of mechanical arm tail end coordinate system { E }
The spin matrix principle of invariance of combination tool coordinate system { T } and mechanical arm tail end coordinate system { E } translation relation obtains
Transfer matrix of the tool coordinates system { T } relative to mechanical arm tail end coordinate system { E }
Transfer matrix by tool coordinates system { T } relative to mechanical arm tail end coordinate system { E }With mechanical arm tail end coordinate
It is the transfer matrix of { E } relative to robot basis coordinates system { B }It is multiplied, obtains tool coordinates system { T } relative to robot base
The transfer matrix of coordinate system { B }
Transfer matrix according to tool coordinates system { T } relative to robot basis coordinates system { B }Adjust mechanical arm tail end
Robot system tool calibration is realized in position and posture information of the tool center point relative to robot basis coordinates system.
As the further technical solution of the disclosure, the tool coordinates system is translated towards relative to tracking device coordinate system
The method for solving of amount are as follows:
Establish the conversion relational expression of tool coordinates system { T }, tracking device coordinate system { D }, camera coordinates system { C }；
Transfer matrix by tracking device coordinate system { D } relative to camera coordinates system { C }Substitute into above-mentioned obtain
To conversion relational expression in, obtain inconsistent linear equations；
The best least square solution that inconsistent linear equations are solved using singular value decomposition method, obtains tool coordinates system { T } phase
For the translation vector of tracking device coordinate system { D }
As the further technical solution of the disclosure, it is described obtain tool coordinates system origin two groups of three-dimensional point sets the step of
Include:
Translation vector according to tool coordinates system { T } relative to tracking device coordinate system { D }Coordinate origin will be tracked
Move to tool coordinates system origin；
The tool coordinates system origin for being located at space any position is obtained under robot basis coordinates system and camera coordinates system
Two groups of three-dimensional point sets.
As the further technical solution of the disclosure, the robot basis coordinates system that solves turns relative to camera coordinates system
Move matrix the step of include:
The spin matrix and tool coordinates system origin for defining robot basis coordinates system and camera coordinates system are in robot base
The function F between two groups of three-dimensional point sets under mark system and camera coordinates system；
The maximum value that function F is solved using the least square method based on singular value decomposition, it is opposite to obtain robot coordinate system
In the spin matrix of camera coordinates system；
The transformed mappings relationship of camera coordinates system is transformed to from robot basis coordinates system according to tool coordinates system origin, is calculated
Translational component of the robot basis coordinates system relative to camera coordinates system；
Based on robot basis coordinates system relative to camera coordinates system spin matrix and robot basis coordinates system relative to phase
The translational component of machine coordinate system obtains the transfer matrix of robot basis coordinates system and camera coordinates system；
According to the transfer matrix of robot basis coordinates system and camera coordinates system, control be mounted on the tool of mechanical arm tail end by
It is mobile according to the track of setting, while posture information of the tool relative to camera coordinates system is obtained, realize the hand and eye calibrating of system.
A kind of calibration system of auxiliary laser bone-culting operation robot, the system include robot system, vision system, mark
Determine device and processor；
The robot system makes tool emit laser vertical irradiation to each plane of caliberating device for manipulating mechanical arm
And the center Jing Guo nominal volume, transfer matrix of the mechanical arm tail end coordinate system relative to robot basis coordinates system is obtained, and upload
To processor；
The vision system emits laser vertical irradiation to each plane of nominal volume and by calibration dress for obtaining tool
When the center set, transfer matrix of the tracking device coordinate system relative to camera coordinates system, and it is uploaded to processor；
The processor includes that transfer matrix establishes module, robot tool demarcating module and Robotic Hand-Eye Calibration mould
Block；Wherein:
Whether the transfer matrix establishes module, meet for judging tool to the distance of the caliberating device circumsphere centre of sphere sharp
Light melt effective distance and caliberating device bounding polygon and, if satisfied, then obtaining mechanical arm tail end coordinate system relative to machine
Transfer matrix of the transfer matrix and tracking device coordinate system of device people's basis coordinates system relative to camera coordinates system；
The robot tool demarcating module, for solving translation of the tool coordinates system relative to mechanical arm tail end coordinate system
Vector establishes transfer matrix of the tool coordinates system relative to mechanical arm tail end coordinate system；By mechanical arm tail end coordinate system relative to
Transfer matrix of the transfer matrix of robot basis coordinates system with tool coordinates system relative to mechanical arm tail end coordinate system is multiplied, and obtains
Transfer matrix of the tool coordinates system relative to robot basis coordinates system, realizes the tool calibration of robot；
The Robotic Hand-Eye Calibration module, for solving tool coordinates system being translated towards relative to tracking device coordinate system
Amount, the translation vector according to tool coordinates system relative to tracking device coordinate system, two groups for obtaining tool coordinates system origin are three-dimensional
Point set solves transfer matrix of the robot basis coordinates system relative to camera coordinates system, realizes the hand and eye calibrating of robot.
As the further technical solution of the disclosure, the caliberating device is positive four sides marked body, positive four sides marked body
Four vertex are provided with tracking device, and the center of four planes of the positive four sides marked body is equipped with the aperture of light passing.
Through the above technical solutions, the beneficial effect of the disclosure is:
(1) system features of disclosure combination laser bone-culting operation robot devise a kind of effective specifically for laser
The caliberating device of ablation points, while realizing calibration of the contactless tool under robot coordinate system and camera coordinates system, energy
Enough substantially increase the stated accuracy of robot；And caliberating device is simple and easy, greatly reduces cost；
(2) scaling method that the disclosure proposes overcomes the problem of operated in accordance with conventional methods process complexity and stability difference, mentions
High calibration process the degree of automation, reduces the unnecessary error such as manual operation；
(3) disclosure is suitable for auxiliary laser bone-culting operation robot system, being capable of effectively accurately implementation tool calibration
And hand and eye calibrating, improve the degree of automation of robot.
Detailed description of the invention
The Figure of description for constituting a part of this disclosure is used to provide further understanding of the disclosure, and the disclosure is shown
Meaning property embodiment and its explanation do not constitute the improper restriction to the disclosure for explaining the application.
Fig. 1 is the positive four sides marked body structure chart of embodiment one；
Fig. 2 is the scaling method flow chart of two auxiliary laser bone-culting operation robot of embodiment；
Fig. 3 is embodiment three-coordinate structural schematic diagram.
Specific embodiment
The disclosure is described further with embodiment with reference to the accompanying drawing.
It is noted that following detailed description is all illustrative, it is intended to provide further instruction to the disclosure.Unless another
It indicates, all technical and scientific terms that the disclosure uses have logical with disclosure person of an ordinary skill in the technical field
The identical meanings understood.
It should be noted that term used herein above is merely to describe specific embodiment, and be not intended to restricted root
According to the illustrative embodiments of the application.As used herein, unless the context clearly indicates otherwise, otherwise singular
Also it is intended to include plural form, additionally, it should be understood that, when in the present specification using term "comprising" and/or " packet
Include " when, indicate existing characteristics, step, operation, device, component and/or their combination.
Explanation of nouns:
(1) TCP, Tool Center Point, tool center point.
Embodiment one
The present embodiment provides a kind of calibration system of auxiliary laser bone-culting operation robot, the caliberating device includes machine
People's system, vision system, caliberating device and processor, the robot system use existing auxiliary laser bone-culting operation machine
People's systems technology structure mainly includes sixdegree-of-freedom simulation and the laser tool etc. for being mounted on mechanical arm tail end.It is described
Vision system includes infrared stereoscopic camera, and the caliberating device is a positive four sides marked body.
Please refer to attached drawing 1, the caliberating device is positive four sides marked body, four vertex punishment of the positive four sides marked body
The tracking device of infrared reflecting ball is not installed, four planes of the positive four sides marked body are respectively adopted transparent material and are made,
The center calibration point of four planes of the marking tool is respectively equipped with the aperture of light passing, and laser may be implemented in a plane
Light passing aperture and perpendicular on the planar illumination to vertical angles, by control Laser emission position to one plane of marking tool
The distance of opposite apex angle, to ensure that the effective ablation points of the laser of multiple groups calibration point coincide with positive four sides marked body center.
The positive four sides marked body of the present embodiment is in the special symmetrical structure of positive tetrahedron, and it is uniform to can be realized calibration point acquisition
Robot pose is adjusted while distribution to greatest extent, improves the precision of self-calibration.
The laser that control robot manipulation's machinery arm emits laser source is from the center of first plane of marking tool
Light passing aperture be irradiated on the apex angle opposite with the plane, realize the laser vertical irradiation plane simultaneously by marking tool
The heart.
The robot system, for manipulate mechanical arm make tool emit laser vertical irradiation to each plane of nominal volume and
By the center of nominal volume, position and posture information of the mechanical arm tail end tcp relative to robot basis coordinates system are obtained, machine is formed
Tool arm ending coordinates system relative to robot basis coordinates system transfer matrix and be uploaded to processor.
The vision system emits laser vertical irradiation to each plane of nominal volume and by nominal volume for obtaining tool
Center when, position and posture information of the tracking device relative to camera coordinates system, formed tracking device coordinate system relative to phase
The transfer matrix of machine coordinate system, and it is uploaded to processor.
The processor, the processor include that transfer matrix establishes module, robot tool demarcating module and robot
Hand and eye calibrating module；Wherein:
The transfer matrix establishes module, for judging whether tool meets laser to the distance of the nominal volume circumsphere centre of sphere
Melt effective distance and nominal volume bounding polygon and, if satisfied, then obtaining mechanical arm tail end coordinate system relative to robot
Transfer matrix of the transfer matrix and tracking device coordinate system of basis coordinates system relative to camera coordinates system；
The robot tool demarcating module, for solving translation of the tool coordinates system relative to mechanical arm tail end coordinate system
Vector establishes transfer matrix of the tool coordinates system relative to mechanical arm tail end coordinate system；By mechanical arm tail end coordinate system relative to
Transfer matrix of the transfer matrix of robot basis coordinates system with tool coordinates system relative to mechanical arm tail end coordinate system is multiplied, and obtains
Transfer matrix of the tool coordinates system relative to robot basis coordinates system, realizes the tool calibration of robot；
The Robotic Hand-Eye Calibration module, for solving tool coordinates system being translated towards relative to tracking device coordinate system
Amount, the translation vector according to tool coordinates system relative to tracking device coordinate system, two groups for obtaining tool coordinates system origin are three-dimensional
Point set solves transfer matrix of the robot basis coordinates system relative to camera coordinates system, realizes the hand and eye calibrating of robot.
In the present embodiment, the robot system is specifically configured to:
The first calibration point at first planar central of nominal volume, makes end by the mechanical arm of robot system
The laser of tool transmitting is by the first planar central aperture of positive four sides nominal volume, and laser ranging institute's ranging meets pass from d
System: d=l+r obtains position and posture information of the mechanical arm tail end tcp relative to robot basis coordinates system at this time, is formed mechanical
Transfer matrix of the arm ending coordinates system { E } relative to robot basis coordinates system { B }
Ibid, for other three calibration points, end-of-arm tooling is obtained relative to robot basis coordinates by robot system
The position of system and posture information obtain transfer matrix of the mechanical arm tail end coordinate system { E } relative to robot basis coordinates system { B }
Specifically, the vision system is specifically configured to:
The first calibration point at first planar central of nominal volume, makes end by the mechanical arm of robot system
The laser of tool transmitting is by the first planar central aperture of positive four sides nominal volume, and laser ranging institute's ranging meets pass from d
System: d=l+r obtains position and posture information of the tracking device relative to camera coordinates system at this time, forms tracking device coordinate system
The transfer matrix of { D } relative to camera coordinates system { C }
Ibid, for other three calibration points, by the infrared stereoscopic camera of vision system obtain tracking device relative to
The position of camera coordinates system and posture information obtain transfer matrix of the tracking device coordinate system { D } relative to camera coordinates system { C }
Specifically, the robot tool demarcating module is specifically configured to:
The mechanical arm tail end coordinate system { E } for 4 mark points that robot system is obtained is relative to robot basis coordinates system
The transfer matrix of { B }The conversion relational expression for substituting into robot tool calibration, obtains inconsistent linear equations, adopts
Most probable of the equation group under least square method meaning is solved close to solution with singular value decomposition method (SVD), obtains tool coordinates
It is the translation vector of { T } relative to mechanical arm tail end coordinate system { E }
In conjunction with the spin matrix principle of invariance of translation relation, based on tool coordinates system { T } relative to mechanical arm tail end coordinate
It is the translation vector of { E }Obtain transfer matrix of the tool coordinates system { T } relative to mechanical arm tail end coordinate system { E }
Transfer matrix by mechanical arm tail end coordinate system { E } relative to robot basis coordinates system { B }With tool coordinates system
The transfer matrix of { T } relative to mechanical arm tail end coordinate system { E }It is multiplied, obtains tool coordinates system { T } relative to robot base
The transfer matrix of coordinate system { B }Realize the tool calibration of robot.
The Robotic Hand-Eye Calibration module is specifically configured to:
The tracking device coordinate system { D } for 4 mark points that robot system is obtained turns relative to camera coordinates system { C }
Move matrixThe conversion relational expression for substituting into robot tool calibration, obtains inconsistent linear equations, use is unusual
It is worth decomposition method (SVD) and solves most probable of the equation group under least square method meaning close to solution, obtains tool coordinates system { T } phase
For the translation vector of tracking device coordinate system { D }
Translation vector according to tool coordinates system { T } relative to tracking device coordinate system { D }Infrared stereoscopic camera is obtained
The origin translation of the tracking device taken is to tool coordinates system origin, so that the position of tool coordinates system origin can be read directly in camera
Confidence breath.
Operating robotic arm takes laser tool arbitrarily in space a little, obtains tool coordinates system origin and sits respectively in robot
Point set P under mark systemi(i=1 ... n) and camera coordinates system under point set P'i。
Hand and eye calibrating is realized by the least square solution fitting of two groups of three-dimensional point sets.
Embodiment two
The present embodiment provides a kind of scaling method of auxiliary laser bone-culting operation robot, this method is based on as described above
Auxiliary laser bone-culting operation robot caliberating device realize.
Please refer to attached drawing 2, the scaling method of auxiliary laser bone-culting operation robot the following steps are included:
The nominal volume and tracking device of auxiliary laser bone-culting operation robot is arranged in S101, adjusts Laser emission distance.
If robot basis coordinates system is { B }, mechanical arm tail end coordinate system is { E }, and camera coordinates system is { C }, tracking device
Coordinate system is { D }, and laser tool coordinate system is { T } (hereinafter referred to as tool coordinates system), and { T } is laser ablation available point as former
The coordinate system that point is established, please refers to attached drawing 3.
Specifically, in the step 101, the specific implementation for adjusting Laser emission distance is as follows:
The laser of measurement end-of-arm tooling transmitting is irradiated to and the plane from the center light passing aperture of a plane of nominal volume
Opposite vertex distance.If laser tool institute's ranging in end is from for d, laser ablation effective distance l and nominal volume circumsphere half
Diameter r, meets relationship: d=l+r.Judge whether the distance of measurement is equal to d, if being not equal to, control mechanical arm adjustment end-of-arm tooling hair
The distance for penetrating laser meets d.
S102 obtains the data information of four calibration points in nominal volume, including mechanical arm tail end coordinate system { E } is relative to machine
The transfer matrix of device people basis coordinates system { B }Tracking device coordinate system { D } is relative to camera coordinates system { C }
Transfer matrix
Specifically, the first calibration point at first planar central of nominal volume, passes through the machinery of robot system
The laser that arm emits end-of-arm tooling by the first planar central aperture of positive four sides nominal volume, and laser ranging institute's ranging from
D meets relationship: d=l+r, obtains position and posture information of the mechanical arm tail end tcp relative to robot basis coordinates system at this time, obtains
Transfer matrix to mechanical arm tail end coordinate system { E } relative to robot basis coordinates system { B }Pass through the infrared of vision system
Stereoscopic camera obtains position and posture information of the tracking device relative to camera coordinates system, obtains tracking device coordinate system { D } phase
For the transfer matrix of camera coordinates system { C }
Ibid, for other three calibration points, end-of-arm tooling is obtained relative to robot basis coordinates by robot system
The position of system and posture information obtain transfer matrix of the mechanical arm tail end coordinate system { E } relative to robot basis coordinates system { B }Position and posture of the tracking device relative to camera coordinates system are obtained by the infrared stereoscopic camera of vision system
Information obtains transfer matrix of the tracking device coordinate system { D } relative to camera coordinates system { C }
S103 solves the translation vector of tool coordinates system { T } relative to mechanical arm tail end coordinate system { E }And tool is sat
Translation vector of the mark system { T } relative to tracking device coordinate system { D }
Specifically, the mechanical arm tail end coordinate system { E } of 4 mark points robot system obtained is relative to robot base
The transfer matrix of coordinate system { B }The conversion relational expression for substituting into robot tool calibration, obtains incompatible equations
Group solves most probable of the equation group under least square method meaning close to solution using singular value decomposition method (SVD), obtains tool
Translation vector of the coordinate system { T } relative to mechanical arm tail end coordinate system { E }
Specifically, in the step 103, the translation of tool coordinates system { T } relative to mechanical arm tail end coordinate system { E } is solved
VectorDetailed process is as follows for it:
Tool coordinates system { T } is expressed as relative to the transfer matrix of robot basis coordinates system { B }Due to robot
Laser tool and tracking device are fixed in robot manipulation's machinery arm tail end connecting rod, so tool coordinates system { T } is opposite
In the position orientation relation of tail end connecting rod coordinate system { E }It is constant, i.e. rotational componentAnd translation vectorIt is constant.
Tracking device coordinate system { D } is expressed as relative to the transfer matrix of camera coordinates system { C }Due to calibration tool
Same as tracking device is to connect firmly relationship, so transfer matrix of the tool coordinates system { T } relative to tracking device coordinate system { D }
It is constant, i.e. rotational componentAnd translation vectorIt is constant.
The default Tool coordinate system { T } is obtained by mechanical arm tail end coordinate system { E } translation, then the posture of tool coordinates system
It is identical as the posture of mechanical arm tail end coordinate system.Complete robot tool coordinate system calibration, it is only necessary to seek tool coordinates system with
The translation vector of the transfer matrix of mechanical arm tail end coordinate system
Tool coordinates system { T }, mechanical arm tail end coordinate system { E }, robot basis coordinates system { B } coordinate system meet following conversion
Relationship:
Transformation square of the mechanical arm tail end coordinate system for i-th of calibration point that step 102 is obtained to robot basis coordinates system
Battle arraySubstitution formula (1) can obtainWrite as block form are as follows:
The 4th column for enabling both members be calculated are equal to each other, then:
For each calibration point, position vector of the tool coordinates system origin relative to robot basis coordinates system { B }It keeps not
Become.So, have for whole calibration points:
Write as matrix form are as follows:
Above formula is inconsistent linear equations, can find out translation vectorBest least square solution.
Specifically, above-mentioned inconsistent linear equations (5) are solved in least square method meaning with singular value decomposition method (SVD)
Under most probable close to solution, the specific implementation process is as follows:
It enablesSVD is carried out to A and decomposes A=U Λ VT, can be in the hope of the generalized inverse matrix A of A+=V
Λ+UT, wherein
Finally utilize A+The least square solution of inconsistent linear equations is sought, i.e.,
Turn for the tracking device coordinate system { D } for 4 mark points that vision system obtains relative to camera coordinates system { C }
Move matrixUsing method same as described above, tool coordinates system { T } is solved relative to tracking device coordinate
It is the translation vector of { D }It repeats no more in this application.
S104, in conjunction with the spin matrix principle of invariance of translation relation, based on tool coordinates system { T } relative to mechanical arm tail end
The translation vector of coordinate system { E }Obtain transfer matrix of the tool coordinates system { T } relative to mechanical arm tail end coordinate system { E }
In the present embodiment, tool coordinates system { T } is obtained by mechanical arm tail end coordinate system { E } translation, then tool is sat
The posture for marking system is identical as the posture of mechanical arm tail end coordinate system.In conjunction with the spin matrix principle of invariance of translation relation, can obtain
Obtain the transfer matrix of tool coordinates system { T } relative to mechanical arm tail end coordinate system { E }
S105, the transfer matrix by mechanical arm tail end coordinate system { E } relative to robot basis coordinates system { B }With tool
Transfer matrix of the coordinate system { T } relative to mechanical arm tail end coordinate system { E }It is multiplied, obtains tool coordinates system { T } relative to machine
The transfer matrix of device people basis coordinates system { B }Robot system is according to tool coordinates system { T } relative to robot basis coordinates system
The transfer matrix of { B }Mechanical arm tail end tool center point is adjusted to believe relative to the position of robot basis coordinates system and posture
Breath realizes robot system tool calibration.
Specifically, transfer matrix of the tool coordinates system { T } relative to robot basis coordinates system { B }Calculating it is public
Formula are as follows:
Transfer matrix of the robot system according to obtained tool coordinates system { T } relative to robot basis coordinates system { B }
Operating robotic arm adjusts position and the posture of end-of-arm tooling, realizes the tool calibration of robot.
S106 obtains two groups of three-dimensional informations of tool coordinates system origin.
Specifically, in the step 106, the specific implementation process of two groups of three-dimensional informations of tool coordinates system origin is obtained such as
Under:
Translation vector according to tool coordinates system { T } relative to tracking device coordinate system { D }Infrared stereoscopic camera is obtained
The origin translation of the tracking device taken is to tool coordinates system origin, so that the position of tool coordinates system origin can be read directly in camera
Confidence breath.
Operating robotic arm takes laser tool arbitrarily in space a little, obtains tool coordinates system origin in robot coordinate system
Under three-dimensional information Pi(i=1 ... n) and camera coordinates system under point set P'i。
S107 realizes hand and eye calibrating by the least square solution fitting of two groups of three-dimensional point sets.
Specifically, in the step 107, the tool of hand and eye calibrating is realized by the least square solution fitting of two groups of three-dimensional point sets
Body process is as follows:
(1) two groups of three-dimensional informations about tool coordinates system origin that step 106 obtains are respectively under robot coordinate system
Point set PiWith the point set P' under camera coordinates systemi, two groups of point sets meet following relationship:
P'i=RPi+t+ni(7)
Wherein, R is the spin matrix of robot coordinate system and camera coordinates system, and t is translation vector, niFor noise vector.
Obtaining R and t makes to meet:
(2) spin matrix of hypothesis least square solution isTranslation vector isThe center of two groups of point sets is respectively
IfThen { P'iAnd { P "iThere are identical center, i.e. P'=P ".
It enablesThen have
(3) min δ is required2It is equivalent to askDefined function
Wherein
SVD decomposing H=U Λ V is carried out to HT, enable X=VUT(3 × 3 orthogonal matrix), then have
XH=VUTUΛVT=V Λ VT(13)
There is Trace (XH) >=Trace (BXH) for any 3 × 3 orthogonal matrix B.
Wherein, if det (X)=+ 1,If det (X)=- 1, which is not suitable for (such case
It is few to occur).In all 3 × 3 orthogonal matrixes, X maximizes F, i.e. δ2It is minimum.
(4) it according to SVD method and orthogonal matrix property, acquiresThen available translational component is
Obtain the transfer matrix of robot basis coordinates system and camera coordinates system are as follows:
Transfer matrix of the robot system according to robot basis coordinates system { B } relative to camera coordinates system { C }Machine
When the tool that the control of device people's system is mounted on mechanical arm tail end is moved according to the track of setting, while the camera of vision system obtains
The posture information Real-time Feedback of tool realizes robot system hand and eye calibrating to robot system.
The scaling method that the present embodiment proposes overcomes the problem of operated in accordance with conventional methods process complexity and stability difference, improves
Calibration process the degree of automation, reduces the unnecessary error such as manual operation；Contactless tool is realized in machine simultaneously
Calibration under device people coordinate system and stereoscopic camera coordinate system can be improved the stated accuracy of robot；And caliberating device is simply easy
Row, greatly reduces cost；Suitable for auxiliary laser bone-culting operation robot system, can effectively accurately implementation tool in machine
Calibration under device people coordinate system and camera coordinates system improves the degree of automation of robot.
Although above-mentioned be described in conjunction with specific embodiment of the attached drawing to the disclosure, model not is protected to the disclosure
The limitation enclosed, those skilled in the art should understand that, on the basis of the technical solution of the disclosure, those skilled in the art are not
Need to make the creative labor the various modifications or changes that can be made still within the protection scope of the disclosure.
Claims (9)
1. a kind of scaling method of auxiliary laser bone-culting operation robot, characterized in that the following steps are included:
Establish the coordinate system of robot, mechanical arm tail end, camera, tracking device and the tool positioned at mechanical arm tail end；
When acquisition tool emits center of the laser vertical irradiation to each plane of nominal volume and Jing Guo nominal volume, mechanical arm tail end is sat
Transfer matrix and tracking device coordinate system transfer square relative to camera coordinates system of the mark system relative to robot basis coordinates system
Battle array；
Translation vector of the tool coordinates system relative to mechanical arm tail end coordinate system is solved, establishes tool coordinates system relative to mechanical arm
The transfer matrix of ending coordinates system；
By mechanical arm tail end coordinate system relative to robot basis coordinates system transfer matrix and tool coordinates system relative to mechanical arm
The transfer matrix of ending coordinates system is multiplied, and obtains transfer matrix of the tool coordinates system relative to robot basis coordinates system, realizes machine
The tool calibration of device people；
Translation vector of the tool coordinates system relative to tracking device coordinate system is solved, two groups for obtaining tool coordinates system origin are three-dimensional
Point set solves transfer matrix of the robot basis coordinates system relative to camera coordinates system, realizes the hand and eye calibrating of robot.
2. the scaling method of auxiliary laser bone-culting operation according to claim 1 robot, characterized in that the mechanical arm
Acquisition methods of the ending coordinates system relative to the transfer matrix of robot basis coordinates system are as follows:
The tool that measurement is located at mechanical arm tail end emits laser vertical irradiation to the first plane of nominal volume and by nominal volume
When the heart, distance of the tool to the nominal volume circumsphere centre of sphere；
When the distance measured be equal to laser ablation effective distance and nominal volume bounding polygon and when, obtain mechanical arm at this time
Position and posture information of the end-of-arm tooling central point relative to robot basis coordinates system form mechanical arm tail end coordinate system { E } phase
For the first transfer matrix of robot basis coordinates system { B }
It repeats the above steps, until obtaining second transfer of the mechanical arm tail end coordinate system { E } relative to robot basis coordinates system { B }
MatrixThird transfer matrixWith the 4th transfer matrix
3. the scaling method of auxiliary laser bone-culting operation according to claim 1 robot, characterized in that the tracking dress
Set acquisition methods of the coordinate system relative to the transfer matrix of camera coordinates system are as follows:
The tool that measurement is located at mechanical arm tail end emits laser vertical irradiation to the first plane of nominal volume and by nominal volume
When the heart, distance of the tool to the nominal volume circumsphere centre of sphere；
When the distance measured be equal to laser ablation effective distance and nominal volume bounding polygon and when, obtain tracking device and sit
Position and posture information of the mark system relative to camera coordinates system, form tracking device coordinate system { D } relative to camera coordinates system { C }
The first transfer matrix
It repeats the above steps, until obtaining second transfer matrix of the tracking device coordinate system { D } relative to camera coordinates system { C }Third transfer matrixWith the 4th transfer matrix
4. the scaling method of auxiliary laser bone-culting operation according to claim 1 robot, characterized in that the tool is sat
Method for solving of the mark system relative to the translation vector of mechanical arm tail end coordinate system are as follows:
Establish the conversion relational expression of tool coordinates system { T }, mechanical arm tail end coordinate system { E }, robot basis coordinates system { B }；
Transfer matrix by mechanical arm tail end coordinate system { E } relative to robot basis coordinates system { B }In substitution
In the conversion relational expression stated, inconsistent linear equations are obtained；
Using singular value decomposition method solve inconsistent linear equations best least square solution, obtain tool coordinates system { T } relative to
The translation vector of mechanical arm tail end coordinate system { E }
The spin matrix principle of invariance of combination tool coordinate system { T } and mechanical arm tail end coordinate system { E } translation relation obtains tool
Transfer matrix of the coordinate system { T } relative to mechanical arm tail end coordinate system { E }
Transfer matrix by tool coordinates system { T } relative to mechanical arm tail end coordinate system { E }With mechanical arm tail end coordinate system { E }
Transfer matrix relative to robot basis coordinates system { B }It is multiplied, obtains tool coordinates system { T } relative to robot basis coordinates
It is the transfer matrix of { B }
Transfer matrix according to tool coordinates system { T } relative to robot basis coordinates system { B }It adjusts in mechanical arm tail end tool
Robot system tool calibration is realized in position and posture information of the heart point relative to robot basis coordinates system.
5. the scaling method of auxiliary laser bone-culting operation according to claim 1 robot, characterized in that the tool is sat
Method for solving of the mark system relative to the translation vector of tracking device coordinate system are as follows:
Establish the conversion relational expression of tool coordinates system { T }, tracking device coordinate system { D }, camera coordinates system { C }；
Transfer matrix by tracking device coordinate system { D } relative to camera coordinates system { C }Substitute into above-mentioned obtain
Conversion relational expression in, obtain inconsistent linear equations；
Using singular value decomposition method solve inconsistent linear equations best least square solution, obtain tool coordinates system { T } relative to
The translation vector of tracking device coordinate system { D }
6. the scaling method of auxiliary laser bone-culting operation according to claim 1 robot, characterized in that the acquisition work
Have coordinate origin two groups of three-dimensional point sets the step of include:
Translation vector according to tool coordinates system { T } relative to tracking device coordinate system { D }It will tracking coordinate origin translation
To tool coordinates system origin；
Obtain two groups of the tool coordinates system origin for being located at space any position under robot basis coordinates system and camera coordinates system
Three-dimensional point set.
7. the scaling method of auxiliary laser bone-culting operation according to claim 1 robot, characterized in that the solution machine
The step of transfer matrix of the device people basis coordinates system relative to camera coordinates system includes:
The spin matrix and tool coordinates system origin for defining robot basis coordinates system and camera coordinates system are in robot basis coordinates system
Function F between two groups of three-dimensional point sets under camera coordinates system；
The maximum value that function F is solved using the least square method based on singular value decomposition, obtains robot coordinate system relative to phase
The spin matrix of machine coordinate system；
The transformed mappings relationship of camera coordinates system, computing machine are transformed to from robot basis coordinates system according to tool coordinates system origin
Translational component of people's basis coordinates system relative to camera coordinates system；
Spin matrix and robot basis coordinates system based on robot basis coordinates system relative to camera coordinates system are sat relative to camera
The translational component for marking system, obtains the transfer matrix of robot basis coordinates system and camera coordinates system；
According to the transfer matrix of robot basis coordinates system and camera coordinates system, control is mounted on the tool of mechanical arm tail end according to one
Fixed track is mobile, while obtaining posture information of the tool relative to camera coordinates system, realizes robot system hand and eye calibrating.
8. a kind of calibration system of auxiliary laser bone-culting operation robot, characterized in that including robot system, vision system,
Caliberating device and processor；
The robot system makes tool emit laser vertical irradiation to each plane of caliberating device and warp for manipulating mechanical arm
The center of nominal volume is crossed, obtains transfer matrix of the mechanical arm tail end coordinate system relative to robot basis coordinates system, and be uploaded to place
Manage device；
The vision system emits laser vertical irradiation to each plane of nominal volume and by caliberating device for obtaining tool
When center, transfer matrix of the tracking device coordinate system relative to camera coordinates system, and it is uploaded to processor；
The processor includes that transfer matrix establishes module, robot tool demarcating module and Robotic Hand-Eye Calibration module；Its
In:
The transfer matrix establishes module, disappears for judging tool to whether the distance of the caliberating device circumsphere centre of sphere meets laser
Melt effective distance and caliberating device bounding polygon and, if satisfied, then obtaining mechanical arm tail end coordinate system relative to robot
Transfer matrix of the transfer matrix and tracking device coordinate system of basis coordinates system relative to camera coordinates system；
The robot tool demarcating module, for solving tool coordinates system being translated towards relative to mechanical arm tail end coordinate system
Amount, establishes transfer matrix of the tool coordinates system relative to mechanical arm tail end coordinate system；By mechanical arm tail end coordinate system relative to machine
Transfer matrix of the transfer matrix of device people's basis coordinates system with tool coordinates system relative to mechanical arm tail end coordinate system is multiplied, and obtains work
Have transfer matrix of the coordinate system relative to robot basis coordinates system, realizes the tool calibration of robot；
The Robotic Hand-Eye Calibration module, for solving translation vector of the tool coordinates system relative to tracking device coordinate system,
Translation vector according to tool coordinates system relative to tracking device coordinate system obtains two groups of three-dimensional points of tool coordinates system origin
Collection solves transfer matrix of the robot basis coordinates system relative to camera coordinates system, realizes the hand and eye calibrating of robot.
9. the calibration system of auxiliary laser bone-culting operation according to claim 8 robot, characterized in that the calibration dress
It is set to positive four sides marked body, four vertex of positive four sides marked body are provided with tracking device, and the four of the positive four sides marked body
The center of a plane is equipped with the aperture of light passing.
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