阅读说明：本技术 机器人运动学模型优化方法、系统和存储装置 (Robot kinematics model optimization method and system and storage device ) 是由 付伟宁 于 2018-07-13 设计创作，主要内容包括：本申请公开了一种机器人运动学模型优化方法、系统和存储装置,该方法包括：通过摄像设备获取机器人的末端部件的图像；基于图像提取末端部件的特征点；对特征点进行三维重建得到特征点在图像坐标系中的坐标,并根据图像坐标系与世界坐标系的转换关系得到特征点在世界坐标系中的坐标；根据特征点在世界坐标系中的坐标得到机器人的末端部件的实际位姿；以及根据末端部件的实际位姿,对机器人的运动学模型进行优化。通过使用摄像设备获取机器人末端部件的图像,并对图像中的特征点进行三维重建,从而可以方便地得到末端部件的实际位姿,并利用该实际位姿对机器人的运动模型进行优化,修正其中的运动参数。(The application discloses a robot kinematics model optimization method, a system and a storage device, wherein the method comprises the following steps: acquiring an image of a tip part of a robot by an image pickup apparatus; extracting feature points of the tip part based on the image; carrying out three-dimensional reconstruction on the feature points to obtain coordinates of the feature points in an image coordinate system, and obtaining the coordinates of the feature points in a world coordinate system according to the conversion relation between the image coordinate system and the world coordinate system; obtaining the actual pose of the tail end part of the robot according to the coordinates of the characteristic points in a world coordinate system; and optimizing the kinematic model of the robot according to the actual pose of the end part. The image of the tail end part of the robot is obtained by the camera equipment, the characteristic points in the image are subjected to three-dimensional reconstruction, so that the actual pose of the tail end part can be conveniently obtained, and the motion model of the robot is optimized by utilizing the actual pose to correct the motion parameters.)

A method for optimizing a kinematic model of a robot, comprising:

acquiring an image of a tip part of a robot by an image pickup apparatus;

extracting feature points of the tip part based on the image;

carrying out three-dimensional reconstruction on the feature points to obtain coordinates of the feature points in an image coordinate system, and obtaining the coordinates of the feature points in a world coordinate system according to the conversion relation between the image coordinate system and the world coordinate system;

obtaining the actual pose of the tail end part of the robot according to the coordinates of the feature points in a world coordinate system; and the number of the first and second groups,

optimizing a kinematic model of the robot according to the actual pose of the tip component.

The method of claim 1, further comprising, prior to reconstructing the feature points in three dimensions:

and constructing a three-dimensional visual system by using at least two camera devices to obtain a conversion relation between an image coordinate system and a world coordinate system of the three-dimensional visual system.

The method of claim 2, wherein said deriving a transformation relationship between an image coordinate system and a world coordinate system of the three-dimensional vision system comprises:

obtaining a conversion relation between an image coordinate system of the three-dimensional vision system and a camera equipment coordinate system of one of the two camera equipment according to the relative positions of the two camera equipment;

and obtaining the conversion relation between the image coordinate system of the three-dimensional vision system and the world coordinate system according to the conversion relation between the camera equipment coordinate system of one of the two camera equipment and the world coordinate system.

The method according to claim 1, characterized in that before the step of acquiring the image of the tip part of the robot by means of the camera device, it further comprises: marking at least three feature points on the end part, wherein the at least three feature points are not positioned on the same straight line.

The method of claim 4, wherein: the obtaining of the actual pose of the end part of the robot from the coordinates of the feature points in the world coordinate system includes:

determining the actual position of the end part according to the coordinates of the first characteristic point in the world coordinate system;

and determining the actual posture of the tail end part according to the relative position relationship between the first characteristic point and the second characteristic point and the relative position relationship between the first characteristic point and the third characteristic point.

The method of claim 4, wherein: the at least three feature points include a first feature point located at an origin of a component coordinate system of the tip component, a second feature point located on a first coordinate axis of the component coordinate system, and a third feature point located on a second coordinate axis of the component coordinate system.

The method of claim 6, wherein: the obtaining of the actual pose of the end part of the robot from the coordinates of the feature points in the world coordinate system includes:

transforming the coordinates of the feature points under the world coordinate system into the coordinates under the base coordinate system of the robot according to the conversion relation between the base coordinate system of the robot and the world coordinate system;

and calculating the actual pose of the tail end part according to the coordinates of the characteristic points under the base coordinate system of the robot.

The method of claim 7, wherein: the calculating of the actual pose of the tip part from the coordinates of the feature points under the base coordinate system of the robot includes:

obtaining the coordinate of the origin of the component coordinate system in the base coordinate system according to the coordinate of the first feature point in the base coordinate system;

obtaining a coordinate vector of a first coordinate axis of the component coordinate system in the base coordinate system according to a coordinate vector of a connecting line of the first characteristic point and the second characteristic point in the base coordinate system;

obtaining a coordinate vector of a second coordinate axis of the component coordinate system in the base coordinate system according to the coordinate vector of the connecting line of the first feature point and the third feature point in the base coordinate system;

and obtaining the actual pose of the component coordinate system according to the coordinate vectors of the first coordinate axis and the second coordinate axis in the base coordinate system.

A robot tip part actual pose acquisition method is characterized by comprising the following steps:

acquiring an image of a tip part of a robot by an image pickup apparatus;

extracting feature points of the tip part based on the image;

performing three-dimensional reconstruction on the feature points to obtain coordinates of the feature points in a world coordinate system;

and obtaining the actual pose of the tail end part of the robot according to the coordinates of the characteristic points in a world coordinate system.

A robot kinematics model optimization system comprising a processor, a memory and a camera device, the memory storing program instructions, the processor being loadable with the program instructions and executing a robot kinematics model optimization method comprising:

acquiring an image of a tip part of a robot by the image pickup apparatus;

extracting feature points of the tip part based on the image;

carrying out three-dimensional reconstruction on the feature points to obtain coordinates of the feature points in an image coordinate system, and obtaining the coordinates of the feature points in a world coordinate system according to the conversion relation between the image coordinate system and the world coordinate system;

obtaining the actual pose of the tail end part of the robot according to the coordinates of the feature points in a world coordinate system; and the number of the first and second groups,

optimizing a kinematic model of the robot according to the actual pose of the tip component.

The system of claim 10, further comprising, prior to reconstructing the feature points in three dimensions:

and constructing a three-dimensional visual system by using at least two camera devices to obtain a conversion relation between an image coordinate system and a world coordinate system of the three-dimensional visual system.

The system of claim 11, wherein said deriving a transformation relationship between an image coordinate system and a world coordinate system of said three-dimensional vision system comprises:

the obtaining of the conversion relation between the image coordinate system and the world coordinate system of the three-dimensional vision system comprises:

obtaining a conversion relation between an image coordinate system of the three-dimensional vision system and a camera equipment coordinate system of one of the two camera equipment according to the relative positions of the two camera equipment;

and obtaining the conversion relation between the image coordinate system of the three-dimensional vision system and the world coordinate system according to the conversion relation between the camera equipment coordinate system of one of the two camera equipment and the world coordinate system.

The system of claim 10, further comprising, prior to the step of acquiring an image of a tip component of the robot by the imaging device: marking at least three feature points on the end part, wherein the at least three feature points are not positioned on the same straight line.

The system of claim 13, wherein: the obtaining of the actual pose of the end part of the robot from the coordinates of the feature points in the world coordinate system includes:

determining the actual position of the end part according to the coordinates of the first characteristic point in the world coordinate system;

and determining the actual posture of the tail end part according to the relative position relationship between the first characteristic point and the second characteristic point and the relative position relationship between the first characteristic point and the third characteristic point.

The system of claim 13, wherein: the at least three feature points include a first feature point located at an origin of a component coordinate system of the tip component, a second feature point located on a first coordinate axis of the component coordinate system, and a third feature point located on a second coordinate axis of the component coordinate system.

The system of claim 15, wherein: the obtaining of the actual pose of the end part of the robot from the coordinates of the feature points in the world coordinate system includes:

transforming the coordinates of the feature points under the world coordinate system into the coordinates under the base coordinate system of the robot according to the conversion relation between the base coordinate system of the robot and the world coordinate system;

and calculating the actual pose of the tail end part according to the coordinates of the characteristic points under the base coordinate system of the robot.

The system of claim 16, wherein: the calculating of the actual pose of the tip part from the coordinates of the feature points under the base coordinate system of the robot includes:

obtaining the coordinate of the origin of the component coordinate system in the base coordinate system according to the coordinate of the first feature point in the base coordinate system;

obtaining a coordinate vector of a first coordinate axis of the component coordinate system in the base coordinate system according to a coordinate vector of a connecting line of the first characteristic point and the second characteristic point in the base coordinate system;

obtaining a coordinate vector of a second coordinate axis of the component coordinate system in the base coordinate system according to the coordinate vector of the connecting line of the first feature point and the third feature point in the base coordinate system;

and obtaining the actual pose of the component coordinate system according to the coordinate vectors of the first coordinate axis and the second coordinate axis in the base coordinate system.

A robot end-part actual pose acquisition system comprising a processor, a memory, and an image capture device, the memory storing program instructions, the processor being loadable with the program instructions and executing a robot end-part actual pose acquisition method, the method comprising:

acquiring an image of a tip part of a robot by an image pickup apparatus;

extracting feature points of the tip part based on the image;

performing three-dimensional reconstruction on the feature points to obtain coordinates of the feature points in a world coordinate system;

and obtaining the actual pose of the tail end part of the robot according to the coordinates of the characteristic points in a world coordinate system.

An apparatus having a storage function, characterized in that: for storing program instructions which can be loaded and which perform the method according to any of claims 1-9.