KR20220072331A - Hand eye calibration system and method - Google Patents

Abstract

A hand eye calibration system and method are disclosed. The present invention acquires input information for hand eye calibration in real time in a system that operates a robot arm using information transmitted through a camera, and determines the effectiveness of the operation of the camera and the robot system based on this in real time to determine the camera's coordinate system and the transformation relationship between the coordinate system of the robot arm can be corrected and improved.

Description

HAND EYE CALIBRATION SYSTEM AND METHOD

The present invention relates to a hand eye calibration system and method, and more particularly, by using information transmitted through a camera, input information for hand eye calibration is obtained in real time in a system operating a robot arm, and based on this, a camera And to a hand eye calibration system and method for correcting and improving the conversion relationship between the coordinate system of the camera and the coordinate system of the robot arm by determining the effectiveness of the operation of the robot system.

In general, a mechanical device that performs a motion similar to that of a human using an electrical or magnetic action is called a robot.

Early robots were industrial robots, such as manipulators and transport robots, for the purpose of automating and unmanning work at the production site. , Recently, research and development of humanoid robots that provide various services while coexisting with humans in human work and living spaces with a joint system similar to humans are being actively conducted.

These humanoid robots perform tasks using a manipulator that is made to move close to the motion of an arm or a hand by an electrical or mechanical mechanism. Most of the manipulators currently used are composed of several links connected to each other.

The joint of each link is called a joint, and the movement characteristics of the manipulator are determined according to the geometric relationship between these links and joints.

Kinematics is a mathematical expression of this geometrical relationship, and most manipulators have this kinematics characteristic to move a robot arm (eg, an end effector) in a direction (target position) to perform a task. .

A camera-based robot arm operating system generally recognizes the position of the robot arm through the image output from the camera, and uses the robot arm and various attached tools based on this to pick up or lower the object. functions such as placing

On the other hand, the calibration of the robot system to which the camera is attached is largely classified into calibration of the robot base and the robot arm, the calibration of the camera, and the calibration of the robot base or the robot arm and the camera (hand/eye calibration).

The object recognized using the camera expresses the position and posture of the object by the camera coordinate system with the camera as the origin. posture should be displayed.

Therefore, the operation of converting the coordinate system of the camera into the coordinate system of the robot arm must be performed in a camera-based robot arm operating system, and this is called hand eye calibration.

1 is an exemplary view showing a hand eye calibration apparatus according to the prior art.

As shown in FIG. 1 , the hand eye calibration apparatus according to the related art may include a robot arm 10 and a marker 20 installed on the robot arm 10 .

Also, FIG. 2 is an exemplary diagram illustrating a grid point marker for performing calibration of a general hand eye calibration apparatus.

In general, two coordinate transformation matrices are required to perform handeye calibration.

One is the position and posture of the calibration board attached to the robot arm composed of Aruco Marker or grid points, which is acquired through the camera coordinate system.

The other is to acquire the position of the robot arm in the robot coordinate system based on the robot reference point.

Hand eye calibration collects related data while changing various positions and postures for the two coordinate system transformation matrices displayed above, and finally obtains a coordinate system transformation matrix between the camera and the robot based on this.

Therefore, since the marker 20 required for calibration must be attached to the robot, it is generally performed prior to robot operation.

However, if the position or posture of the camera or robot arm is unintentionally changed due to a slight impact during system operation, there is a problem that the robot malfunctions. There is a problem in that the coordinate system transformation matrix between the robot arms needs to be updated.

Korean Patent Registration No. 10-1988937 (Title of Invention: Method and Apparatus for Calibration of Camera and Robot Arm)

In order to solve this problem, the present invention acquires input information for hand eye calibration in real time in a system operating a robot arm using information transmitted through a camera, and based on this, the effectiveness of the operation of the camera and the robot system An object of the present invention is to provide a hand eye calibration system and method for correcting and improving the transformation relationship between the coordinate system of the camera and the coordinate system of the robot arm by determining the

In order to achieve the above object, an embodiment of the present invention is a hand eye calibration system. When the camera shoots a calibration marker attached to a robot arm, the management terminal uses the camera coordinate system-based calibration marker from the captured image of the calibration marker. The position and posture and the position of the robot arm based on the robot coordinate system are obtained at the time of acquiring the image of the calibration marker to calculate the coordinate system transformation value between the calibration marker and the robot arm, and the calculated coordinate system transformation value is used for the currently set calibration It is characterized in that, according to the result of comparison with the coordinate system transformation value between the marker and the robot arm, it is characterized in that whether calibration is re-performed is output.

In addition, the coordinate system conversion value between the calibration marker and the robot arm according to the embodiment is the position and posture obtained from the image of the calibration marker input in real time during operation of the robot arm, and the image of the calibration marker at the time point It is characterized by using the position value of the robot arm.

In addition, the hand eye calibration system according to the embodiment includes a calibration marker of a certain size attached to the robot arm; a camera for photographing the calibration marker; a robot arm that performs an arbitrary operation together with the calibration marker; and the position and posture of the camera coordinate system-based calibration marker from the photographed image of the calibration marker, and the position of the robot arm based on the robot coordinate system at the time of acquiring the image of the calibration marker, thereby converting the coordinate system between the calibration marker and the robot arm A management terminal that calculates a value, compares the calculated coordinate system transformation value with a coordinate system transformation value between the currently set calibration marker and the robot arm, and outputs a result as to whether or not to re-perform the calibration according to the comparison result; characterized in that

In addition, the management terminal according to the embodiment includes the position and posture of the calibration marker based on the camera generated by the calibration marker during operation of the robot arm, and the TCP (Tool Center Point) position of the robot arm with respect to the robot. It is characterized in that the validity of re-performation of calibration is determined according to the difference value calculated between the conversion value obtained by using and the currently set conversion value.

In addition, the management terminal according to the embodiment maintains the currently set conversion value if the calculated difference value is equal to or less than the preset reference value for determination of re-execution, and the calculated difference value is If it is greater than or equal to the reference value, the calibration may be re-performed according to the magnitude between the difference value and the reference value, or the calculated conversion value may be stored as an automatic correction value.

In addition, the automatic correction value according to the embodiment counts the number of times of storage and, when a predetermined value is reached, calculates a deviation of the stored automatic correction value, and compares the calculated deviation value with a preset reference value for determining deviation, but the calculation If the calculated deviation value is less than the reference value for determining the deviation, the currently set conversion value is automatically corrected, and when the calculated deviation value is greater than or equal to the reference value for determining the deviation, all stored automatic correction values are initialized.

In addition, an embodiment of the present invention provides a hand eye calibration method, comprising: a) photographing, by a camera, a calibration marker of a certain size attached to a robot arm; b) acquiring, by the management terminal, the position and posture of the camera coordinate system-based calibration marker from the photographed image of the calibration marker, and the robot arm position based on the robot coordinate system at the time of acquiring the image of the calibration marker; c) the management terminal calculating a coordinate system transformation value between the calibration marker and the robot arm, and comparing the calculated coordinate system transformation value with a coordinate system transformation value between the currently set calibration marker and the robot arm; and d) the management terminal calculates a difference value between the calculated coordinate system transformation value and the currently set coordinate system transformation value, and if the calculated difference value is greater than or equal to a preset reference value for re-performation determination, an alarm of re-performation of calibration is output including;

In addition, step d) according to the embodiment further comprises; if there is no calculated difference value or is less than a preset reference value for re-performation determination, the management terminal maintaining the currently set conversion value; characterized in that it further comprises .

In addition, in d-1) according to the embodiment, if the difference value calculated in step d) is greater than or equal to the reference value for re-execution determination, the management terminal sets a preset size between the difference value and the reference value for automatic correction determination Comparing with a reference value, if the difference value is greater than or equal to the reference value for automatic correction determination, re-performing calibration, and if the difference value is less than or equal to the reference value for automatic correction determination, storing the calculated conversion value as an automatic correction value; further characterized by including.

In addition, d-2) according to the embodiment includes the steps of calculating, by the management terminal, the number of times the automatic correction value is stored in the step d-1), and calculating a deviation of the stored automatic correction value when a predetermined value is reached; and d-3) the management terminal compares the calculated deviation value with a preset reference value for determining the deviation, and if the calculated deviation value is less than or equal to the reference value for determining the deviation, automatically corrects the currently set conversion value, and the calculation When the determined deviation value is greater than or equal to the reference value for determining the deviation, initializing all stored automatic correction values; characterized in that it further comprises.

The present invention acquires input information for hand eye calibration in real time in a system that operates a robot arm using information transmitted through a camera, and determines the effectiveness of the operation of the camera and the robot system based on this in real time to determine the camera's coordinate system It has the advantage of correcting and improving the transformation relationship between the coordinate system of the robot arm and the robot arm.

In addition, the present invention can actively cope with problems caused by the coordinate system conversion between the camera and the robot arm in the robot arm operating system by continuously performing the hand eye calibration step performed once prior to operation during operation. There are advantages.

In addition, the present invention has an advantage that can provide an objective basis for the relationship between the camera and the robot when the user is required to make a decision on the robot arm operating system.

In addition, the present invention has the advantage of being able to automatically update the final coordinate system transformation formula without interruption of robot hand operation when fine adjustment of hand eye calibration is required.

In addition, the present invention has the advantage of providing an opportunity to immediately recognize the cause when the cause of the problem is in the coordinate system transformation by using the continuously updated coordinate system transformation update when a problem occurs in robot arm operation.

1 is an exemplary view showing a hand eye calibration apparatus according to the prior art.
2 is an exemplary view showing a grid point marker for performing calibration of a general hand eye calibration apparatus.
3 is an exemplary view showing a hand eye calibration system according to an embodiment of the present invention.
Fig. 4 is a block diagram showing the configuration of a management terminal according to the embodiment of Fig. 3;
5 is an exemplary diagram illustrating a coordinate system transformation process of hand eye calibration according to the embodiment of FIG. 3 .
6 is a flowchart illustrating a hand eye calibration method according to an embodiment of the present invention.
7 is a flowchart illustrating an automatic correction and update method of the hand eye calibration method according to the embodiment of FIG. 6 ;

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, the present invention will be described in detail with reference to preferred embodiments of the present invention and the accompanying drawings.

Prior to describing the specific content for carrying out the present invention, it should be noted that components not directly related to the technical gist of the present invention are omitted within the scope of not disturbing the technical gist of the present invention.

In addition, the terms or words used in the present specification and claims have meanings and concepts consistent with the technical idea of the invention based on the principle that the inventor can define the concept of an appropriate term to best describe his invention. should be interpreted as

In the present specification, the expression that a part "includes" a certain element does not exclude other elements, but means that other elements may be further included.

Also, terms such as “… unit”, “… group”, and “… module” mean a unit that processes at least one function or operation, which may be divided into hardware, software, or a combination of the two.

In addition, the term "at least one" is defined as a term including the singular and the plural, and even if the term at least one does not exist, each element may exist in the singular or plural, and may mean the singular or plural. will be self-evident.

In addition, that each component is provided in singular or plural may be changed according to an embodiment.

Hereinafter, a preferred embodiment of a hand eye calibration system and method according to an embodiment of the present invention will be described in detail with reference to the accompanying drawings.

3 is an exemplary diagram showing a hand eye calibration system according to an embodiment of the present invention, FIG. 4 is a block diagram showing the configuration of a management terminal according to the embodiment of FIG. 3, and FIG. 5 is the embodiment of FIG. It is an exemplary diagram showing a coordinate system transformation process of hand eye calibration.

3 to 5 , the hand eye calibration system according to an embodiment of the present invention includes a calibration marker 100 , a camera 200 , a robot arm 300 , and a management terminal 400 . do.

In addition, in the hand eye calibration system according to an embodiment of the present invention, when the camera 200 photographs the calibration marker 100 attached to the robot arm 300 , the management terminal 400 controls the photographed calibration marker 100 . ), the position and posture of the camera coordinate system-based calibration marker 100, and the position of the robot arm 300 based on the robot coordinate system at the point in time when the image of the calibration marker 100 is acquired, and the calibration marker 100 and a coordinate system transformation value between the robot arm 300 is calculated.

In addition, the hand eye calibration system outputs whether calibration is re-performed according to a result of comparing the calculated coordinate system transformation value with the coordinate system transformation value between the currently set calibration marker 100 and the robot arm 300 .

In addition, in the hand eye calibration system, the coordinate system conversion value between the calibration marker 100 and the robot arm 300 is inputted in real time during operation of the robot arm 300, the position obtained from the image of the calibration marker 100 and Based on the posture and the position value of the robot arm 300 at the time of acquiring the image of the calibration marker 100, the validity of the initially set coordinate system transformation value or the currently set coordinate system transformation value is determined to determine whether to re-perform the calibration decide

The calibration marker 100 is a marker of a certain size attached to the robot arm 300 and is composed of an Aruco Marker or a grid point.

In addition, the calibration marker 100 allows the position and posture of the calibration board attached to the robot arm 300 to appear, and the position and posture of the calibration marker 100 can be obtained through a camera coordinate system.

In addition, the calibration marker 100 may be configured in a small size in which, for example, a pattern in the form of a 2×2 matrix to a 10×10 matrix is formed.

The camera 200 is a configuration for photographing the calibration marker 100 attached to the robot arm 300, and may be configured as a known 2D-based camera, and the internal parameters for the camera 200 are separately calculated. It is also possible to use parameters obtained through or provided by the camera 200 .

The robot arm 300 is a configuration in which a calibration marker 100 is attached to an arbitrary position, and performs an arbitrary operation together in a state where the calibration marker 100 is attached. A robot using the robot 310 as a reference point. The position of the arm 300 may be acquired in the robot coordinate system.

The management terminal 400 acquires the position and posture of the calibration marker 100 based on the camera coordinate system from the image of the calibration marker 100 photographed through the camera 200 .

In addition, the management terminal 400 acquires the position of the robot arm 300 based on the robot coordinate system at the time of acquiring the image of the calibration marker 100 .

In addition, the management terminal 400 calculates a coordinate system transformation value between the calibration marker 100 and the robot arm 300 , and converts the calculated coordinate system transformation value between the currently set calibration marker 100 and the robot arm 300 . Compare with the coordinate system transformation value of .

In addition, the management terminal 400 is configured to output a result of whether to re-perform calibration according to the comparison result through an alarm, and includes a camera image acquisition module 410, a robot position and posture acquisition module 420, and a hand It may be configured to include an eye calibration module 430 and an automatic calibration correction module 440 .

The camera image acquisition module 410 recognizes the calibration marker 100 from the image acquired through the camera 200 , and calculates the position and posture of the recognized calibration marker 100 .

The robot position and posture acquisition module 420 acquires the position of the robot arm 300 based on the robot coordinate system when the camera 200 acquires the image of the calibration marker 100 .

The hand eye calibration module 430 collects related data while changing various positions and postures through the obtained transformation matrix for the two coordinate systems, and based on this, the coordinate system transformation value between the camera 200 and the robot arm 300 ( transformation matrix) is finally obtained.

)는 카메라(200)를 통해서 촬영된 캘리브레이션 마커(100)의 영상으로부터 획득하고, 로봇 팔(300)과 로봇(310) 베이스 사이의 좌표계 변환 매트릭스(

)는 로봇 제조회사에서 제공되는 API를 통해서 획득할 수 있다.That is, the coordinate system transformation matrix between the camera 200 and the calibration marker 100 (

) is obtained from the image of the calibration marker 100 taken through the camera 200, the coordinate system transformation matrix between the robot arm 300 and the robot 310 base (

) can be obtained through the API provided by the robot manufacturer.

)를 획득한다.In addition, the obtained two matrices are converted matrix (

) is obtained.

)를 획득한다.Above, the final transformation matrix between the camera 200 and the robot 310 base using the three matrices (

) is obtained.

The automatic calibration correction module 440 is a position obtained from the image of the calibration marker 100, the coordinate system conversion value between the calibration marker 100 and the robot arm 300 is input in real time during the operation of the robot arm 300 And whether the calibration is re-performed by determining the validity of the initially set coordinate system transformation value or the currently set coordinate system transformation value based on the posture and the position value of the robot arm 300 at the time of acquiring the image of the calibration marker 100 to decide

That is, the automatic calibration correction module 440 sets the initial coordinate system conversion value, and the position of the calibration marker 100 based on the camera generated by the calibration marker 100 during operation of the robot arm 300 and Determine the validity of re-performation of calibration according to the difference between the position and the converted value obtained using the TCP (Tool Center Point) position of the robot arm based on the robot 310 base and the currently set conversion value do.

Here, the automatic calibration correction module 440 maintains the currently set conversion value when the calculated difference value is equal to or less than the preset reference value for determining whether to perform re-execution.

In addition, if the calculated difference value is greater than or equal to the reference value, the calibration automatic correction module 440 may re-perform calibration according to the magnitude between the difference value and the reference value or store the calculated conversion value as an automatic correction value. do.

That is, the automatic calibration correction module 440 compares the size between the difference value and the reference value for re-performance determination with a preset reference value for automatic calibration determination when the calculated difference value is greater than or equal to the reference value for determination of re-performance, , if the difference value is greater than or equal to the reference value for automatic correction determination, an alarm signal is output to re-perform calibration, and if the difference value is less than or equal to the reference value for automatic correction determination, the calculated conversion value is stored as an automatic correction value.

In addition, when the automatic calibration value is stored, the automatic calibration correction module 440 calculates a deviation of the stored correction value in order to check the consistency of the stored correction value for automatic correction.

To this end, the automatic calibration correction module 440 counts the number of times of storing the automatic correction value and the automatic correction value so as to collect data of a certain level, and when a predetermined value is reached, calculates a deviation of the stored automatic correction value, and the The calculated deviation value is compared with a preset reference value for determining deviation.

In addition, when the calculated deviation value is less than the reference value for determining the deviation, the calibration automatic correction module 440 automatically corrects the currently set conversion value, and if the calculated deviation value is greater than or equal to the reference value for determining the deviation, the stored automatic correction It is determined that automatic correction is not possible due to a large deviation between values, and all saved automatic correction values are initialized.

The following describes a hand eye calibration method according to an embodiment of the present invention.

6 is a flowchart illustrating a hand eye calibration method according to an embodiment of the present invention, and FIG. 7 is a flowchart illustrating an automatic correction and update method of the hand eye calibration method according to the embodiment of the present invention.

3 to 7, in the hand eye calibration method according to an embodiment of the present invention, the camera 200 takes a calibration marker 100 of a certain size attached to the robot arm 300 (S100), When the management terminal 400 acquires the position and posture of the camera coordinate system-based calibration marker 100 and the image of the calibration marker 100 from the photographed image of the calibration marker 100, the robot arm based on the robot coordinate system. (300) Obtain a location (S110 and S120).

The management terminal 400 calculates a coordinate system transformation value between the calibration marker 100 and the robot arm 300, that is, a final transformation value (final transformation matrix) (S130).

Subsequently, the management terminal 400 converts the coordinate system transformation value calculated in step S130 to the currently set coordinate system transformation value between the calibration marker 100 and the robot arm 300 (or the initially set coordinate system transformation value). It is determined whether there is a difference by calculating (S140).

As a result of the determination in step S140, if there is a difference, the calculated difference value is compared with a preset reference value for re-execution determination (S150).

As a result of the determination in step S150 , if there is no calculated difference value or is less than a preset reference value for re-execution determination, the management terminal 400 maintains the currently set conversion value.

On the other hand, if the difference value calculated in step S150 is greater than or equal to the reference value for determination of re-execution, the management terminal 400 compares the magnitude between the difference value and the reference value with a preset reference value for determination of automatic correction, but the difference If the value is greater than or equal to the reference value for automatic correction determination, an alarm for stopping robot operation and re-performing calibration is output to the user (S161).

However, if the difference value is less than or equal to the reference value for automatic correction determination, the management terminal 400 may perform a process of storing the calculated conversion value as an automatic correction value.

Here, when storing the automatic correction value, the management terminal 400 determines whether there is an automatic correction value stored in the queue for storing the automatic correction value (S200), and if there is a stored value, stores the automatic correction value and then the automatic correction value is stored The number of times the correction value is stored is counted, and when a predetermined value is reached, the deviation of the stored automatic correction value is calculated (S210).

Checking the stored automatic correction value is because it can be determined that the existing final transformation value (final transformation matrix) may need correction due to various reasons.

Subsequently, the management terminal 400 compares the calculated deviation value with a preset reference value for determining deviation ( S220 ).

As a result of the comparison in step S220, if the calculated deviation value is less than or equal to the reference value for determining the deviation, the currently set conversion value or the initial conversion value is automatically corrected (S230).

In addition, as a result of the comparison in step S220, if the calculated deviation value is greater than or equal to the reference value for determining deviation, all stored automatic correction values are removed and initialized (S240).

Therefore, by using the information transmitted through the camera, input information for hand eye calibration is obtained in real time in a system operating a robot arm, and based on this, the validity of the operation of the camera and the robot system is determined based on the coordinate system of the camera and the It is possible to correct and improve the transformation relationship between the coordinate systems of the robot arm.

As described above, although described with reference to preferred embodiments of the present invention, those skilled in the art can variously modify and change the present invention within the scope without departing from the spirit and scope of the present invention described in the claims below. You will understand that it can be done.

In addition, the reference numbers described in the claims of the present invention are provided only for clarity and convenience of explanation, and are not limited thereto, and in the process of describing the embodiment, the thickness of the lines shown in the drawings or the size of components, etc. may be exaggerated for clarity and convenience of explanation.

In addition, the above-mentioned terms are terms defined in consideration of the functions in the present invention, which may vary depending on the intention or custom of the user or operator, so the interpretation of these terms should be made based on the content throughout this specification. .

In addition, even if it is not explicitly shown or described, a person of ordinary skill in the art to which the present invention pertains can make various types of modifications including the technical idea according to the present invention from the description of the present invention. It is obvious, and this still falls within the scope of the present invention.

In addition, the above embodiments described with reference to the accompanying drawings have been described for the purpose of explaining the present invention, and the scope of the present invention is not limited to these embodiments.

100: calibration marker
200 : camera
300: robot arm (Arm)
310: robot
400: management terminal
410: camera image acquisition module
420: robot position and posture acquisition module
430: hand eye calibration module
440: calibration auto calibration module

Claims (10)

When the camera 200 takes a picture of the calibration marker 100 attached to the robot arm 300,
When the management terminal 400 acquires the position and posture of the camera coordinate system-based calibration marker 100 and the image of the calibration marker 100 from the photographed image of the calibration marker 100, the robot arm based on the robot coordinate system. (300) calculates the coordinate system conversion value between the calibration marker 100 and the robot arm 300 by acquiring the position,
The hand eye calibration system, characterized in that it outputs whether or not calibration is re-performed according to a result of comparing the calculated coordinate system transformation value with the coordinate system transformation value between the currently set calibration marker 100 and the robot arm 300 . The method of claim 1,
The coordinate system conversion value between the calibration marker 100 and the robot arm 300 is the position and posture obtained from the image of the calibration marker 100 input in real time during operation of the robot arm 300, and the calibration marker ( 100) Hand eye calibration system, characterized in that using the position value of the robot arm 300 at the time of acquiring the image. The method of claim 1,
The hand eye calibration system includes a calibration marker 100 of a certain size attached to the robot arm 300 ;
a camera 200 for photographing the calibration marker 100;
a robot arm 300 that performs an arbitrary operation together with the calibration marker 100; and
The position and posture of the camera coordinate system-based calibration marker 100 from the photographed image of the calibration marker 100, and the robot arm 300 position based on the robot coordinate system at the time of acquiring the image of the calibration marker 100 to calculate the coordinate system transformation value between the calibration marker 100 and the robot arm 300, and compare the calculated coordinate system transformation value with the coordinate system transformation value between the currently set calibration marker 100 and the robot arm 300, , the management terminal 400 for outputting a result of whether or not to re-perform the calibration according to the comparison result; Hand eye calibration system comprising a. 4. The method of claim 3,
The management terminal 400 is a robot based on the position and posture of the calibration marker 100 based on the camera generated by the calibration marker 100 during operation of the robot arm 300 and the robot 310 . A hand eye calibration system, characterized in that it determines the validity of re-performing the calibration according to the calculated difference value between the conversion value obtained using the TCP (Tool Center Point) position of the arm and the currently set conversion value. 5. The method of claim 4,
The management terminal 400 maintains the currently set conversion value if the calculated difference value is equal to or less than the preset reference value for determination of re-performance, and the calculated difference value is greater than or equal to the reference value , the hand eye calibration system, characterized in that the calibration is re-performed according to the magnitude between the difference value and the reference value, or the calculated converted value is stored as an automatic correction value. 6. The method of claim 5,
The automatic correction value counts the number of times of storage and when a predetermined value is reached, a deviation of the stored automatic correction value is calculated, and the calculated deviation value is compared with a preset reference value for determining deviation, but the calculated deviation value is determined as deviation Hand eye calibration system, characterized in that if the value is less than the reference value, the currently set conversion value is automatically corrected, and when the calculated deviation value is greater than or equal to the reference value for determining the deviation, all stored automatic correction values are initialized. a) the camera 200 photographing the calibration marker 100 of a certain size attached to the robot arm 300;
b) at the time when the management terminal 400 acquires the position and posture of the camera coordinate system-based calibration marker 100 and the image of the calibration marker 100 from the photographed image of the calibration marker 100, the robot coordinate system based acquiring the robot arm 300 position;
c) the management terminal 400 calculates a coordinate system transformation value between the calibration marker 100 and the robot arm 300, and converts the calculated coordinate system transformation value to the currently set calibration marker 100 and the robot arm 300 comparing the coordinate system transformation value between; and
d) the management terminal 400 calculates a difference value between the calculated coordinate system transformation value and the currently set coordinate system transformation value, and if the calculated difference value is greater than or equal to a preset reference value for re-performation determination, calibration re-performation alarm A hand eye calibration method comprising; outputting a. 8. The method of claim 7,
In step d), if there is no calculated difference value or is less than a preset reference value for re-performation, the management terminal 400 maintains the currently set conversion value; Hand eye calibration, characterized in that it further comprises Way. 8. The method of claim 7,
d-1) In step d), if the calculated difference value is greater than or equal to the reference value for re-performation determination, the management terminal 400 compares the size between the difference value and the reference value with a preset reference value for automatic correction determination ,
If the difference value is greater than or equal to the reference value for automatic correction determination, re-calibrating, and if the difference value is less than or equal to the reference value for automatic correction determination, storing the calculated conversion value as an automatic correction value; characterized by further comprising: How to calibrate the hand eye. 10. The method of claim 9,
d-2) step d-1) includes: calculating, by the management terminal 400, a deviation of the stored automatic correction value when a predetermined value is reached by counting the number of times the automatic correction value is stored; and
d-3) The management terminal 400 compares the calculated deviation value with a preset reference value for determination of deviation, and if the calculated deviation value is less than or equal to the reference value for determination of deviation, the currently set conversion value is automatically corrected; If the calculated deviation value is greater than or equal to the reference value for determining deviation, initializing all stored automatic correction values;

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