CN105844670A - Horizontal robot mobile camera multi-point mobile calibration method - Google Patents
Horizontal robot mobile camera multi-point mobile calibration method Download PDFInfo
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- 238000000034 method Methods 0.000 title claims abstract description 22
- 239000000523 sample Substances 0.000 claims abstract description 27
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 9
- 238000012423 maintenance Methods 0.000 abstract description 7
- 230000000007 visual effect Effects 0.000 abstract 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 3
- 230000000877 morphologic effect Effects 0.000 description 2
- 238000012163 sequencing technique Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000007429 general method Methods 0.000 description 1
- 239000011159 matrix material Substances 0.000 description 1
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Abstract
The invention relates to the technical field of visual robots and particularly relates to a horizontal robot mobile camera multi-point mobile calibration method. The camera calibration method comprises the following steps: a horizontal robot controls a probe to move back and forth along the X direction and the Y direction; when the probe is aligned with the circle center of a calibration board, the horizontal robot acquires current coordinate data to initially determine the position of the circle center; the primary calibration is conducted and the horizontal robot controls the probe to be sequentially aligned with at least nine primary calibration points one by one; according to the coordinate data of all primary calibration points, the circle center of the calibration board is primarily calibrated; the secondary calibration is conducted and the horizontal robot controls the probe to be sequentially aligned with at least nine secondary calibration points one by one; the circle center of the calibration board is secondly calibrated according to the coordinate data of all secondary calibration points. The above method has the advantages of simple setting, automatic calibration, high calibration efficiency and low maintenance cost. Field maintenance engineers can solve the point position calibration problem in the one-click manner.
Description
Technical field
The present invention relates to vision robotics field, refer in particular to a kind of horizontal machine people's mobile camera multiple spot
Mobile scaling method.
Background technology
In image measurement process and machine vision applications, in order to obtain object more comprehensively information, past
The morphological characteristic of reconstruction of objects is carried out with the use of collection subject image toward needing multiple cameras.Wherein, cooperation makes
Camera need to set up the spatial relationship determined, and be allowed to unified in identical coordinate system,
Can the morphological characteristic of reconstruction of objects accurately, camera is i.e. demarcated by this process.
In the prior art, for the demarcation of robot system, the general method using artificial teaching, example
As, manually control robot with multiple different attitude (for six-joint robot, generally four
Plant or more kinds of different attitude) instrument installed on it is moved to same impact point.But, owing to needing
To judge whether instrument moves to same impact point by human eye, therefore, inevitably to there is error,
Cause the instrument transfer matrix relative to tool center point (the tool center point) coordinate system of robot
Demarcate inaccurate, and manually control robot and arrive same impact point and dependence with multiple different attitude
Human eye judges whether that the work arriving same impact point is the most time-consuming, affects work efficiency.Frequent for needs
The robot system of replacing instrument, after often changing an instrument, will once re-scale, non-
Often trouble, the most time-consuming.
Summary of the invention
The technical problem to be solved in the present invention is to provide a kind of horizontal machine people without reasoning and calculating and moves phase
Machine Multipoint movable scaling method, has and sets the advantage simply and automatically demarcated, and Onsite Maintenance Engineer is permissible
One-touch solution point demarcation problem, demarcates efficiency height, and maintenance cost is relatively low.
In order to solve above-mentioned technical problem, the present invention adopts the following technical scheme that
A kind of horizontal machine people's mobile camera Multipoint movable scaling method, including pedestal, is installed on the water of pedestal
Flat robot, it is fixed on the scaling board of pedestal and is fixed on the mobile camera in the swing arm of horizontal machine people, water
The actuating station of flat robot is provided with probe, it is characterised in that: described scaling board be provided with coordinate of the center of circle and
Enclose one-level fixed point position and two grades of fixed point positions, two grades of fixed points of at least nine that are located at week in coordinate of the center of circle week
Position is positioned at the periphery of one-level fixed point position, and this scaling board is positioned at the lower section of probe and camera, and scaling board exists
In the actuating range of horizontal machine people；Camera calibration step includes:
Step A, horizontal machine people control probe and carry out moving back and forth in X-direction and Y-direction, work as probe
When being directed at the coordinate of the center of circle of described scaling board, horizontal machine people obtains current coordinate data, to primarily determine that
The position of coordinate of the center of circle；
Step B, perform one-level demarcate, horizontal machine people control probe be directed at the most one by one described at least nine
One-level fixed point position, often one one-level fixed point position of alignment, horizontal machine people obtains a current number of coordinates
According to, carry out the one-level to coordinate of the center of circle according to the coordinate data of whole one-level fixed point positions and demarcate；
Step C, perform two grades of demarcation, horizontal machine people control probe be directed at the most one by one described at least nine
Two grades of fixed point positions, often one two grades of fixed point position of alignment, horizontal machine people obtains a current number of coordinates
According to, carry out to coordinate of the center of circle two grades of demarcation according to the coordinate data of all second-order fixed point position；
Preferably, the periphery of described two grades of fixed point positions is provided with at least nine three grades of fixed point positions, camera mark
Determining step and also include step D, perform three grades of demarcation, horizontal machine people controls probe and is directed at described the most one by one
At least nine three grades of fixed point positions, often one three grades of fixed point position of alignment, horizontal machine people obtains one currently
Coordinate data, carry out to coordinate of the center of circle three grades of demarcation according to the coordinate data of whole three grades of fixed point positions.
Preferably, the periphery of described three grades of fixed point positions is provided with at least nine level Four fixed point positions, camera mark
Determining step and also include step E, perform level Four and demarcate, horizontal machine people controls probe and is directed at described the most one by one
At least nine level Four fixed point positions, often one level Four fixed point position of alignment, horizontal machine people obtains one currently
Coordinate data, according to the coordinate data of whole level Four fixed point positions carry out the level Four to coordinate of the center of circle demarcate.
Preferably, the quantity of described one-level fixed point position, two grades of fixed point positions and three grades of fixed point positions is nine
Individual, and it is the equidistant placement of three row three row.
Another is preferred, and the quantity of described one-level fixed point position, two grades of fixed point positions and three grades of fixed point positions is equal
It is 16, and is the equidistant placement of four rows and four columns.
The beneficial effects of the present invention is:
The invention provides a kind of horizontal machine people's mobile camera Multipoint movable scaling method, water of the present invention
Flat robot mobile camera Multipoint movable scaling method, the invention provides a kind of horizontal machine people's mobile camera
Multipoint movable scaling method, in conjunction with the operation of sequencing, it is possible to achieve the multi-point calibration action of one-touch automatization,
And thick demarcation to mobile camera parameter and essence demarcating steps can be done step-by-step, there is setting and simply and automatically mark
Fixed advantage, Onsite Maintenance Engineer can one-touch solution point demarcation problem, it is high to demarcate efficiency, safeguards
Cost is relatively low.
Accompanying drawing explanation
Fig. 1 is horizontal machine people of the present invention, mobile camera and the perspective view of scaling board.
Fig. 2 is the perspective view of the scaling board of the present invention.
Fig. 3 is the horizontal machine people of the present invention mobile sequential schematic when detecting fixed point position.
Detailed description of the invention
For the ease of the understanding of those skilled in the art, below in conjunction with embodiment and accompanying drawing, the present invention is made into one
The explanation of step, the content that embodiment is mentioned not limitation of the invention.
It is the present invention a kind of horizontal machine people's mobile camera Multipoint movable scaling method as shown in Figure 1 to Figure 3
Embodiment one, including pedestal, the horizontal machine people 1 being installed on pedestal, the scaling board 2 being fixed on pedestal and
The mobile camera 3 being fixed in the swing arm of horizontal machine people 1, the actuating station of horizontal machine people 1 is provided with spy
Pin 4, described scaling board 2 is provided with coordinate of the center of circle 21 and enclosing and is located at nine of 21 weeks weeks of coordinate of the center of circle
One-level fixed point position 22 and two grades of fixed point positions 23, two grades of fixed point positions 23 are positioned at one-level fixed point position 22
Peripheral at, this scaling board 2 is positioned at the lower section of probe 4 and camera, and scaling board 2 is horizontal machine people 1
Actuating range in；Camera calibration step includes:
Step A, horizontal machine people 1 control probe 4 and carry out moving back and forth in X-direction and Y-direction, when
When probe 4 is directed at the coordinate of the center of circle 21 of described scaling board 2, horizontal machine people 1 obtains current coordinate data,
To primarily determine that the position of coordinate of the center of circle 21；
Step B, execution one-level are demarcated, and horizontal machine people 1 controls probe 4 and is directed at described nine the most one by one
One-level fixed point position 22, often one one-level fixed point position 22 of alignment, horizontal machine people 1 obtain one current
Coordinate data, carries out the one-level mark to coordinate of the center of circle 21 according to the coordinate data of whole one-level fixed point positions 22
Fixed, to realize the thick demarcation to mobile camera 3 parameter；
Step C, perform two grades of demarcation, horizontal machine people 1 control probe 4 be directed at the most one by one described at least
Nine two grades of fixed point positions 23, often one two grades of fixed point position 23 of alignment, horizontal machine people 1 obtains one and works as
Front coordinate data, carries out two to coordinate of the center of circle 21 according to the coordinate data of all second-order fixed point position 23
Level is demarcated, to realize the essence demarcation to mobile camera 3 parameter.
The invention provides a kind of horizontal machine people's mobile camera Multipoint movable scaling method, in conjunction with sequencing
Run, it is possible to achieve the multi-point calibration action of one-touch automatization, and can be done step-by-step mobile camera 3 parameter
Thick demarcate and essence demarcating steps, have and set the advantage simply and automatically demarcated, Onsite Maintenance Engineer can
With one-touch solution point demarcation problem, demarcating efficiency height, maintenance cost is relatively low.
In the present embodiment, fixed point position 23,22, two grades, described one-level fixed point position and three grades of fixed point positions 24
Quantity be nine, and be three rows three row equidistant placement.The periphery of described two grades of fixed point positions 23 sets
Being equipped with nine three grades of fixed point positions 24, camera calibration step also includes step D, performs three grades of demarcation, level
Robot 1 control probe 4 be directed at the most one by one described at least nine three grades of fixed point positions 24, often alignment one
Three grades of fixed point positions 24, horizontal machine people 1 obtains a current coordinate data, according to whole three grades of demarcation
The coordinate data of some position 24 carries out three grades to coordinate of the center of circle 21 demarcation, and one-level is demarcated and can be considered as with two grades
Mobile camera 3 parameter slightly demarcated action, demarcates for three grades and move as the essence of mobile camera 3 parameter is demarcated
Making, can improve the accuracy of mobile camera 3 parameter further, stated accuracy is higher.
Certainly, the required precision according to mobile camera 3 parameter is different, such as at the equipment that stated accuracy is high
In, it is also possible to nine level Four fixed point positions 25, camera mark are set in the periphery of described three grades of fixed point positions 24
Determining step and also include step E, perform level Four and demarcate, horizontal machine people 1 controls probe 4 and is directed at the most one by one
Described at least nine level Four fixed point positions 25, often one level Four fixed point position 25 of alignment, horizontal machine people 1 obtains
Take a current coordinate data, carry out coordinate of the center of circle according to the coordinate data of whole level Four fixed point positions 25
The level Four of 21 is demarcated, thus realizes the further raising of mobile camera 3 parameter calibration precision.
It should be added that, when improving the stated accuracy of mobile camera 3 parameter, multistage except increasing
Outside the method for fixed point position, it is also possible to realized, such as: described by the method increasing fixed point bit quantity
The quantity of 22, two grades of fixed point positions 23, one-level fixed point position and three grades of fixed point positions 24 is 16, and
It is the equidistant placement of four rows and four columns.The most also can reach to improve the purpose of stated accuracy, practicality is stronger.
Embodiment described above only have expressed one embodiment of the present invention, and it describes more concrete and detailed,
But therefore can not be interpreted as the restriction to the scope of the claims of the present invention.It should be pointed out that, for this area
Those of ordinary skill for, without departing from the inventive concept of the premise, it is also possible to make some deformation and
Improving, these broadly fall into protection scope of the present invention.Therefore, the protection domain of patent of the present invention should be with appended
Claim is as the criterion.
Claims (5)
1. horizontal machine people mobile camera Multipoint movable scaling method, including pedestal, is installed on the level of pedestal
Robot (1), it is fixed on the scaling board (2) of pedestal and is fixed in the swing arm of horizontal machine people (1)
Mobile camera (3), the actuating station of horizontal machine people (1) is provided with probe (4), it is characterised in that: described
Scaling board (2) is provided with coordinate of the center of circle (21) and enclosing and is located at least nine of week in coordinate of the center of circle (21) week
One-level fixed point position (22) and two grades of fixed point positions (23), two grades of fixed point positions (23) are positioned at one-level mark
At the periphery of fixed point position (22), this scaling board (2) is positioned at probe (4) and the lower section of camera, and demarcates
Plate (2) is in the actuating range of horizontal machine people (1)；Camera calibration step includes:
Step A, horizontal machine people (1) control probe (4) and carry out moving back in X-direction and Y-direction
Dynamic, when probe (4) is directed at coordinate of the center of circle (21) of described scaling board (2), horizontal machine people (1)
Obtain current coordinate data, to primarily determine that the position of coordinate of the center of circle (21)；
Step B, execution one-level are demarcated, and horizontal machine people (1) controls probe (4) and is directed at institute the most one by one
State at least nine one-level fixed point positions (22), often one one-level fixed point position (22) of alignment, horizontal machine people
(1) obtain a current coordinate data, carry out according to the coordinate data of whole one-level fixed point positions (22)
The one-level of coordinate of the center of circle (21) is demarcated；
Step C, two grades of demarcation of execution, horizontal machine people (1) controls probe (4) and is directed at institute the most one by one
State at least nine two grades fixed point positions (23), often one two grades fixed point positions (23) of alignment, horizontal machine people
(1) obtain a current coordinate data, carry out according to the coordinate data of all second-order fixed point position (23)
Two grades of demarcation to coordinate of the center of circle (21).
Horizontal machine people's mobile camera Multipoint movable scaling method the most according to claim 1, its feature
It is: the periphery of described two grades of fixed point positions (23) is provided with at least nine three grades fixed point positions (24), phase
Machine demarcating steps also includes step D, performs three grades of demarcation, and horizontal machine people (1) controls probe (4) and depends on
At least nine three grades fixed point positions (24), often one three grades fixed point positions (24) of alignment described in secondary alignment one by one,
Horizontal machine people (1) obtains a current coordinate data, according to the seat of whole three grades of fixed point positions (24)
Mark data carry out three grades of demarcation to coordinate of the center of circle (21).
Horizontal machine people's mobile camera Multipoint movable scaling method the most according to claim 2, its feature
It is: the periphery of described three grades of fixed point positions (24) is provided with at least nine level Four fixed point positions (25), phase
Machine demarcating steps also includes step E, performs level Four and demarcates, and horizontal machine people (1) controls probe (4) and depends on
At least nine level Four fixed point positions (25), often one level Four fixed point position (25) of alignment described in secondary alignment one by one,
Horizontal machine people (1) obtains a current coordinate data, according to the seat of whole level Four fixed point positions (25)
Mark data carry out the level Four to coordinate of the center of circle (21) and demarcate.
Horizontal machine people's mobile camera Multipoint movable scaling method the most according to claim 2, its feature
It is: described one-level fixed point position (22), two grades of fixed point positions (23) and three grades of fixed point positions (24)
Quantity is nine, and is three row three row equidistant placement.
Horizontal machine people's mobile camera Multipoint movable scaling method the most according to claim 2, its feature
It is: described one-level fixed point position (22), two grades of fixed point positions (23) and three grades of fixed point positions (24)
Quantity is 16, and is four rows and four columns equidistant placement.
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| CN201610190891.0A CN105844670B (en) | 2016-03-30 | 2016-03-30 | Horizontal machine people moves camera Multipoint movable scaling method |
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| CN108274459A (en) * | 2018-01-05 | 2018-07-13 | 高创传动科技开发（深圳）有限公司 | The scaling method and system of industrial robot |
| CN109159114A (en) * | 2018-08-16 | 2019-01-08 | 郑州大学 | The accuracy method of SCARA manipulator fixed camera vision system hand and eye calibrating |
| CN110625600A (en) * | 2019-10-29 | 2019-12-31 | 华中科技大学 | A calibration method of robot end workpiece coordinate system |
| WO2021012122A1 (en) * | 2019-07-19 | 2021-01-28 | 西门子（中国）有限公司 | Robot hand-eye calibration method and apparatus, computing device, medium and product |
| CN113840695A (en) * | 2019-09-05 | 2021-12-24 | 西门子（中国）有限公司 | Calibration inspection component, robot system, inspection method and calibration method |
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| CN110625600A (en) * | 2019-10-29 | 2019-12-31 | 华中科技大学 | A calibration method of robot end workpiece coordinate system |
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| CN105844670B (en) | 2018-12-18 |
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